CN103996305B - A kind of method and system correcting emphasis haulage vehicle line ball infringement - Google Patents
A kind of method and system correcting emphasis haulage vehicle line ball infringement Download PDFInfo
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- CN103996305B CN103996305B CN201410162148.5A CN201410162148A CN103996305B CN 103996305 B CN103996305 B CN 103996305B CN 201410162148 A CN201410162148 A CN 201410162148A CN 103996305 B CN103996305 B CN 103996305B
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Abstract
The present invention provides a kind of method correcting emphasis haulage vehicle line ball infringement, utilize a photographic head that the pavement image of vehicle front is acquired, and obtain dotted line position and the solid line position in front, one safety zone is set in the visual field of the collection of photographic head, during normal traveling, the markings of vehicle both sides will not enter this safety zone, when the position of real diagram picture enters in this safety zone, carry out by this photographic head, current image being shot, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.The vehicle position for markings is judged by default safety zone, the method realizes simple, improve the order of accuarcy of position between judgement symbol line and vehicle, administrative center can be allowed to learn the line ball situation in violation of rules and regulations of vehicle in time and collect evidence in time, foundation is provided for follow-up management and punishment, to improve the deterrent force to driver's violation, thus improve the accuracy of traffic administration.
Description
Technical field
The present invention relates to a kind of vehicle line ball recognition methods, specifically a kind of system and method correcting emphasis haulage vehicle line ball infringement.
Background technology
Law on road traffic safety rule regulation, can not be pressed into double; two yellow solid line, single yellow special land mark such as solid line, white solid line when vehicle travels on road, but due to the inadvertent of driver or error in judgement, line ball traveling behavior often occurs in driver.From violation degree, major part line ball degree violating the regulations is relatively low, and in most cases driver is not for wish violating the regulations, but for error in judgement or do not recognize and cause.If able to the line ball act of violating regulations of driver is carried out pre-tip so that driver looks like to the risk being about to occur line ball, then can significantly facilitate driver in driving procedure, adjust vehicle running orbit in time, reduce or avoid the generation of line ball situation.
In order to solve the problems referred to above, a kind of vehicle peccancy line ball pre-tip device and reminding method thereof disclosed in Chinese patent literature CN103057470A, use the left front road image in two camera collection vehicle runnings or right front road image, then vehicle left front road image or vehicle right front road image are transmitted to microprocessor, microprocessor utilizes image processing program, is obtained the carriageway type in road ahead, lane line position by image recognition.The lane line that image recognition obtains, can obtain the type of front lane line after shape judges and color judges.The laterally opposed distance obtaining between vehicle and lane line can be calculated through geometrical calculation.When vehicle exists line ball trend, driver can be sent line ball prompting violating the regulations.Although the program can to the line ball pre-tip violating the regulations of vehicle, but the program need the both sides at vehicle body be respectively provided with two photographic head to gather pavement image, the photographic head quantity needed is many, and the data volume gathering and processing is big, and therefore cost height and arithmetic speed are slow.Additionally, after vehicle line ball, administrative center cannot accurately learn the situation violating the regulations of vehicle and collect evidence in time, is unfavorable for the management of vehicle.
Summary of the invention
For this, the technical problem to be solved is in that line ball pre-tip method violating the regulations of the prior art, the photographic head quantity needed is many, gather data volume is big, computationally intensive, the problem that cannot collect evidence in time after vehicle line ball, thus proposing a kind of method and system correcting emphasis haulage vehicle line ball infringement having only to a photographic head and decreasing the data volume gathered and process.
For solving above-mentioned technical problem, the present invention provides a kind of method correcting emphasis haulage vehicle line ball infringement, comprises the steps:
Utilizing the photographic head that vehicle roof is arranged, the image that vehicle runs front is acquired；
In the angular field of view that described photographic head shoots, arranging a region as safety zone, when normal vehicle operation, the markings on road surface will not enter this safety zone；
Received the image of described camera collection by graphics processing unit, and the markings in road ahead in this image are identified, obtain real diagram picture and dashed line view picture；
The position of described real diagram image position Yu described safety zone is compared, when solid line enters described safety zone, then by this photographic head, current image is shot, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
Preferably, also include the position by described dashed line view image position Yu described safety zone to compare, when dashed line view picture enters described safety zone and the persistent period reaches the time threshold preset, then by this photographic head, current image is shot, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
Preferably, described photographic head is arranged on the centre position of vehicle roof.
Preferably, described solid line includes white solid line and yellow solid line, and described dotted line includes white dotted line and yellow dotted line.
Preferably, in the angular field of view that described photographic head shoots, the region process as safety zone is set, including:
When vehicle normal forward, revolver when port markers line, this port markers line described camera collection to image in position as the left hand edge of this safety zone；When right wheel is near starboard markers line, this starboard markers line described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as safety zone.
A kind of system correcting emphasis haulage vehicle line ball infringement, including:
One photographic head, is arranged on roof, and the image that vehicle runs front is acquired；
Safety zone setup unit: in the angular field of view that described photographic head shoots, arranges a region as safety zone, and when normal vehicle operation, the markings on road surface will not enter this safety zone；
Graphics processing unit, receives the image of described camera collection, and the markings in road ahead in this image is identified, and obtains real diagram picture and dashed line view picture；
Center processing unit, the position of the position of described real diagram picture and dashed line view picture Yu described safety zone is compared, when solid line enters described safety zone, by this photographic head, current image is shot, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
Preferably, described center processing unit also includes comparing the position of described dashed line view image position Yu described safety zone, when dashed line view picture enters described safety zone and the persistent period reaches the time threshold preset, then by this photographic head, current image is shot, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
Preferably, described solid line includes white solid line and yellow solid line, and described dotted line includes white dotted line and yellow dotted line.
Preferably, described photographic head is arranged on the centre position of vehicle roof.
The technique scheme of the present invention has the following advantages compared to existing technology,
(1) present invention provides a kind of method correcting emphasis haulage vehicle line ball infringement, utilize a photographic head that the pavement image of vehicle front is acquired, and obtain dotted line position and the solid line position in front, one safety zone is set in the visual field of the collection of photographic head, during normal traveling, the markings of vehicle both sides will not enter this safety zone, when the position of real diagram picture enters in this safety zone, carry out by this photographic head, current image being shot, upload to administrative center, administrative center sends corrective command to driver, driver corrects line ball behavior.Yellow solid line and solid white line it is divided into due to the solid line on road surface, any kind of solid line not may span across, when normal vehicle operation, markings are not had in this safety zone pre-set, when solid line enters this safety zone, illustrate that vehicle has been pushed down the solid line on road surface or has been about to push down solid line, now by this photographic head, current image is shot, upload to administrative center, administrative center sends corrective command to driver, driver corrects line ball behavior, administrative center can be allowed to learn the line ball situation in violation of rules and regulations of vehicle in time and collect evidence in time, foundation is provided for follow-up management and punishment, to improve the deterrent force to driver's violation.Solve and prior art needs the data to vehicle both sides gather respectively and process, it is necessary to two photographic head, the problem that data acquisition and processing (DAP) amount is big, reduce cost.The vehicle position for markings is judged by default safety zone, the method realizes simple, the position of this safety zone is rationally set according to different vehicles and current information of road surface, improve the order of accuarcy of position between judgement symbol line and vehicle, thus improve the accuracy that line ball is reported to the police.
(2) method of correction emphasis haulage vehicle line ball infringement of the present invention, also include the position by described dashed line view image position Yu described safety zone to compare, when dashed line view picture enters described safety zone and the persistent period reaches the time threshold preset, then by this photographic head, current image is shot, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.Owing to dotted line can be crossed over, but vehicle cannot be pushed down dotted line for a long time and travel, therefore when dotted line enters this safety zone, mean there is cross-line action, owing to dotted line can be crossed over, therefore need not report to the police, but when dotted line long-term image is maintained in this safety zone, illustrate that this vehicle is not crossing over this dotted line, but travel at line ball, therefore carry out taking pictures and uploading, thus press dotted line to provide when travelling for vehicle and report to the police; always the act of violating regulations making driver is known in time, processes in time.
(3) method of correction emphasis haulage vehicle line ball infringement of the present invention, described photographic head is arranged on the centre position of vehicle roof, it is easy to this photographic head image to vehicle front both sides gather simultaneously, it is also convenient for the design in the visual angle of photographic head of this safety zone, improves the order of accuarcy of this line ball identification.
(4) method of correction emphasis haulage vehicle line ball infringement of the present invention, when vehicle normal forward, revolver when port markers line, this port markers line described camera collection to image in position as the left hand edge of this safety zone；When right wheel is near starboard markers line, this starboard markers line described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as safety zone.After setting up safety zone according to which, in normal vehicle operation, the markings of both sides are all without entering this safety zone, but, when the amesiality traveling of vehicle, especially during live conductor behavior, markings have then occurred in this safety zone, judge to provide basis for estimation for follow-up line ball.
Accompanying drawing explanation
In order to make present disclosure be more likely to be clearly understood, below according to specific embodiments of the invention and in conjunction with accompanying drawing, the present invention is further detailed explanation, wherein
Fig. 1 is the flow chart of an embodiment of the method for correction emphasis haulage vehicle line ball infringement of the present invention；
Fig. 2 is the flow chart of another embodiment of the method for correction emphasis haulage vehicle line ball infringement of the present invention；
The vehicle road that Fig. 3 Fig. 5 is the method for correction emphasis haulage vehicle line ball infringement of the present invention runs schematic diagram；
Fig. 6 is the structured flowchart of the system of correction emphasis haulage vehicle line ball infringement of the present invention.
Detailed description of the invention
Embodiment 1:
Thering is provided a kind of method correcting emphasis haulage vehicle line ball infringement in the present embodiment, flow chart is as it is shown in figure 1, comprise the steps:
(1) utilizing the photographic head that vehicle roof is arranged, the image that vehicle runs front is acquired.Described photographic head is arranged on certain position of vehicle roof, when vehicle travels on road, the surface conditions in photographic head shooting front, including the markings of vehicle both sides, all passes through this camera collection to its image information.Markings on road surface generally comprise solid line and dotted line, and solid line is not allow to cross over, and dotted line allows to cross over.
Markings on road surface are divided into yellow line and white line.Yellow line is used for distinguishing the track of different directions, is generally drawn in road center, as an isolation strip, road is divided into both direction.No matter single yellow line or double amber lines, as long as solid line, just forbids to cross over, such as overtakes other vehicles, turns, turns around.Do not have particular case just should not get over line during driving.No matter single yellow line or double amber lines, as long as dotted line, then allow cross-domain, it is possible to overtakes other vehicles when ensureing safety or turns around.Single yellow line is generally used within two-way 4 tracks on the road of (including cycle track), and double amber lines is generally used for relatively broad way face.White line is used for distinguishing equidirectional different track, dotted line be can doubling, exchange track, solid line is cannot doubling, it is impossible to arbitrarily exchange track.Sum it up, any solid line all cannot be crossed over, dotted line can be crossed over.
(2) in the angular field of view that described photographic head shoots, arranging a region as safety zone, when normal vehicle operation, the markings on road surface will not enter this safety zone.As shown in figure (3)-Tu (5), this safety zone is provided in a fixed area in the angular field of view of photographic head shooting, when vehicle travels in different positions, belongs to the scene in this safety zone different.As it is shown on figure 3, when vehicle normally travels in the position in the middle of track, be positioned at the markings of both sides, track all without entering this safety zone.When vehicle is partial to one time and is travelled, as shown in Figure 4, when vehicle is pressed onto the markings in left side, in the image now collected, the port markers line in front then enters this safety zone.As it is shown in figure 5, when vehicle is pressed onto the markings on right side, in the image that front collects, the markings on right side then enter this safety zone.Arrange position and visual angle that safety zone herein is according to different automobile types, photographic head are determined, the principle of its setting is: when normal vehicle operation, markings on road surface will not enter this safety zone, when vehicle is pressed onto or during close to markings, then in the image collected in front, these markings enter into this safe distance.
(3) received the image of described camera collection by graphics processing unit, and the markings in road ahead in this image are identified, obtain real diagram picture and dashed line view picture.Camera collection to forward image in, there are various types of markings, such as dotted line and solid line, carry out image procossing now by the image collected, identify the position at the dashed line view picture in this image and real diagram picture and place thereof.Owing to solid line is different with the meaning of dotted line, identify solid line and dotted line can facilitate the follow-up type for its markings to process respectively.
(4) position of described real diagram image position Yu described safety zone is compared, when solid line enters described safety zone, by this photographic head, current image is shot, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.As shown in Figure 4, in the image that front gathers, the solid line of this vehicle left side enters into this safety zone, now this vehicle body has been pressed onto on vehicle left side solid line, therefore now by this photographic head, current image is shot, and uploads to administrative center, administrative center sends corrective command to driver, driver corrects line ball behavior, allows the act of violating regulations of driver be managed center and obtains in real time and collect evidence, and management when running for vehicle provides foundation.
The method correcting emphasis haulage vehicle line ball infringement in the embodiment of the present invention, utilize a photographic head that the pavement image of vehicle front is acquired, and obtain dotted line position and the solid line position in front, one safety zone is set in the visual field of the collection of photographic head, during normal traveling, the markings of vehicle both sides will not enter this safety zone, when the position of real diagram picture enters in this safety zone, carry out by this photographic head, current image being shot, upload to administrative center, administrative center sends corrective command to driver, driver corrects line ball behavior.Yellow solid line and solid white line it is divided into due to the solid line on road surface, any kind of solid line not may span across, when normal vehicle operation, markings are not had in this safety zone pre-set, when solid line enters this safety zone, illustrate that vehicle has been pushed down the solid line on road surface or has been about to push down solid line, now by this photographic head, current image is shot, upload to administrative center, administrative center sends corrective command to driver, driver corrects line ball behavior, administrative center can be allowed to learn the line ball situation in violation of rules and regulations of vehicle in time and collect evidence in time, foundation is provided for follow-up management and punishment, to improve the deterrent force to driver's violation.Solve and prior art needs the data to vehicle both sides gather respectively and process, it is necessary to two photographic head, the problem that data acquisition and processing (DAP) amount is big, reduce cost.The vehicle position for markings is judged by default safety zone, the method realizes simple, the position of this safety zone is rationally set according to different vehicles and current information of road surface, improve the order of accuarcy of position between judgement symbol line and vehicle, never improve the accuracy that line ball is reported to the police.
As preferred embodiment, photographic head in the program is arranged on the centre position of vehicle roof, it is easy to this photographic head image to vehicle front both sides gather simultaneously, has been also convenient for the design in the visual angle of photographic head of this safety zone, has improve the order of accuarcy of this line ball identification.
Embodiment 2:
In the present embodiment, on the basis of above-described embodiment 1, further the dotted line in markings is judged.Due to the dotted line regardless of type, all can cross over, therefore, when dotted line enters in this safety zone, be made without prompting and report to the police.But, cannot travelling by line ball when vehicle runs, therefore, if dotted line is positioned at this safety zone for a long time, then show that vehicle travels at line ball, which is violating the regulations, it is necessary to point out.Therefore the method correcting emphasis haulage vehicle line ball infringement in the present embodiment, flow chart is as shown in Figure 2, also include the position by described dashed line view image position Yu described safety zone to compare, when dashed line view picture enters described safety zone and the persistent period reaches the time threshold preset, then by this photographic head, current image is shot, uploading to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.Time herein can be arranged as required to as 1-10 minute, as being set to 3 minutes, 5 minutes or 8 minutes, when the dashed line view picture persistent period in safety zone exceeds this time range, then carry out taking pictures and uploading, allow the line ball traveling behavior of driver be managed center in time and know.
In the present embodiment, owing to dotted line can be crossed over, but vehicle cannot be pushed down dotted line for a long time and travel, therefore when dotted line enters this safety zone, mean there is cross-line action, owing to dotted line can be crossed over, therefore need not report to the police, but when dotted line long-term image is maintained in this safety zone, illustrates that this vehicle is not crossing over this dotted line, but travel at line ball always, therefore carry out taking pictures and uploading, thus press dotted line to provide when travelling for vehicle to report to the police so that the act of violating regulations of driver is known in time, processes in time.
Embodiment 3:
In the present embodiment, for the method for above-mentioned correction emphasis haulage vehicle line ball infringement, it is provided that a kind of mode determining safety zone.It is whether suitable that safety zone is arranged, and directly influences the follow-up relation to vehicle and markings position.When vehicle normal forward, revolver when port markers line, this port markers line described camera collection to image in position as the left hand edge of this safety zone；When right wheel is near starboard markers line, this starboard markers line described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as safety zone.
After setting up safety zone according to which, in normal vehicle operation, the markings of both sides are all without entering this safety zone, but, when the amesiality traveling of vehicle, especially near or during live conductor behavior, markings have then occurred in this safety zone, judge to provide basis for estimation for follow-up line ball.
Embodiment 4:
The present embodiment provides a kind of system correcting emphasis haulage vehicle line ball infringement, structure as shown in Figure 6, including:
One photographic head, is arranged on the centre position of roof, and the image that vehicle runs front is acquired.
Graphics processing unit, receives the image of described camera collection, and the markings in road ahead in this image is identified, and obtains real diagram picture and dashed line view picture.Described real diagram picture includes white solid line and yellow solid line, and described dashed line view picture includes white dotted line and yellow dotted line.
Safety zone setup unit: in the angular field of view that described photographic head shoots, arranges a region as safety zone, and when normal vehicle operation, the markings on road surface will not enter this safety zone；
Center processing unit, the position of the position of described real diagram picture and dashed line view picture Yu described safety zone is compared, when solid line enters described safety zone, by this photographic head, current image is shot, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior..
As further embodiment, described center processing unit also includes comparing the position of described dashed line view image position Yu described safety zone, then by this photographic head, current image is shot, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
In other implementations, above-mentioned safety zone setup unit also includes first and arranges submodule, in this module, when vehicle normal forward, revolver when port markers line, this port markers line described camera collection to image in position as the left hand edge of this safety zone；When right wheel is near starboard markers line, this starboard markers line described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as safety zone.
As the embodiment that can replace, above-mentioned safety zone setup unit also includes second and arranges submodule, in this module, when vehicle normal forward, during revolver distance port markers line 1-2 rice, this port markers line described camera collection to image in position as the left hand edge of this safety zone；When right wheel distance starboard markers line 1-2 rice, this starboard markers line described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as safety zone.
Obviously, above-described embodiment is only for clearly demonstrating example, and is not the restriction to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.And the apparent change thus extended out or variation are still among the protection domain of the invention.
Claims (7)
1. the method correcting emphasis haulage vehicle line ball infringement, it is characterised in that comprise the steps:
Utilizing the photographic head that vehicle roof is arranged, the image that vehicle runs front is acquired；
In the angular field of view that described photographic head shoots, arranging a region as safety zone, when normal vehicle operation, the markings on road surface will not enter this safety zone；
Received the image of described camera collection by graphics processing unit, and the markings in road ahead in this image are identified, obtain real diagram picture and dashed line view picture；
The position of described real diagram image position Yu described safety zone is compared, when solid line enters described safety zone, then by this photographic head, current image is shot, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior；
The position of described dashed line view image position Yu described safety zone is compared, when dashed line view picture enters described safety zone and the persistent period reaches the time threshold preset, then by this photographic head, current image is shot, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
2. the method for correction emphasis haulage vehicle line ball infringement according to claim 1, it is characterised in that described photographic head is arranged on the centre position of vehicle roof.
3. the method for correction emphasis haulage vehicle line ball infringement according to claim 1, it is characterised in that described solid line includes white solid line and yellow solid line, described dotted line includes white dotted line and yellow dotted line.
4. the method correcting emphasis haulage vehicle line ball infringement according to claim 1 or 2 or 3, it is characterised in that in the angular field of view that described photographic head shoots, the region process as safety zone is set, including:
When vehicle normal forward, revolver when port markers line, this port markers line described camera collection to image in position as the left hand edge of this safety zone；When right wheel is near starboard markers line, this starboard markers line described camera collection to image in position as the right hand edge of this safety line, the region between this left and right edges is as safety zone.
5. the system correcting emphasis haulage vehicle line ball infringement, it is characterised in that including:
One photographic head, is arranged on roof, and the image that vehicle runs front is acquired；
Safety zone setup unit: in the angular field of view that described photographic head shoots, arranges a region as safety zone, and when normal vehicle operation, the markings on road surface will not enter this safety zone；
Graphics processing unit, receives the image of described camera collection, and the markings in road ahead in this image is identified, and obtains real diagram picture and dashed line view picture；
Center processing unit, the position of the position of described real diagram picture and dashed line view picture Yu described safety zone is compared, when solid line enters described safety zone, by this photographic head, current image is shot, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior；Center processing unit also includes comparing the position of described dashed line view image position Yu described safety zone, when dashed line view picture enters described safety zone and the persistent period reaches the time threshold preset, then by this photographic head, current image is shot, upload to administrative center, administrative center sends corrective command to driver, and driver corrects line ball behavior.
6. the system of correction emphasis haulage vehicle line ball infringement according to claim 5, it is characterised in that described solid line includes white solid line and yellow solid line, described dotted line includes white dotted line and yellow dotted line.
7. the system of correction emphasis haulage vehicle line ball infringement according to claim 6, it is characterised in that described photographic head is arranged on the centre position of vehicle roof.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017128192A1 (en) * | 2016-01-28 | 2017-08-03 | 郭子明 | Method and device for acquiring data about lane departure prevention technology |
| CN107067733A (en) * | 2017-04-05 | 2017-08-18 | 北京易华录信息技术股份有限公司 | A kind of vehicle line ball traveling identifying system and method based on vehicle electron identifying |
| CN107045789A (en) * | 2017-04-05 | 2017-08-15 | 北京易华录信息技术股份有限公司 | A kind of vehicle line ball traveling prompt system and method based on vehicle electron identifying |
| KR102569438B1 (en) * | 2018-10-05 | 2023-08-24 | 현대모비스 주식회사 | Apparatus and method for generating a warning |
| CN111798668B (en) * | 2020-07-04 | 2022-04-15 | 上海筱启数字科技集团有限公司 | Road condition early warning method and road condition early warning device for safe driving of vehicle |
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