CN104537857B - Based reminding method and system based on driving video instrument identification traffic-control device - Google Patents
Based reminding method and system based on driving video instrument identification traffic-control device Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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Abstract
The invention discloses based reminding method and system based on driving video instrument identification traffic-control device, methods described includes：Driving video instrument is obtained and stores video information in real time, and video information is analyzed by camera, judges whether stop-go mark；When judging to have stop-go mark, the MCU of video instrument of driving a vehicle is processed the traffic lights image for being obtained by algorithm, judges current lights state；According to current lights state, corresponding voice reminder is carried out to car owner.The present invention can judge the state of traffic red light by video instrument of driving a vehicle, and motor vehicle operators are made in traffic road junction make a dash across the red light and easily cause traffic accident, and the delayed prompting for starting vehicle during green light, improve the security of motor vehicle operators' driving.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of prompting that traffic-control device is recognized based on driving video instrument
Method and system.
Background technology
It is continuous with technologies such as network technology, electronic technology, mechanics of communication, mechanical manufacturing technology, intelligent control technologies
Development, the development of automobile active safety technology is maked rapid progress, from ABS, EBD to the ESC for starting again to ACC, anticollision, track
Deviation warning, track keep, blind spot accessory system, and the active safety performance of automobile is even more and has obtained lifting at full speed, but by
In the complexity that the diversity of traffic environment, traffic accident occur, still there are many weak points in existing system, it is impossible to cover
Cover the every aspect of traffic accident.And people are daily to be judged come the traffic lights to traffic road junction by human eye, have
When because it is absent minded often occur make a dash across the red light, the delayed startup vehicle in green light sometimes.
Therefore, prior art has yet to be improved and developed.
The content of the invention
The technical problem to be solved in the present invention is, for the drawbacks described above of prior art, there is provided one kind is recorded based on driving
As the based reminding method and system of instrument identification traffic-control device.It is capable of achieving to recognize that traffic is red green by video instrument of driving a vehicle by the present invention
The state of lamp, and voice reminder is carried out to driver, improve driver-operated security.
The technical proposal for solving the technical problem of the invention is as follows：
A kind of based reminding method that traffic-control device is recognized based on driving video instrument, wherein, method includes：
A, driving video instrument are obtained and store video information in real time, and video information is analyzed by camera, are sentenced
It is disconnected to whether there is stop-go mark；
B, when judge there is stop-go mark when, drive a vehicle video instrument MCU the traffic lights image for being obtained is passed through
Algorithm is processed, and judges current lights state；
C, according to current lights state, corresponding voice reminder is carried out to car owner.
The described based reminding method that traffic-control device is recognized based on driving video instrument, wherein, the step A is specifically included：
A1, driving video instrument obtain video information in real time by camera, are figure one by one by video information process
Picture；
A2, the connected region candidate region for being traffic lights identification extracted in image；
A3, the scope by judging the elemental area shared in the picture of the traffic lights in image, and judge that traffic lights exist
Position in image, traffic lights are judged whether finally by the dutycycle and circularity for judging candidate region.
The described based reminding method that traffic-control device is recognized based on driving video instrument, wherein, using sentencing in the step A3
The method of traffic lights in the disconnected image elemental area at strong point in the picture includes：If d is the diameter of traffic lights in image, f is
The equivalent focal length of the camera of video instrument of driving a vehicle, f0It is the real focal length of camera lens, dxIt is the size of camera CCD, Zc is row
Distance of the car video instrument apart from traffic lights, then shared pixel is given traffic lights by formula below in the picture：
,。
The described based reminding method that traffic-control device is recognized based on driving video instrument, wherein, using red in the step A3
Green light position judging method in the picture is specially：If picture altitude is H, width is W, then the traffic lights in connected region
Centre coordinate（X, y）Meet：0<x<W/2,0<y<H/2.
The described based reminding method that traffic-control device is recognized based on driving video instrument, wherein, the step A3 passes through candidate
The dutycycle determination methods in region are specially：If the area of candidate region is S, SxIt is the area of the boundary rectangle of candidate region, L
It is the girth of candidate region, the dutycycle of candidate region is R,, the circularity is set to C, and the computing formula of C is。
A kind of system for prompting that traffic-control device is recognized based on driving video instrument, wherein, system includes：
Obtain and analysis module, for driving a vehicle, video instrument is obtained and store video information in real time by camera, and to regarding
Frequency information is analyzed, and judges whether stop-go mark；
Treatment and judge module, for when judging to have stop-go mark, the MCU of video instrument of driving a vehicle to be to being obtained
Traffic lights image processed by algorithm, judge current lights state；
Prompting module, for according to current lights state, corresponding voice reminder being carried out to car owner.
The described system for prompting that traffic-control device is recognized based on driving video instrument, wherein, the acquisition and analysis module
Specifically include：
Acquiring unit and processing unit, for driving a vehicle, video instrument obtains video information in real time by camera, and video is believed
Breath is processed as image one by one；
Extraction unit, for extracting the candidate region for being traffic lights identification of the connected region in image；
Judging unit, for by judging the scope of the elemental area shared in the picture of the traffic lights in image, and sentences
Disconnected traffic lights position in the picture, judges whether red green finally by the dutycycle and circularity for judging candidate region
Lamp.
The described system for prompting that traffic-control device is recognized based on driving video instrument, wherein, utilized in the judging unit
Judging the method for the elemental area at strong point in the picture of the traffic lights in image includes：If d is the diameter of traffic lights in image, f
It is the equivalent focal length of the camera of video instrument of driving a vehicle, f0It is the real focal length of camera lens, dxIt is the size of camera CCD, Zc is
Distance of the driving video instrument apart from traffic lights, then shared pixel is given traffic lights by formula below in the picture：
,。
The described system for prompting that traffic-control device is recognized based on driving video instrument, wherein, in the judging unit
It is specially using traffic lights position judging method in the picture：If picture altitude is H, width is W, then in connected region
The centre coordinate of traffic lights（X, y）Meet：0<x<W/2,0<y<H/2.
The described system for prompting that traffic-control device is recognized based on driving video instrument, wherein, in the judging unit
It is specially by the dutycycle determination methods of candidate region：If the area of candidate region is S, SxIt is the boundary rectangle of candidate region
Area, L is the girth of candidate region, and the dutycycle of candidate region is R,, the circularity is set to C, the calculating of C
Formula is。
The invention provides a kind of based reminding method based on driving video instrument identification traffic-control device and system, methods described
Including：Driving video instrument is obtained and stores video information in real time, and video information is analyzed by camera, is judged whether
There is stop-go mark；When judging to have stop-go mark, the MCU of video instrument of driving a vehicle is to the traffic lights that are obtained
Image is processed by algorithm, judges current lights state；According to current lights state, phase is carried out to car owner
The voice reminder answered.The present invention can judge the state of traffic red light by video instrument of driving a vehicle, and motor vehicle operators are made in friendship
Passway is made a dash across the red light and easily causes traffic accident, and the delayed prompting for starting vehicle during green light, is improve motor vehicle operators and is driven
Sail the security of automobile.
Brief description of the drawings
Fig. 1 is a kind of preferred embodiment of based reminding method based on driving video instrument identification traffic-control device of the invention
Flow chart.
Fig. 2 is a kind of preferred embodiment of based reminding method based on driving video instrument identification traffic-control device of the invention
Flow chart.
Specific embodiment
To make the objects, technical solutions and advantages of the present invention clearer, clear and definite, develop simultaneously embodiment pair referring to the drawings
The present invention is further described.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and without
It is of the invention in limiting.
A kind of based reminding method that traffic-control device is recognized based on driving video instrument described in present pre-ferred embodiments, is such as schemed
Shown in 1, including：
Step S100, driving video instrument are obtained and store video information in real time, and video information is carried out by camera
Analysis, judges whether stop-go mark.
During specific implementation, driving video instrument is arranged on the front of vehicle, can obtain the view data of vehicle front.Driving
Video instrument obtains current video information in real time by itself camera, and the storage card that video information storage is assembled at itself
In, the big I of storage card is determined with 2G, 4G, 8G, 16G or 32G according to the definition of camera and actually used demand
SD storage cards.Video instrument of driving a vehicle simultaneously is analyzed to captured video information, judges whether stop-go mark.
During specific implementation, step S100 is specifically included：
Step S101, driving video instrument obtain video information in real time by camera, are a frame one by video information process
The image of frame is stored.
During specific implementation, because our algorithm is the specific image information for the treatment of, therefore we are getting video information
Afterwards, it is stored in the form of images, is facilitated subsequent treatment.
Step S102, the connected region candidate region for being traffic lights identification extracted in image.
During specific implementation, the image of video instrument of driving a vehicle is changed into gray level image first, and noise is filtered off with filter method, to ash
Degree figure carries out binary segmentation, obtains binary map, using connected domain algorithm, the connected domain in bianry image is extracted, as red green
The candidate region of lamp flavouring.
Step S103, the scope by judging the elemental area shared in the picture of the traffic lights in image, and judge red
Green light position in the picture, traffic lights are judged whether finally by the dutycycle and circularity for judging candidate region.
During specific implementation, using the elemental area for judging traffic lights in image strong point in the picture in the step S103
Method include：If d is the diameter of traffic lights in image, and in urban transportation, the directly about 20cm of traffic lights, the driving of car
The distance of the recognizable traffic lights of video instrument is about 20m ~ 60m, and f is the equivalent focal length of the camera of driving video instrument, f0It is camera
The real focal length of camera lens（Such as 6mm camera lenses, 8mm camera lenses, 16mm camera lenses, 25mm camera lenses etc.）, dxIt is the size of camera CCD, Zc
It is distance of the video instrument apart from traffic lights of driving a vehicle, then shared pixel is given traffic lights by formula below in the picture：
,。
According to known camera parameter, can estimate during apart from traffic lights Zc, the circumscribed rectangular region and area of traffic lights
One is scheduled in effectively identification distance, and the scope of traffic lights strong point elemental area in the picture, as distinguishing rule, just can be excluded
Excessive and too small candidate region.
The described based reminding method that traffic-control device is recognized based on driving video instrument, utilizes traffic lights in the step S103
Position judging method in the picture is specially：If picture altitude is H, width is W, then in the traffic lights in connected region
Heart coordinate（X, y）Meet：0<x<W/2,0<y<H/2.
During specific implementation, the traffic lights in urban transportation are generally located on road both sides, and have certain visual angle, therefore red
Green light is normally at the top of image, so the central area pixel coordinate of traffic lights meets 0<x<W/2,0<y<H/2.
The described based reminding method that traffic-control device is recognized based on driving video instrument, wherein, the step S103 is by waiting
The dutycycle determination methods of favored area are specially：If the area of candidate region is S, SxIt is the face of the boundary rectangle of candidate region
Product, L is the girth of candidate region, and the dutycycle of candidate region is R,, the circularity is set to C, the computing formula of C
For。
During specific implementation, in theory, the dutycycle R and circularity of border circular areas are 1.Affected by noise, R and C can be attached 1
Nearly fluctuation.By the two parameters, border circular areas, that is, the region where obtaining traffic lights are can extract out.
Step S200, when judging to have stop-go mark, the MCU of video instrument of driving a vehicle is to the traffic lights figure that is obtained
As being processed by algorithm, current lights state is judged.
During specific implementation, when judging that front has stop-go mark, the MCU of video instrument of driving a vehicle is red to what is obtained
Green light image is acquired, and the picture signal that will be collected uses signal amplifier by traffic filter squad noise jamming
Carry out power amplification and obtain the preferable waveform signal of spectral characteristic, then the waveform signal is converted into digital letter by analog-digital converter
Number.The data signal that will be obtained obtains the status signal of traffic lights, specific image point by image analysis processing process
Analysis processing procedure includes image recognition and Image Edge-Detection, and edge detection algorithm includes that filtering, enhancing, detection and positioning etc. are calculated
Method.So that it is determined which kind of state current lights state is.
Step S300, according to current lights state, corresponding voice reminder is carried out to car owner.
During specific implementation, when current lights state is judged, during for instance in red light, voice message can be used：Front
There are traffic lights, be now red light, ask ramp to stop.When in green light, voice message can be used：It is currently green light, please starts
Vehicle.
The invention provides a kind of based reminding method that traffic-control device is recognized based on driving video instrument, the method is used
Driving video instrument is processed the picture for photographing, judge it is current whether have a traffic lights, and state to traffic lights is sentenced
It is disconnected, while carry out voice reminder to driver, reduce driver and make a response what is brought because failing to see in time traffic lights
Inconvenience, improves driver-operated security.
Based on above-described embodiment, the present invention also provides a kind of system for prompting that traffic-control device is recognized based on driving video instrument
Preferred embodiment functional schematic block diagram, as shown in Fig. 2 system includes：
Obtain and analysis module 510, for driving a vehicle, video instrument is obtained and store video information in real time, and be right by camera
Video information is analyzed, and judges whether stop-go mark；As detailed above.
Treatment and judge module 520, for when judging to have stop-go mark, the MCU of video instrument of driving a vehicle to be to institute
The traffic lights image of acquisition is processed by algorithm, judges current lights state；As detailed above.
Prompting module 530, for according to current lights state, corresponding voice reminder being carried out to car owner；Specifically such as
It is upper described.
The described system for prompting that traffic-control device is recognized based on driving video instrument, wherein, the acquisition and analysis module
510 specifically include：
Acquiring unit and processing unit, for driving a vehicle, video instrument obtains video information in real time by camera, and video is believed
Breath is processed as image one by one；As detailed above.
Extraction unit, for extracting the candidate region for being traffic lights identification of the connected region in image；Specific as above institute
State.
Judging unit, by judging the scope of the elemental area shared in the picture of the traffic lights in image, and judges red
Green light position in the picture, traffic lights are judged whether finally by the dutycycle and circularity for judging candidate region；Tool
Body is as described above.
The described system for prompting that traffic-control device is recognized based on driving video instrument, wherein, utilized in the judging unit
Judging the method for the elemental area at strong point in the picture of the traffic lights in image includes：If d is the diameter of traffic lights in image, f
It is the equivalent focal length of the camera of video instrument of driving a vehicle, f0It is the real focal length of camera lens, dxIt is the size of camera CCD, Zc is
Distance of the driving video instrument apart from traffic lights, then shared pixel is given traffic lights by formula below in the picture：
,；As detailed above.
The described system for prompting that traffic-control device is recognized based on driving video instrument, wherein, in the judging unit
It is specially using traffic lights position judging method in the picture：If picture altitude is H, width is W, then in connected region
The centre coordinate of traffic lights（X, y）Meet：0<x<W/2,0<y<H/2；As detailed above.
The described system for prompting that traffic-control device is recognized based on driving video instrument, wherein, in the judging unit
It is specially by the dutycycle determination methods of candidate region：If the area of candidate region is S, SxIt is the boundary rectangle of candidate region
Area, L is the girth of candidate region, and the dutycycle of candidate region is R,, the circularity is set to C, the calculating of C
Formula is；As detailed above.
The described automation colony dispatching data handling system based on positional information, wherein, the positional information refers to
The latitude and longitude information of colony terminal present position；As detailed above.
In sum, the invention provides it is a kind of based on driving video instrument identification traffic-control device based reminding method and be
System, methods described includes：Driving video instrument is obtained and stores video information in real time, and video information is divided by camera
Analysis, judges whether stop-go mark；When judging to have stop-go mark, the MCU of video instrument of driving a vehicle is to institute
The traffic lights image of acquisition is processed by algorithm, judges current lights state；According to current lights state,
Corresponding voice reminder is carried out to car owner.The present invention can judge the state of traffic red light by video instrument of driving a vehicle, and automobile is driven
The person of sailing is made in traffic road junction and makes a dash across the red light and easily causes traffic accident, and the delayed prompting for starting vehicle during green light, improves
The security of motor vehicle operators' driving.
It should be appreciated that application of the invention is not limited to above-mentioned citing, and for those of ordinary skills, can
To be improved according to the above description or converted, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Shield scope.
Claims (6)
1. it is a kind of based on driving video instrument recognize traffic-control device based reminding method, it is characterised in that method includes：
A, driving video instrument are obtained and store video information in real time, and video information is analyzed by camera, and judgement is
It is no to there is stop-go mark；
B, when judging to have stop-go mark, the MCU of video instrument of driving a vehicle passes through algorithm to the traffic lights image that is obtained
Processed, judged current lights state；
C, according to current lights state, corresponding voice reminder is carried out to car owner；
The A is specifically included：
A1, driving video instrument obtain video information in real time by camera, are image one by one by video information process；
A2, the connected region candidate region for being traffic lights identification extracted in image；
A3, the scope by judging the elemental area shared in the picture of the traffic lights in image, and judge traffic lights in image
In position, judge whether traffic lights finally by the dutycycle and circularity for judging candidate region；
Included using the method for judging traffic lights in the image elemental area at strong point in the picture in the A3：If d is image
The diameter of middle traffic lights, f is the equivalent focal length of the camera of driving video instrument, f0It is the real focal length of camera lens, dxIt is shooting
Head CCD size, Zc be drive a vehicle video instrument apart from traffic lights distance, then traffic lights in the picture shared pixel by following public affairs
Formula is given：
,。
2. it is according to claim 1 based on driving video instrument recognize traffic-control device based reminding method, it is characterised in that institute
State and be specially using traffic lights position judging method in the picture in A3：If picture altitude is H, width is W, then connected region
The centre coordinate of the traffic lights in domain（X, y）Meet：0<x<W/2,0<y<H/2.
3. it is according to claim 1 based on driving video instrument recognize traffic-control device based reminding method, it is characterised in that institute
A3 is stated to be specially by the dutycycle determination methods of candidate region：If the area of candidate region is S, SxIt is external for candidate region
The area of rectangle, L is the girth of candidate region, and the dutycycle of candidate region is R,, the circularity is set to C, C's
Computing formula is。
4. it is a kind of based on driving video instrument recognize traffic-control device system for prompting, it is characterised in that system includes：
Obtain and analysis module, video instrument is obtained and store video information in real time by camera for driving a vehicle, and video is believed
Breath is analyzed, and judges whether stop-go mark；
Treatment and judge module, for when judging to have stop-go mark, the MCU of video instrument of driving a vehicle to be red to what is obtained
Green light image is processed by algorithm, judges current lights state；
Prompting module, for according to current lights state, corresponding voice reminder being carried out to car owner；
The acquisition is specifically included with analysis module：
Acquiring unit and processing unit, for driving a vehicle, video instrument obtains video information in real time by camera, at video information
It is image one by one to manage；
Extraction unit, for extracting the candidate region for being traffic lights identification of the connected region in image；
Judging unit, for by judging the scope of the elemental area shared in the picture of the traffic lights in image, and judges red
Green light position in the picture, traffic lights are judged whether finally by the dutycycle and circularity for judging candidate region；
Included using the method for judging traffic lights in the image elemental area at strong point in the picture in the judging unit：If d
It is the diameter of traffic lights in image, f is the equivalent focal length of the camera of driving video instrument, f0It is the real focal length of camera lens, dx
Be the size of camera CCD, Zc is distance of the video instrument apart from traffic lights of driving a vehicle, then traffic lights in the picture shared pixel by
Formula below is given：
,。
5. it is according to claim 4 based on driving video instrument recognize traffic-control device system for prompting, it is characterised in that institute
State and be specially using traffic lights position judging method in the picture in judging unit：If picture altitude is H, width is W, then
The centre coordinate of the traffic lights in connected region（X, y）Meet：0<x<W/2,0<y<H/2.
6. it is according to claim 4 based on driving video instrument recognize traffic-control device system for prompting, it is characterised in that institute
State and be specially by the dutycycle determination methods of candidate region in judging unit：If the area of candidate region is S, SxIt is candidate regions
The area of the boundary rectangle in domain, L is the girth of candidate region, and the dutycycle of candidate region is R,, the circularity sets
It is C, the computing formula of C is。
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| CN105355065A (en) * | 2015-10-23 | 2016-02-24 | 广东欧珀移动通信有限公司 | Navigation prompting method and device |
| CN105389945A (en) * | 2015-12-10 | 2016-03-09 | 胡开标 | Vehicle-mounted life detection system |
| CN106781584B (en) * | 2017-01-22 | 2019-12-31 | 英华达（上海）科技有限公司 | Traffic light transformation prompting method |
| CN107240285A (en) * | 2017-01-24 | 2017-10-10 | 问众智能信息科技（北京）有限公司 | A kind of method and system that traffic lights identification is carried out by drive recorder |
| CN108305475B (en) * | 2017-03-06 | 2020-10-09 | 腾讯科技（深圳）有限公司 | Traffic light identification method and device |
| CN110503844A (en) * | 2018-05-17 | 2019-11-26 | 上海擎感智能科技有限公司 | A kind of based reminding method of drive speed, system and car-mounted terminal |
| CN110335484B (en) * | 2019-08-08 | 2021-03-12 | 北京小马慧行科技有限公司 | Method and device for controlling vehicle to run |
| CN112418031B (en) * | 2020-11-11 | 2022-03-11 | 腾讯科技（深圳）有限公司 | Image recognition method and device, storage medium and electronic equipment |
| CN113212300A (en) * | 2021-05-10 | 2021-08-06 | 首约科技(北京)有限公司 | Vehicle-mounted traffic light identification system |
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| CN202205354U (en) * | 2010-12-16 | 2012-04-25 | 上海博泰悦臻电子设备制造有限公司 | Vehicle-mounted terminal |
| CN102682618A (en) * | 2012-06-12 | 2012-09-19 | 中国人民解放军军事交通学院 | Traffic light detection and reminding device for safe driving |
| KR101406679B1 (en) * | 2014-04-30 | 2014-06-12 | 이예지 | Color blindness, color weakness improved the safety of the driver of the operating methods of the multi-function lights |
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Effective date of registration: 20180808 Address after: 528100 Foshan, Sanshui Industrial Zone, Guangdong, 25-8 C (F1) four, 415, Southwest Park. Patentee after: Foshan an & Technology Co., Ltd. Address before: 528133 C District, Southwest Industrial Park, Sanshui District, Foshan, Guangdong Patentee before: Coagent Electronic S & T Co., Ltd. |
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Address after: 528100 Foshan, Sanshui Industrial Zone, Guangdong, 25-8 C (F1) four, 415, Southwest Park. Patentee after: Guangdong Haobangshou Anyu Technology Co.,Ltd. Address before: 528100 Foshan, Sanshui Industrial Zone, Guangdong, 25-8 C (F1) four, 415, Southwest Park. Patentee before: FOSHAN ANYU TECH Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |