CN104553983A - Vehicle pre-warning system and vehicle pre-warning method - Google Patents
Vehicle pre-warning system and vehicle pre-warning method Download PDFInfo
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- CN104553983A CN104553983A CN201310505474.7A CN201310505474A CN104553983A CN 104553983 A CN104553983 A CN 104553983A CN 201310505474 A CN201310505474 A CN 201310505474A CN 104553983 A CN104553983 A CN 104553983A
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Abstract
A vehicle pre-warning system comprises a camera device, a processing device and a warning device. The camera device is used for shooting a scene to acquire image frames corresponding to the scene; the processing device judges whether moving articles exist in the scene or not according to the image frames; if yes, the processing device calculates speeds of the moving articles according to positions of the articles and the scene shooting frequency of the camera device; the processing device further sets corresponding pre-warning levels according to the positions and the speeds of the moving articles; the warning device outputs corresponding warning messages according to the pre-warning levels. The invention further provides a vehicle pre-warning method. By adoption of the vehicle pre-warning system and the vehicle pre-warning method, the corresponding pre-warning levels are set according to the moving speeds and the positions of the moving articles in the scene, so that people in a vehicle can be conveniently reminded of safety in getting off.
Description
Technical field
The present invention relates to a kind of vehicle early warning system and method.
Background technology
When bus carries out stop operation, normal there is the locomotive at rear or the knight of bicycle because of the not resistance to factor such as to wait and pass through between bus and station board by force.So, existing bus equipment cannot differentiate the situation of bus door scope and road in the rear, so, when occupant is not when really noticing the condition of road surfaces such as back car and just rashly going down bus, just easily cause the vehicle travelled by force between bus and station board to clash into the personnel of getting off etc. because dodging not as good as and surprisingly occur.
Summary of the invention
In view of above content, be necessary to provide a kind of vehicle early warning system and method for pointing out personnel's condition of road surface of getting off.
A kind of vehicle early warning system, comprising:
One camera head, for taking to obtain the image frame corresponding to this scene to a scene, this camera head also for output packet containing the image frame of each object in this scene relative to the distance message of this camera head;
One processing equipment, what receive the transmission of this camera head comprises the image frame of this scene each object interior relative to the distance message of this camera head, and judges whether there is mobile object in this scene according to this image frame; When there is mobile object in this scene, this processing equipment calculates the speed of this mobile object according to the cymometer that the distance between this object and this camera head and this camera head take this scene; This processing equipment is also according to the position of this mobile object and advanced warning grade corresponding to Speed Setting; And
One alarming device, exports corresponding warning message according to each advanced warning grade.
A kind of vehicle early warning method, comprising:
Obtain the image frame corresponding to a scene;
Output packet is containing the image frame of each object in this scene relative to the distance message of a camera head;
Judge whether there is mobile object in this scene;
When there is mobile object in this scene, the cymometer taking this scene according to the distance between this mobile object and this camera head and this camera head calculates the speed of this mobile object;
According to the position of this mobile object and advanced warning grade corresponding to Speed Setting; And
Corresponding warning message is exported according to each advanced warning grade.
Above-mentioned vehicle early warning system and method sets corresponding advanced warning grade according to the position and running velocity that there is mobile object in scene, so convenient prompting occupant Safe getting-off.
Accompanying drawing explanation
Fig. 1 is the block scheme of the better embodiment of vehicle early warning system of the present invention.
Fig. 2 is the block scheme of the better embodiment of camera head and processing equipment in Fig. 1.
Fig. 3 is the schematic diagram that in Fig. 1, alarming device is installed on a vehicle.
Fig. 4 is the schematic diagram that in Fig. 1, image judging unit judges whether to exist in scene mobile object.
Fig. 5 is the diagram of circuit of the better embodiment of vehicle early warning method of the present invention.
Fig. 6 is the diagram of circuit of the better embodiment of step S4 in Fig. 5.
Fig. 7 is the diagram of circuit of the better embodiment of step S5 in Fig. 5.
Fig. 8 is the diagram of circuit comprised between step S7 and step S8 in Fig. 5.
Main element nomenclature
| Camera head | 10 |
| Processing equipment | 20 |
| Alarming device | 30 |
| Memory storage | 40 |
| Beam generating unit | 100 |
| Unit set up by model | 102 |
| Image output unit | 104 |
| Image capturing unit | 200 |
| Image judging unit | 202 |
| Alarm settings unit | 204 |
| Scene | 60 |
| Mobile object | 80 |
| First to the 3rd image | 600、602、604 |
| Vehicle | 50 |
| Warning light | 300 |
| Car door | 500 |
| Caution sound playing device | 302 |
| Primary importance | 83 |
| The second place | 82 |
Following detailed description of the invention will further illustrate the present invention in conjunction with above-mentioned accompanying drawing.
Detailed description of the invention
Below in conjunction with accompanying drawing and better embodiment, the present invention is described in further detail:
Please refer to Fig. 1, the better embodiment of vehicle early warning system of the present invention comprises one for obtaining shown in a scene 60(Fig. 4) the camera head 10, of image frame export the alarming device 30 of corresponding warning message for the processing equipment 20 and judging whether to exist in this scene mobile object according to the position of mobile object in this scene 60 and speed for the memory storage 40, that stores this image frame.In present embodiment, this camera head 10 is installed on a vehicle 50(as shown in Figure 3) anterior right front, take for the space (i.e. this scene 60) to this vehicle 50 rear.
Please refer to Fig. 2 and Fig. 3, this camera head 10 comprises beam generating unit 100, model and sets up unit 102 and an image output unit 104.
This beam generating unit 100 for continuing output one reference beam in this scene 60.This model sets up unit 102 according to the time difference between the launching and receiving of this reference beam to obtain the distance in the image of this scene 60 and this scene 60 between object and this camera head 10.
In present embodiment, the reference beam that this beam generating unit 100 produces transmits in this scene 60, and when there is object in this scene 60, the propagation of this reference beam will be hindered, and then makes this reference beam be reflected by the object.When this camera head 10 receives the reference beam be reflected by the object, this model is set up unit 102 and is calculated distance between this object and this camera head 10, to set up the image frame comprising this object dimensional model according to launching speed that this reference beam and the time difference received between this reference beam and this reference beam transmit.This element value (255 ~ 0).Such as, suppose that the ultimate range that this camera head 10 can be detected is 15 meters, the picture element value that now this ultimate range is corresponding is 255.This model set up unit 102 according to detecting obtain distance between this object with this camera head 10 with this maximum detect distance and this maximum to detect apart from corresponding picture element value between proportionate relationship produce the picture element value of this object relative to the spacing of this camera head 10.In present embodiment, this camera head 10 is taken this scene 60 with the frequency of shooting per second ten images.
This alarming device 30 comprises Warning light 300 and a caution sound playing device 302.This Warning light 300 is installed on the outside of this vehicle 50, and to warn other vehicles or pedestrians of this vehicle 50 outside, this caution sound playing device 302 is installed on the position of the car door 500 of this vehicle 50, to point out the personnel by bus in this vehicle 50.In other embodiments, this Warning light 300 also can be installed on the interior of this vehicle 50, to warn the personnel by bus of this vehicle 50 inside.
This image output unit 104 sets up the image frame comprising the 3D modelling of this scene 60 of unit 102 generation for exporting this model.
This processing equipment 20 comprises image capturing unit 200, image judging unit 202 and an alarm settings unit 204.
This image capturing unit 200 is for obtaining the image frame of this camera head 10 transmission package containing the 3D modelling of this scene 60.
This image judging unit 202 judges this image capturing unit 200 receives in the image frame obtained whether there is mobile object.
Please refer to Fig. 4, the image that this image judging unit 202 is adjacent according to front and back two frames in this image judges whether there is mobile object in this scene 60.In present embodiment, the image that before and after in this image frame, two frames are adjacent is defined as first and second image 600 and 602 respectively.Particularly, suppose all there is a mobile object 80 in this first and second image 600 and 602.This image judging unit 202 obtains the eigenwert of this first image 600 and the eigenwert of this second image 602, and judges whether there is the region with different characteristic value in this first and second image 600 and 602 according to the eigenwert of this first image 600 and this second image 602; When there is the region with different characteristic value in this first image 600 with this second image 602, this image judging unit 202 judges to there is mobile object in this scene 60, now, this image judging unit 202 also obtains the position of this mobile object in this first and second image 600 and 602.When this first image 600 is identical with the eigenwert of this second image 602, this image judging unit 202 judges to there is not mobile object in this scene 60.
In present embodiment, when there is the region with different characteristic value in this first image 600 with this second image 602, this image judging unit 202 using this first image 600 from there is the different region of eigenwert as one the 3rd image 604 in this second image 602.This image judging unit 202 also obtains the position of this mobile object 80 in this first image 600, as the primary importance 83 in this first image 600 according to this first image 600 and the 3rd image 604; This image judging unit 202 also obtains the position of this mobile object 80 in this second image 602 according to this second image 602 and the 3rd image 604, as the second place 82 in this second image 602.
At other embodiments, this image judging unit 202 obtains object corresponding in image according to model method for detecting, and obtain this position of mobile object 80 in the image of correspondence with this, wherein model method for detecting is prior art, therefore does not repeat them here.
When there is mobile object in this scene 60, this alarm settings unit 204 obtains this mobile object corresponding to the distance between this camera head 10 respectively according to this mobile object position in the adjacent two frame images in front and back.The picture element value of the distance message between this object and this camera head 10 is comprised in 3D modelling because of this mobile object 80, therefore, this alarm settings unit 204 calculates the distance between this object 80 and this camera head 10 according to the position of this mobile object in corresponding image, as obtained the distance between this mobile object and this camera head 10 according to the primary importance 83 of this mobile object in this first image 600, to obtain one first distance, also obtain the distance between this mobile object and this camera head 10 according to the second place 82 of this mobile object in this second image 602, to obtain a second distance.This alarm settings unit 204 also according to this mobile object speed of frequency computation part that difference and this camera head 10 of the distance in the adjacent two frame images in front and back between this mobile object and this camera head 10 are taken, and currently according to this mobile object sets corresponding advanced warning grade with the distance of this camera head 10 with speed.As this advanced warning grade comprises low early warning, moderate early warning and height early warning.
Particularly, when the distance of this camera head 10 detecting is 15 meters, this camera head 10 shooting frequency be ten per second time, when if this alarm settings unit 204 calculates this mobile object, in adjacent two images in front and back, the position range difference corresponded between this camera head 10 is less than 0.6 meter, then the speed that can calculate this mobile object is less than 20 kilometer per hours.This mobile object is set as low early warning by this alarm settings unit 204.Now, this alarm settings unit 204 caution sound playing device 302 controlled in this alarming device 30 sends the comparatively gentle prompting sound, also controls this Warning light 300 and points out low blink speed yellow signal.When the distance of this camera head 10 detecting is 15 meters, this camera head 10 shooting frequency be ten per second time, if this alarm settings unit 204 calculate this mobile object position in adjacent two images in front and back correspond to range difference between this camera head 10 between 0.6 meter and 1.1 meters time, then the speed that can calculate this mobile object is positioned at 20 ~ 40 kilometer per hours.This mobile object is set as moderate early warning by this alarm settings unit 204.Now, the caution sound playing device 302 that this alarm settings unit 204 controls in this alarming device 30 sends the comparatively rapid prompting sound, also controls this Warning light 300 and points out the prompting of high blink speed yellow.When the distance of this camera head 10 detecting is 15 meters, this camera head 10 shooting frequency be ten per second time, when if this alarm settings unit 204 calculates this mobile object, in adjacent two images in front and back, the position range difference corresponded between this camera head 10 is greater than 1.1 meters, then the speed that can calculate this mobile object is greater than 40 kilometer per hours.This mobile object is set as height early warning by this alarm settings unit 204.Now, this alarm settings unit 204 caution sound playing device 302 controlled in this alarming device 30 sends rapid and that decibel the is higher prompting sound, also controls this Warning light 300 and points out the prompting of high blink speed yellow.
In other embodiments, this alarm settings unit 204 also can set corresponding advanced warning grade according to the weight between the current position of this mobile object 80 and the speed of this mobile object 80.
In other embodiments, when there is mobile object 80 in this scene 60, according to two adjacent frame images of front and back in this image frame, this image judging unit 202 also judges whether the service direction of this mobile object 80 runs away from this vehicle 50.When this mobile object 80 runs away from this vehicle 50, this alarm settings unit 204 controls this alarming device 30 and does not export alarm signal.Otherwise when this mobile object 80 runs towards this vehicle 50, this alarm settings unit 204 positions according to this mobile object 80 and advanced warning grade corresponding to Speed Setting, to point out warning message to occupant.
In other embodiments, when there is not mobile object in this scene 60, this alarm settings unit 204 does not export warning message.
In present embodiment, according to the distance relation of picture element value respectively and between this camera head 10 of the picture element value of the primary importance 83 of this first image 600 and the second place 82 of this second image 602, this image judging unit 202 judges whether this mobile object 80 runs away from this vehicle 50, as to be greater than this first image 600 relative to the distance of this camera head 10 when the second place 82 of this second image 602 the distance of primary importance 83 relative to camera head 10 time, then judge that this mobile object 80 travels away from this vehicle 50; Otherwise, when the distance of the second place 82 of this second image 602 to be less than this first image 600 primary importance 83 relative to the distance of this camera head 10 relative to camera head 10, then judge that this mobile object 80 travels towards this vehicle 50.
Please refer to Fig. 5, the embodiment of vehicle early warning method of the present invention comprises the steps:
Step S1, is taken with preset frequency by this camera head 10 pairs of scenes 60, to obtain two image frames relative to this scene.
Step S2, carries out three-dimensional modeling to this two image frame, to obtain the 3D modelling corresponding to this scene.This 3D modelling comprises the distance message in this scene between each object and this camera head 10.The distance message of each object is represented by the picture element value of correspondence.
Step S3, this image judging unit 202 is detected these two image frames.
Step S4, this image judging unit 202 judges whether there is mobile object in this scene.When there is mobile object in this scene, perform step S5; Otherwise, when there is not mobile object in this scene, return step S1.
Step S5, this image judging unit 202 obtains the position of mobile object in the adjacent two frame images in front and back.
Step S6, this alarm settings unit 204 obtains according to this mobile object position in the adjacent two frame images in front and back the distance that this mobile object corresponds to this camera head respectively.
Step S7, this alarm settings unit 204 corresponds to the difference of distance of this camera head 10 and the moving velocity of the frequency computation part mobile object of this filming image according to this mobile object position in the frame image of front and back two.
Step S8, position with this camera head current according to this mobile object and advanced warning grade corresponding to Speed Setting.
Step S9, exports corresponding alarm signal according to advanced warning grade.
Please refer to Fig. 6, in present embodiment, step S4 also comprises the steps:
Step S40, the eigenwert of first and second image of adjacent two frames before and after this image judging unit 202 obtains.
Step S44, this image judging unit 202 judges whether this first and second image has the region of different characteristic value.When this first and second image has the region of different characteristic value, perform step S46; Otherwise, when this first and second image does not have the region of different characteristic value, perform step S48.
Step S46, this image judging unit 202 judges to there is mobile object in this scene.
Step S48, this image judging unit 202 judges to there is not mobile object in this scene.
Please refer to Fig. 7, in present embodiment, step S5 also comprises the steps:
Step S52, this image judging unit 202 region that this first image 600 is different from eigenwert in this second image is as the 3rd image 604.
Step S56, this image judging unit 202 obtains the primary importance 83 of this mobile object in this first image 600 according to this first image 600 and the 3rd image 604.
Step S58, this image judging unit 202 obtains the second place 83 of this mobile object in this second image 602 according to this second image 602 and the 3rd image 604.
Please refer to Fig. 8, in present embodiment, also comprise the steps: between step S7 and step S8
Step S74, this alarm settings unit 204 whether away from vehicle operating, when this mobile object is away from this vehicle operating, performs step S76 according to this mobile object of position judgment of mobile object in the adjacent image of front and back two frame; Otherwise, when this mobile object is towards this vehicle operating, perform step S8.
Step S76, closes alarm signal.
Above-mentioned vehicle early warning system and method sets corresponding advanced warning grade according to the position and running velocity that there is mobile object in scene, so convenient prompting occupant Safe getting-off.This vehicle early warning system and method also controls alarming device according to the service direction of this mobile object and whether transmits corresponding alarm signal, and then improves the accuracy of early warning.
Claims (14)
1. a vehicle early warning system, comprising:
One camera head, for taking to obtain the image frame corresponding to this scene to a scene, this camera head also for output packet containing the image frame of each object in this scene relative to the distance message of this camera head;
One processing equipment, what receive the transmission of this camera head comprises the image frame of this scene each object interior relative to the distance message of this camera head, and judges whether there is mobile object in this scene according to this image frame; When there is mobile object in this scene, this processing equipment calculates the speed of this mobile object according to the cymometer that range difference during this mobile object successively twice shooting and between this camera head and this camera head take this scene; The advanced warning grade that this processing equipment is also corresponding according to the Speed Setting of this mobile object; And
One alarming device, exports corresponding warning message according to each advanced warning grade.
2. vehicle early warning system as claimed in claim 1, is characterized in that: this camera head comprises a beam generating unit, unit set up by a model and an image output unit, and this beam generating unit is used for sending a reference beam; When there is an object in this scene, this reference beam is reflected; This model is set up unit and is sent reference beam according to this and receive this and produced this object by the time difference of the reference beam reflected and correspond to the distance message of this camera head, and this image output unit output packet is containing the image frame of this object relative to the distance message of this camera head.
3. vehicle early warning system as claimed in claim 1, is characterized in that: this processing equipment comprises an image capturing unit, an image judging unit and an alarm settings unit; The image frame that this image capturing unit exports for obtaining this camera head, this image judging unit obtains first and second image that before and after in this image frame, two frames are adjacent, and obtains the eigenwert of this first and second image; This image judging unit judges whether there is the region with different characteristic value in this first and second image; When there is the region of different characteristic value in this first and second image, this image judging unit judges to there is mobile object in this scene; When the eigenwert in this first and second image is identical, this image judging unit judges to there is not mobile object in this scene.
4. vehicle early warning system as claimed in claim 3, it is characterized in that: this image judging unit also obtains the position of mobile object in the adjacent two frame images in front and back, and obtain this mobile object respectively according to this mobile object position in the adjacent two frame images in front and back and correspond to the distance of this camera head, this image judging unit also according to this mobile object in the adjacent two frame images in front and back and this camera head apart from difference and this camera head this mobile object speed of frequency computation part of taking.
5. vehicle early warning system as claimed in claim 4, is characterized in that: this image judging unit region that this first image is different from eigenwert in this second image is as one the 3rd image; This image judging unit is the primary importance in this first image according to this first image and the 3rd this mobile object of image capturing, and according to this second image and the 3rd this mobile object of image capturing the second place in this second image; This alarm settings unit corresponds respectively to according to this mobile object primary importance and second place in this second image in this first image this mobile object speed of frequency computation part that the difference of the distance of this camera head and this camera head take.
6. vehicle early warning system as claimed in claim 5, is characterized in that: this image judging unit also corresponds to the service direction of this mobile object of Distance Judgment of this camera head according to the position of mobile object in the adjacent image of front and back two frame; When the distance of the second place of this second image to be greater than this first image primary importance relative to the distance of this camera head relative to camera head, this image judging unit judges that this mobile object travels away from this vehicle; When the distance of the second place of this second image to be less than this first image primary importance relative to the distance of this camera head relative to camera head, this image judging unit judges that this mobile object travels towards this vehicle.
7. the vehicle early warning system as described in as any in claim 1-6 one, is characterized in that: the distance message of the object in this scene is represented by the picture element value of correspondence, and the picture element value that the ultimate range of this camera head detecting is corresponding is one first value; This model is set up unit and is produced picture element value corresponding to this object according to the detecting proportionate relationship obtained between distance between this object with this camera head and this ultimate range and picture element value corresponding to this ultimate range.
8. the vehicle early warning system as described in as any in claim 2-6 one, it is characterized in that: the advanced warning grade that this alarm settings unit is corresponding according to this mobile object Speed Setting, when the speed of this mobile object is less than first default value, this alarming device exports one first warning message; When the speed of this mobile object is greater than this first default value and is less than second default value, this alarming device exports one second warning message; When the speed of this mobile object is greater than this second default value, this alarming device exports one the 3rd warning message.
9. a vehicle early warning method, comprising:
Obtain the image frame of the scene corresponding to a vehicle;
Output packet is containing the image frame of each object in this scene relative to the distance message of a camera head;
Judge whether there is mobile object in this scene;
When there is mobile object in this scene, the cymometer taking this scene in the image again taken in front and back according to this mobile object with this camera head range difference and this camera head calculates the speed of this mobile object;
According to the position of this mobile object and advanced warning grade corresponding to Speed Setting; And
Corresponding warning message is exported according to each advanced warning grade.
10. vehicle early warning method as claimed in claim 9, is characterized in that: step " judges whether there is mobile object in this scene " and comprising:
Obtain the eigenwert of first and second image that two frames are adjacent before and after in this image frame;
Judge whether there is the region with different characteristic value in this first and second image;
When there is the image of different characteristic value in this first and second image, judge to there is mobile object in this scene;
When this first and second image has identical eigenwert, judge to there is not mobile object in this scene.
11. vehicle early warning methods as claimed in claim 9, is characterized in that: step " cymometer taking this scene according to the range difference of this mobile object in adjacent two images in front and back and between this camera head and this camera head calculates the speed of this mobile object " comprising:
The region that this first image is different from eigenwert in this second image is as one the 3rd image;
The primary importance in this first image according to this first image and the 3rd this mobile object of image capturing;
The second place in this second image according to this second image and the 3rd this mobile object of image capturing; And
This mobile object speed of frequency computation part that the difference of the distance of this camera head and this camera head take is corresponded respectively to according to this mobile object primary importance and second place in this second image in this first image.
12. vehicle early warning methods as claimed in claim 11, is characterized in that: step " advanced warning grade corresponding according to this mobile object Speed Setting " comprising:
When the distance of the second place of this second image to be greater than this first image primary importance relative to the distance of this camera head relative to camera head, judge that this mobile object travels away from this vehicle, do not export warning message;
When the distance of the second place of this second image to be less than this first image primary importance relative to the distance of this camera head relative to camera head, this image judging unit judges that this mobile object travels towards this vehicle, and performs step and " export corresponding warning message according to each advanced warning grade ".
13. vehicle early warning methods as described in claim 11 or 12, is characterized in that: step " advanced warning grade corresponding according to the Speed Setting of this mobile object " also comprises:
When the speed of this mobile object is less than first default value, export one first warning message;
When the speed of this mobile object is greater than this first default value and is less than second default value, export one second warning message; And
When the speed of this mobile object is greater than this second default value, export one the 3rd warning message.
14. vehicle early warning methods as claimed in claim 13, is characterized in that: step " output packet is containing the image frame of each object in this scene relative to the distance message of this camera head " comprising:
Send a reference beam in this scene;
When there is an object in this scene, this reference beam is reflected;
According to sending this reference beam and receiving this reference beam and reflected to be produced by the time difference of examining light beam of reflecting and correspond to the distance message of this object, and output packet contains the image frame of the distance message of this object.
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