CN104732768B - Pass through collecting method at crossing, signal lamp place - Google Patents
Pass through collecting method at crossing, signal lamp place Download PDFInfo
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- CN104732768B CN104732768B CN201510164694.7A CN201510164694A CN104732768B CN 104732768 B CN104732768 B CN 104732768B CN 201510164694 A CN201510164694 A CN 201510164694A CN 104732768 B CN104732768 B CN 104732768B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
Abstract
The present invention relates to the current collecting method in crossing, a kind of signal lamp place, it comprises: utilize CCD vision sensor to take to obtain crossing image to crossing, described signal lamp place; Utilize mist elimination haze processor to carry out sharpening processing to obtain sharpening crossing image to described crossing image; The utilization index analysis device that blocks up carries out image processing to obtain crossing congestion index to described sharpening crossing image; Utilize signal lamp data collector Real-time Collection signal information; Utilize AT89C51 single-chip microcomputer to obtain signal information described in described crossing congestion exponential sum, wherein said AT89C51 single-chip microcomputer with described in block up index analysis device and described signal lamp data collector be connected respectively. By the present invention, can ensure the accurate collection of the current data under various weather crossing, signal lamp place, issue important evidence is provided for the information of local traffic control department.
Description
Technical field
The present invention relates to information gathering field, relate in particular to the current data acquisition in crossing, a kind of signal lamp placeDiversity method.
Background technology
In urban road travels, automobile is the maximum place of spended time from origin to destination, noThe normal travel phase at road, but waiting lamp or being blocked in road traffic at road traffic crossingNear stage crossing. Along with scientific and technological progress and the raising of people's living standard, urbanization makes progress notExpand, in city, vehicle is more and more disconnectedly, and urban road also more and more blocks up, especially on and off dutyPeak period and festivals or holidays, take the too much time of driver at road traffic crossing place, not only impactDriver's mood, easily causes traffic accident, and is the major reason that city blocks up. Therefore,How to reduce the time of waiting at road traffic crossing place, improve efficiency and the speed of Vehicle Driving Cycle, beOne of problem that control of traffic and road department is extremely concerned about.
In prior art, the technical scheme that exists some transport information to issue, near the driver helpingEvade the too much section of vehicle, average wagon flow, improves traffic. For example,, by by driver's present bitPut the jam situation in many sections around and show by roadside big screen display screen, make driverThe transport information that obtains in time many sections going to destination, weighs choices, and changes in time and drives roadLine, in ensureing very fast arrival destination, has carried out suitable shunting to the wagon flow in the section that blocks up.But existing technical scheme just simply provides the congestion information in each section, and friendship is not providedPath mouth is detained the information of vehicle and near the information of lights state, provides information limited, ginsengExamine and be worth generally. In prior art, also there are some distribution of information schemes based on crossing image recognition,But because not considering the impact of haze weather, reliability is not high.
Therefore, need a kind of new transport information release model, can be by near driver's current locationTraffic intersection be detained the information of vehicle and near the information of lights state and send in time drivingIn member's vehicle interior terminal, help driver to understand more meticulously near the traffic letter of each traffic intersectionBreath, thus route or travel speed regulated, more effectively reach vehicle shunting effect, meanwhile, thisPattern need to overcome the interference of haze weather to information gathering, improves the accuracy of data acquisition.
Summary of the invention
In order to address the above problem, according to an aspect of the present invention, the invention provides a kind of signalCrossing, the lamp place collecting method that passes through, it comprises: utilize CCD vision sensor to described letterCrossing image is taken to obtain in crossing, signal lamp place; Utilize mist elimination haze processor to described crossing figurePicture carries out sharpening processing to obtain sharpening crossing image; Utilization is blocked up index analysis device to described clearClearization crossing image carries out image processing to obtain crossing congestion index; Utilize signal lamp data collectorReal-time Collection signal information; Utilize AT89C51 single-chip microcomputer to obtain described in described crossing congestion exponential sumSignal information, wherein said AT89C51 single-chip microcomputer with described in block up index analysis device and described signalLamp data acquisition unit connects respectively.
Collecting method of the present invention utilizes the current data collecting system in crossing, signal lamp place to implement,Therefore, according to another aspect of the present invention, the present invention also provides crossing, a kind of signal lamp place logicalRow data collecting system, described system comprises CCD vision sensor, mist elimination haze processor, blocks upIndex analysis device, signal lamp data collector and AT89C51 single-chip microcomputer, described CCD visual sensingDevice takes to obtain crossing image to crossing, described signal lamp place, described mist elimination haze processor pairDescribed crossing image carries out sharpening processing to obtain sharpening crossing image, described in the index analysis that blocks upDevice carries out image processing to obtain crossing congestion index, described signal lamp to described sharpening crossing imageData acquisition unit is for Real-time Collection signal information, described AT89C51 single-chip microcomputer with described in the finger that blocks upNumber analyzer is connected respectively with described signal lamp data collector, to obtain described crossing congestion exponential sumDescribed signal information.
More specifically, described data collecting system further comprises:
GPRS transceiver, is connected with described AT89C51 single-chip microcomputer, for described crossing congestion is referred toNumber and described signal information break into GPRS real time data bag, to send by GPRS communication linkTo local traffic control information promulgating platform;
Power supply, comprises solar powered device, battery, change-over switch and electric pressure converter,Described change-over switch is connected respectively with described solar powered device and described battery, according to batteryDump energy determines whether be switched to described solar powered device with by described solar powered devicePower supply, described electric pressure converter is connected with described change-over switch, with by the 5V inputting by change-over switchVoltage transitions is 3.3V voltage;
User's entering apparatus, for according to user's input, sets the predetermined index threshold, first of blocking upCrossing presumptive area and the second crossing presumptive area, the first crossing presumptive area and the second fate, crossingTerritory is all the border circular areas centered by crossing, described signal lamp place;
Portable hard drive, is connected with user's entering apparatus, for the storing predetermined index threshold of blocking up, firstCrossing presumptive area and the second crossing presumptive area, multiple traffic roads in storage the first crossing presumptive areaThe crossing congestion exponential sum signal information of mouth, also stores each vehicle in the second crossing presumptive areaRadio receiving terminal ID.
Particularly, described mist elimination haze processor comprises:
Store sub-device, for pre-stored sky upper limit gray threshold and sky lower limit gray threshold,Described sky upper limit gray threshold and described sky lower limit gray threshold are for separating of the sky of publishing picture in pictureDummy section, also for pre-stored presetted pixel value threshold value, described presetted pixel value threshold value value is 0Between 255;
Haze concentration detects sub-device, is arranged in air, for real time detection signal lamp positionHaze concentration, and determine haze removal intensity according to haze concentration, described haze is removed intensity value and is existedBetween 0 to 1;
Molecular device is drawn in region, connects described CCD vision sensor to receive described crossing image,Described crossing image is carried out to gray processing processing to obtain gray processing area image, also with the sub-device of storageConnect, by gray value in described gray processing area image at described sky upper limit gray threshold and described dayPixel between empty lower limit gray threshold is identified and forms gray processing sky sub pattern, from described gray processingArea image is partitioned into described gray processing sky sub pattern to obtain the non-sky subimage of gray processing, based onThe correspondence position of the non-sky subimage of described gray processing in described beat image obtain with described inThe non-sky subimage of colour that the non-sky subimage of gray processing is corresponding;
Black channel obtains sub-device, and drawing molecular device with described region, to be connected to obtain described colour non-Sky subimage, for each pixel in the non-sky subimage of described colour, calculates its R, G, BThree Color Channel pixel values, the R of all pixels in the non-sky subimage of described colour, G, B tri-In Color Channel pixel value, extract the Color Channel at the Color Channel pixel value place of a numerical value minimumAs black channel;
Entirety atmosphere light value obtains sub-device, is connected to obtain presetted pixel value with the sub-device of described storageThreshold value, draws molecular device and described black channel with described region and obtains sub-device and be connected respectively to obtainDescribed crossing image and described black channel, be greater than black channel pixel value in the image of described crossing etc.Multiple pixels in presetted pixel value threshold value form set of pixels to be tested, by described set of pixels to be testedThere is the gray value atmosphere light value as a whole of the pixel of maximum gradation value;
Atmospheric scattering light value obtains sub-device, draws molecular device and the inspection of described haze concentration with described regionSurvey sub-device and connect respectively, to each pixel of described crossing image, extract its R, G, B tri-In Color Channel pixel value, minimum of a value, as target pixel value, is used the Gaussian smoothing filtering of keep the edge informationDevice EPGF (edge-preservinggaussianfilter) carries out filtering processing to described target pixel valueTo obtain filtering target pixel value, target pixel value is deducted to filtering target pixel value to obtain target pictureElement difference, is used EPGF to carry out filtering processing to object pixel difference poor to obtain filtering object pixelValue, deducts filtering object pixel difference by filtering target pixel value and removes a reference value to obtain haze, willThe intensity of removing haze is multiplied by haze removes a reference value to obtain haze removal threshold value, gets haze and removes threshold valueWith the minimum of a value reference value as a comparison in target pixel value, get the maximum in comparison reference and 0As the atmospheric scattering light value of each pixel;
Medium transmission rate is obtained sub-device, obtains sub-device and described atmosphere with described overall atmosphere light valueScattering light value obtains sub-device and connects respectively, by large divided by entirety the atmospheric scattering light value of each pixelGas light value, to obtain except value, deducts described except value is to obtain the medium transmission rate of each pixel by 1;
The sub-device of sharpening image acquisition, draws molecular device, described overall atmosphere light value with described regionObtain sub-device and obtain sub-device with described medium transmission rate and be connected respectively, deduct each pixel by 1Medium transmission rate to obtain the first difference, by described the first difference be multiplied by overall atmosphere light value with obtainProduct value, deducts described product value to obtain by the pixel value of each pixel in the image of described crossingTwo differences, by described the second difference divided by the medium transmission rate of each pixel to obtain each pixelSharpening pixel value, in the image of described crossing, the pixel value of each pixel comprises described crossing imageIn the R of each pixel, G, B tri-Color Channel pixel values, correspondingly, each picture of acquisitionThe sharpening pixel value of element comprises the R of each pixel, G, and B tri-Color Channel sharpening pixel values,The sharpening pixel value composition sharpening crossing image of all pixels.
More specifically, described in, block up index analysis device for to image traffic intersection place, sharpening crossingThe vehicle fleet size being detained is analyzed, to obtain crossing congestion index, and the vehicle that traffic intersection place is detainedQuantity is more, and corresponding crossing congestion index is higher.
More specifically, described AT89C51 single-chip microcomputer and described GPRS transceiver and described portable hard driveRespectively connect, by described GPRS transceiver by the first crossing presumptive area and the second fate, crossingTerritory sends to local traffic control information promulgating platform, receives local traffic control letter by described GPRS transceiverThe crossing congestion exponential sum of each traffic intersection in the first crossing presumptive area of breath distribution platform feedbackSignal information, and receive in the second crossing presumptive area of local traffic control information promulgating platform feedbackThe radio receiving terminal ID of each vehicle.
More specifically, described AT89C51 single-chip microcomputer when described in the block up crossing of index analysis device output gather aroundStifled index is greater than while being scheduled to block up index threshold, by described GPRS transceiver, by pre-the first crossingThe crossing congestion exponential sum signal information of determining multiple traffic intersections in region sends to and the second crossingEach radio receiving terminal corresponding to radio receiving terminal ID of each vehicle in presumptive area.
More specifically, described acquisition system is arranged on the fixed transverse rod at crossing, signal lamp place.
More specifically, described user's entering apparatus, described portable hard drive, described mist elimination haze processor,The described index analysis device that blocks up, described signal lamp data collector and described AT89C51 single-chip microcomputer are all establishedIn instrument case on the fixed transverse rod at crossing, signal lamp place.
More specifically, described CCD vision sensor and described GPRS transceiver are all arranged on signalThe fixed transverse rod middle position at crossing, lamp place.
More specifically, described signal information comprise signal lamp current state, red light interval time,Green light interval time and yellow interval, described current state comprise red light phase, amber light state andGreen light phase.
More specifically, described user's entering apparatus is corresponding by setting the first crossing presumptive area respectivelyThe radius of border circular areas corresponding to the radius of border circular areas and the second crossing presumptive area arranges the first viaMouth presumptive area and the second crossing presumptive area.
Crossing, the signal lamp provided by the invention place collecting method that passes through, introduces CCD vision and passesSensor and the index analysis device that blocks up are to current data collecting system place, crossing, signal lamp place traffic roadThe delay vehicle of mouth is taken and is analyzed, and determines the jam situation of current traffic intersection, passes through GPRSData transfer means is reached the information interaction with local traffic control information promulgating platform, obtains driver currentNear the crossing congestion exponential sum signal information of multiple traffic intersections position, according to current traffic roadThe degree of blocking up of mouth sends different transport information to driver's vehicle interior GPRS terminal, realizesThe orientation of data is issued, and meanwhile, determines the influence factor of haze to image according to atmospheric attenuation model,And the image gathering under foggy days is carried out to the processing of mist elimination haze, make system ensure the same of precisionThe range of application of Shi Tuokuan system.
Brief description of the drawings
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the current data collecting system in crossing, signal lamp place illustrating according to an embodiment of the present inventionBlock diagram.
Detailed description of the invention
Below with reference to accompanying drawings to implementing the current collecting method in crossing, signal lamp of the present invention placeThe embodiment of data collecting system be elaborated.
Be provided with the crossing of signal lamp, be generally two or more road intersection. This is carThe only way which must be passed that collects, turns to and evacuate with pedestrian is the throat of traffic. Therefore, correctly designIntersection, rationalization, management crossing traffic, be to improve road passage capability and ensure to hand overLogical safe importance. Intersection divides level-crossing, traffic circle and traffic interchange.Level-crossing is that road intersects the crossing forming in same plane. Conventionally have T shape, Y shape,The forms such as cross, X-shaped, dislocation, annular. A face is set in the middle of Shi crossing, traffic circleLong-pending larger rotary island (central island), vehicle interweaves and enters circuit, Bing Rao island one-way traffic. Three-dimensional friendshipProng is that road does not intersect the crossings on different level forming in same plane.
Except correct design crossing, also need, for driver provides correct intersection information, could ensureThe traffic efficiency at each crossing. Make discovery from observation, driver's steering vehicle in urban road travels,What pay close attention to the most is whether junction ahead is red light, and whether junction ahead occurs vehicle congestion situation, outstandingIt is having emergency, when need to rushing towards destination fast.
But, near several Important Sections driver's current location are only provided in prior artTransport information, and the providing of information of the prior art, be the large-screen display board by roadside,The coverage rate that information is issued is not high, and the transport information content providing is limited. Although cause driver timelySelected the to travel section on smooth way is just in time but red light or because the burst that accident causes while arriving in crossingStop up, still waste the most of the time at traffic intersection place. In prior art, some are only based on figureThe intersection information delivery system of picture identification, owing to lacking anti-fog haze treatment facility, easily causes information gatheringMistake.
Crossing, the signal lamp of the present invention place collecting method that passes through, can provide for driverNear every key message at the crossing that gets congestion, and, in order to eliminate the haze in the image of crossingComposition, based on atmospheric attenuation modelling mist elimination haze processor, thereby improve the reliable of system comprehensivelyProperty.
Fig. 1 is the current data collecting system in crossing, signal lamp place illustrating according to an embodiment of the present inventionBlock diagram, described system comprises CCD vision sensor 1, mist elimination haze processor 2, blocks upIndex analysis device 3, signal lamp data collector 4 and AT89C51 single-chip microcomputer 5, described CCD visionSensor 1 takes to obtain crossing image to crossing, described signal lamp place, described mist elimination haze placeReason device 2 carries out sharpening processing to obtain sharpening crossing image to described crossing image, described in block upIndex analysis device 3 carries out image processing to obtain crossing congestion index to described sharpening crossing image,Described signal lamp data collector 4 is for Real-time Collection signal information, described AT89C51 single-chip microcomputer5 with described in block up index analysis device 3 and described signal lamp data collector 4 be connected respectively, to obtainSignal information described in described crossing congestion exponential sum.
Then, the structure of the current data collecting system in crossing, signal lamp of the present invention place is had moreThe explanation of body.
Described system also comprises: GPRS transceiver, be connected with described AT89C51 single-chip microcomputer 5, and useIn signal information described in described crossing congestion exponential sum is broken into GPRS real time data bag, to pass throughGPRS communication link sends to local traffic control information promulgating platform.
Described system also comprises: power supply, comprises that solar powered device, battery, switching openClose and electric pressure converter, described change-over switch and described solar powered device and described battery are respectivelyConnect, determine whether be switched to described solar powered device with by described according to battery dump energyThe power supply of solar powered device, described electric pressure converter is connected with described change-over switch, with will be by cuttingThe 5V voltage transitions of changing switch input is 3.3V voltage.
Described system also comprises: user's entering apparatus, for according to user's input, set predetermined gathering aroundStifled index threshold, the first crossing presumptive area and the second crossing presumptive area, the first crossing presumptive areaWith the second crossing presumptive area be all the border circular areas centered by crossing, described signal lamp place.
Described system also comprises: portable hard drive, be connected with user's entering apparatus, and gather around for storing predeterminedStifled index threshold, the first crossing presumptive area and the second crossing presumptive area, storage the first crossing is predeterminedThe crossing congestion exponential sum signal information of multiple traffic intersections in region, also stores the second crossing and is scheduled toThe radio receiving terminal ID of each vehicle in region.
Described mist elimination haze processor 2 also comprises with lower component:
Store sub-device, for pre-stored sky upper limit gray threshold and sky lower limit gray threshold,Described sky upper limit gray threshold and described sky lower limit gray threshold are for separating of the sky of publishing picture in pictureDummy section, also for pre-stored presetted pixel value threshold value, described presetted pixel value threshold value value is 0Between 255;
Haze concentration detects sub-device, is arranged in air, for real time detection signal lamp positionHaze concentration, and determine haze removal intensity according to haze concentration, described haze is removed intensity value and is existedBetween 0 to 1;
Molecular device is drawn in region, connects described CCD vision sensor 1 to receive described crossing image,Described crossing image is carried out to gray processing processing to obtain gray processing area image, also with the sub-device of storageConnect, by gray value in described gray processing area image at described sky upper limit gray threshold and described dayPixel between empty lower limit gray threshold is identified and forms gray processing sky sub pattern, from described gray processingArea image is partitioned into described gray processing sky sub pattern to obtain the non-sky subimage of gray processing, based onThe correspondence position of the non-sky subimage of described gray processing in described beat image obtain with described inThe non-sky subimage of colour that the non-sky subimage of gray processing is corresponding;
Black channel obtains sub-device, and drawing molecular device with described region, to be connected to obtain described colour non-Sky subimage, for each pixel in the non-sky subimage of described colour, calculates its R, G, BThree Color Channel pixel values, the R of all pixels in the non-sky subimage of described colour, G, B tri-In Color Channel pixel value, extract the Color Channel at the Color Channel pixel value place of a numerical value minimumAs black channel;
Entirety atmosphere light value obtains sub-device, is connected to obtain presetted pixel value with the sub-device of described storageThreshold value, draws molecular device and described black channel with described region and obtains sub-device and be connected respectively to obtainDescribed crossing image and described black channel, be greater than black channel pixel value in the image of described crossing etc.Multiple pixels in presetted pixel value threshold value form set of pixels to be tested, by described set of pixels to be testedThere is the gray value atmosphere light value as a whole of the pixel of maximum gradation value;
Atmospheric scattering light value obtains sub-device, draws molecular device and the inspection of described haze concentration with described regionSurvey sub-device and connect respectively, to each pixel of described crossing image, extract its R, G, B tri-In Color Channel pixel value, minimum of a value, as target pixel value, is used the Gaussian smoothing filtering of keep the edge informationDevice EPGF (edge-preservinggaussianfilter) carries out filtering processing to described target pixel valueTo obtain filtering target pixel value, target pixel value is deducted to filtering target pixel value to obtain target pictureElement difference, is used EPGF to carry out filtering processing to object pixel difference poor to obtain filtering object pixelValue, deducts filtering object pixel difference by filtering target pixel value and removes a reference value to obtain haze, willThe intensity of removing haze is multiplied by haze removes a reference value to obtain haze removal threshold value, gets haze and removes threshold valueWith the minimum of a value reference value as a comparison in target pixel value, get the maximum in comparison reference and 0As the atmospheric scattering light value of each pixel;
Medium transmission rate is obtained sub-device, obtains sub-device and described atmosphere with described overall atmosphere light valueScattering light value obtains sub-device and connects respectively, by large divided by entirety the atmospheric scattering light value of each pixelGas light value, to obtain except value, deducts described except value is to obtain the medium transmission rate of each pixel by 1;
The sub-device of sharpening image acquisition, draws molecular device, described overall atmosphere light value with described regionObtain sub-device and obtain sub-device with described medium transmission rate and be connected respectively, deduct each pixel by 1Medium transmission rate to obtain the first difference, by described the first difference be multiplied by overall atmosphere light value with obtainProduct value, deducts described product value to obtain by the pixel value of each pixel in the image of described crossingTwo differences, by described the second difference divided by the medium transmission rate of each pixel to obtain each pixelSharpening pixel value, in the image of described crossing, the pixel value of each pixel comprises described crossing imageIn the R of each pixel, G, B tri-Color Channel pixel values, correspondingly, each picture of acquisitionThe sharpening pixel value of element comprises the R of each pixel, G, and B tri-Color Channel sharpening pixel values,The sharpening pixel value composition sharpening crossing image of all pixels.
The described car of index analysis device 3 for image traffic intersection place, sharpening crossing is detained that block upQuantity is analyzed, and to obtain crossing congestion index, the vehicle fleet size that traffic intersection place is detained is more,Corresponding crossing congestion index is higher.
Described AT89C51 single-chip microcomputer 5 connects respectively with described GPRS transceiver and described portable hard driveConnect, by described GPRS transceiver, the first crossing presumptive area and the second crossing presumptive area are sentTo local traffic control information promulgating platform, receive local traffic control information by described GPRS transceiver and issueThe crossing congestion exponential sum signal lamp of each traffic intersection in the first crossing presumptive area of platform feedbackInformation, and receive each car in the second crossing presumptive area of local traffic control information promulgating platform feedbackRadio receiving terminal ID.
Described AT89C51 single-chip microcomputer 5 when described in the crossing congestion index that index analysis device 3 exports that blocks upBe greater than while being scheduled to block up index threshold, by described GPRS transceiver, by the first crossing presumptive areaThe crossing congestion exponential sum signal information of interior multiple traffic intersections sends to and the second fate, crossingEach radio receiving terminal corresponding to radio receiving terminal ID of each vehicle in territory.
Alternatively, described acquisition system is arranged on the fixed transverse rod at crossing, signal lamp place; DescribedUser's entering apparatus, described portable hard drive, described mist elimination haze processor 2, described in the index analysis that blocks upDevice 3, described signal lamp data collector 4 and described AT89C51 single-chip microcomputer 5 are all located at signal lamp instituteIn instrument case on the fixed transverse rod at crossing; Described CCD vision sensor 1 and described GPRSTransceiver is all arranged on the fixed transverse rod middle position at crossing, signal lamp place; Described signal information bagDraw together current state, red light interval time, green light interval time and the yellow interval of signal lamp, instituteState current state and comprise red light phase, amber light state and green light phase; And, described user's loaderPart is pre-by radius and second crossing of border circular areas corresponding to setting the first crossing presumptive area respectivelyThe radius of determining border circular areas corresponding to region arranges the first crossing presumptive area and the second fate, crossingTerritory.
In addition, haze image can be realized by a series of images treatment facility the mist elimination haze of image,To obtain the image of sharpening, improve the visibility of image. These image processing equipments are carried out respectively notSame image processing function, the principle forming based on haze, reaches the effect of removing haze. Haze figureThe sharpening of picture is processed all has great using value for dual-use field, military domain bagDraw together military and national defense, remote sensing navigation etc., civil area comprises road monitoring, target following and automatic PilotDeng.
The process that haze image forms can be described by atmospheric attenuation process, in haze image and realityImage is that the medium of the available overall atmosphere light value of the relation between sharpening image and each pixel passesDefeated rate is explained, the in the situation that of known haze image, according to overall atmosphere light value and each pictureThe medium transmission rate of element, can solve sharpening image.
Solving of medium transmission rate for overall atmosphere light value and each pixel exists some to haveEffect and the means through verifying, for example, for the medium transmission rate of each pixel, need to obtain wholeThe atmospheric scattering light value of body atmosphere light value and each pixel, and the atmospheric scattering light value of each pixelCan be to each pixel, the pixel value in haze image carries out the Gaussian smoothing of twice keep the edge informationFiltering and obtaining, therebetween, the intensity that haze is removed is adjustable; And the acquisition pattern of overall atmosphere light value hasTwo kinds, a kind of mode is (in haze image, to make by the black channel that obtains haze imageThe black channel value that obtains some pixels is very low, and black channel is R, G, in B tri-Color ChannelsA kind of), in haze image, find by finding in black channel pixel value multiple pixels bigger than normalThe pixel of gray value maximum obtains, and the gray value of pixel that be about to search out, gray value maximum is doneFor overall atmosphere light value, participate in the sharpening processing of each pixel in haze image; In addition, entiretyAtmosphere light value also can obtain in the following manner: calculate the gray value of each pixel in haze image, and willThe gray value of the pixel of gray value maximum is atmosphere light value as a whole.
Concrete haze image and real image are the relation between sharpening image, and parametersBetween relation can be referring to above content.
By haze image being formed to the discussion of principle, build between haze image and sharpening imageRelation, by this relation of multiple Parametric Representations, subsequently by obtain multiple parameter values and haze figurePicture is the higher image of reducible acquisition definition, because some statistical means have been used in the acquisition of parameterAnd empirical means, the image that therefore described definition is higher can not be equal to real image completely, butThere is the mist elimination haze effect of certain degree, for the every field operation under haze weather provides effectiveEnsure.
Adopt crossing, the signal lamp of the present invention place collecting method that passes through, for existing traffic intersectionThat information distribution scheme releases news is limited, specific aim is not high and be subject to the technology that haze weather disturbs asksTopic, adopts CCD vision sensor 1, mist elimination haze processor 2 and the index analysis device 3 that blocks up to obtain and works asThe congestion information at front crossing, adopts signal lamp data collector to obtain the signal information at current crossing,And pass through the mutual of GPRS transceiver and the local traffic control information promulgating platform of far-end, obtain current trafficThe congestion information of each traffic intersection of crossing near zone and signal information, by GPRS modeNear vehicle termination offering, so that driver's reference, whole system is applicable to any mistUnder haze weather, for hiding intersection, driver provides important evidence.
Be understandable that, although the present invention disclose as above with preferred embodiment, but above-mentioned enforcementExample is not in order to limit the present invention. For any those of ordinary skill in the art, do not departing fromIn technical solution of the present invention scope situation, all can utilize the technology contents of above-mentioned announcement to the technology of the present inventionScheme is made many possible variations and modification, or is revised as the equivalent embodiment of equivalent variations. Therefore,Every content that does not depart from technical solution of the present invention, foundation technical spirit of the present invention is to above embodimentAny simple modification, equivalent variations and the modification done, all still belong to technical solution of the present invention protectionIn scope.
Claims (1)
1. the current collecting method in crossing, signal lamp place, it comprises: utilize CCD visionSensor takes to obtain crossing image to crossing, described signal lamp place; Utilize the processing of mist elimination hazeDevice carries out sharpening processing to obtain sharpening crossing image to described crossing image; The utilization index that blocks upAnalyzer carries out image processing to obtain crossing congestion index to described sharpening crossing image; Utilize letterSignal lamp data acquisition unit Real-time Collection signal information; Utilize AT89C51 single-chip microcomputer to obtain described crossingSignal information described in the exponential sum of blocking up, wherein said AT89C51 single-chip microcomputer with described in the index that blocks up divideParser is connected respectively with described signal lamp data collector;
The method utilizes the current data collecting system in crossing, signal lamp place to implement, and described system comprisesCCD vision sensor, mist elimination haze processor, the index analysis device that blocks up, signal lamp data collector andAT89C51 single-chip microcomputer;
Described current data collecting system also comprises:
GPRS transceiver, is connected with described AT89C51 single-chip microcomputer, for described crossing congestion is referred toNumber and described signal information break into GPRS real time data bag, to send by GPRS communication linkTo local traffic control information promulgating platform;
Power supply, comprises solar powered device, battery, change-over switch and electric pressure converter,Described change-over switch is connected respectively with described solar powered device and described battery, according to batteryDump energy determines whether be switched to described solar powered device with by described solar powered devicePower supply, described electric pressure converter is connected with described change-over switch, with by the 5V inputting by change-over switchVoltage transitions is 3.3V voltage;
User's entering apparatus, for according to user's input, sets the predetermined index threshold, first of blocking upCrossing presumptive area and the second crossing presumptive area, the first crossing presumptive area and the second fate, crossingTerritory is all the border circular areas centered by crossing, described signal lamp place;
Portable hard drive, is connected with user's entering apparatus, for the storing predetermined index threshold of blocking up, firstCrossing presumptive area and the second crossing presumptive area, multiple traffic roads in storage the first crossing presumptive areaThe crossing congestion exponential sum signal information of mouth, also stores each vehicle in the second crossing presumptive areaRadio receiving terminal ID;
Described mist elimination haze processor comprises:
Store sub-device, for pre-stored sky upper limit gray threshold and sky lower limit gray threshold,Described sky upper limit gray threshold and described sky lower limit gray threshold are for separating of the sky of publishing picture in pictureDummy section, also for pre-stored presetted pixel value threshold value, described presetted pixel value threshold value value is 0Between 255;
Haze concentration detects sub-device, is arranged in air, for real time detection signal lamp positionHaze concentration, and determine haze removal intensity according to haze concentration, described haze is removed intensity value and is existedBetween 0 to 1;
Molecular device is drawn in region, connects described CCD vision sensor to receive described crossing image,Described crossing image is carried out to gray processing processing to obtain gray processing area image, also with the sub-device of storageConnect, by gray value in described gray processing area image at described sky upper limit gray threshold and described dayPixel between empty lower limit gray threshold is identified and forms gray processing sky sub pattern, from described gray processingArea image is partitioned into described gray processing sky sub pattern to obtain the non-sky subimage of gray processing, based onThe correspondence position of the non-sky subimage of described gray processing in beat image obtains and described gray scaleChange the non-sky subimage of colour that non-sky subimage is corresponding;
Black channel obtains sub-device, and drawing molecular device with described region, to be connected to obtain described colour non-Sky subimage, for each pixel in the non-sky subimage of described colour, calculates its R, G, BThree Color Channel pixel values, the R of all pixels in the non-sky subimage of described colour, G, B tri-In Color Channel pixel value, extract the Color Channel at the Color Channel pixel value place of a numerical value minimumAs black channel;
Entirety atmosphere light value obtains sub-device, is connected to obtain presetted pixel value with the sub-device of described storageThreshold value, draws molecular device and described black channel with described region and obtains sub-device and be connected respectively to obtainDescribed crossing image and described black channel, be greater than black channel pixel value in the image of described crossing etc.Multiple pixels in presetted pixel value threshold value form set of pixels to be tested, by described set of pixels to be testedThere is the gray value atmosphere light value as a whole of the pixel of maximum gradation value;
Atmospheric scattering light value obtains sub-device, draws molecular device and the inspection of described haze concentration with described regionSurvey sub-device and connect respectively, to each pixel of described crossing image, extract its R, G, B tri-In Color Channel pixel value, minimum of a value, as target pixel value, is used the Gaussian smoothing filtering of keep the edge informationDevice EPGF carries out filtering processing to obtain filtering target pixel value, by target to described target pixel valuePixel value deducts filtering target pixel value to obtain object pixel difference, uses EPGF to object pixelDifference is carried out filtering processing to obtain filtering object pixel difference, and filtering target pixel value is deducted to filteringObject pixel difference is removed a reference value to obtain haze, haze is removed to intensity and be multiplied by haze removal benchmarkValue is removed threshold value to obtain haze, get haze remove minimum of a value in threshold value and target pixel value as thanCompared with reference value, get maximum in comparison reference and the 0 atmospheric scattering light value as each pixel;
Medium transmission rate is obtained sub-device, obtains sub-device and described atmosphere with described overall atmosphere light valueScattering light value obtains sub-device and connects respectively, by large divided by entirety the atmospheric scattering light value of each pixelGas light value, to obtain except value, deducts described except value is to obtain the medium transmission rate of each pixel by 1;
The sub-device of sharpening image acquisition, draws molecular device, described overall atmosphere light value with described regionObtain sub-device and obtain sub-device with described medium transmission rate and be connected respectively, deduct each pixel by 1Medium transmission rate to obtain the first difference, by described the first difference be multiplied by overall atmosphere light value with obtainProduct value, deducts described product value to obtain by the pixel value of each pixel in the image of described crossingTwo differences, by described the second difference divided by the medium transmission rate of each pixel to obtain each pixelSharpening pixel value, in the image of described crossing, the pixel value of each pixel comprises described crossing imageIn the R of each pixel, G, B tri-Color Channel pixel values, correspondingly, each picture of acquisitionThe sharpening pixel value of element comprises the R of each pixel, G, and B tri-Color Channel sharpening pixel values,The sharpening pixel value composition sharpening crossing image of all pixels;
The vehicle number that the described index analysis device that blocks up is detained traffic intersection place in the image of sharpening crossingAmount is analyzed, and to obtain crossing congestion index, the vehicle fleet size that traffic intersection place is detained is more, rightThe crossing congestion index of answering is higher;
Described AT89C51 single-chip microcomputer is connected respectively with described GPRS transceiver and described portable hard drive,By described GPRS transceiver, the first crossing presumptive area and the second crossing presumptive area are sent to and worked asGround traffic control information promulgating platform, receives local traffic control information promulgating platform by described GPRS transceiverThe crossing congestion exponential sum signal information of each traffic intersection in the first crossing presumptive area of feedback,And receive each vehicle in the second crossing presumptive area of local traffic control information promulgating platform feedbackRadio receiving terminal ID;
Wherein said AT89C51 single-chip microcomputer when described in the block up crossing congestion of index analysis device output refer toNumber is greater than while being scheduled to block up index threshold, by described GPRS transceiver, by the first fate, crossingIn territory, the crossing congestion exponential sum signal information of multiple traffic intersections sends to the second crossing predeterminedEach radio receiving terminal corresponding to radio receiving terminal ID of each vehicle in region;
Described current data collecting system is arranged on the fixed transverse rod at crossing, signal lamp place;
Described user's entering apparatus, described portable hard drive, described mist elimination haze processor, described in the finger that blocks upNumber analyzer, described signal lamp data collector and described AT89C51 single-chip microcomputer are all located at signal lamp instituteIn instrument case on the fixed transverse rod at crossing;
Described CCD vision sensor and described GPRS transceiver are all arranged on crossing, signal lamp placeFixed transverse rod middle position;
When described signal information comprises current state, red light interval time, the green light interval of signal lampBetween and yellow interval, described current state comprises red light phase, amber light state and green light phase;
Described user's entering apparatus is respectively by setting border circular areas corresponding to the first crossing presumptive areaRadius and the radius of border circular areas corresponding to the second crossing presumptive area the first fate, crossing is setTerritory and the second crossing presumptive area.
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| CN112204628B (en) * | 2018-06-01 | 2022-08-19 | 三菱电机株式会社 | Traffic management system and traffic management information setting device |
| CN110718055A (en) * | 2018-07-12 | 2020-01-21 | 上海博泰悦臻网络技术服务有限公司 | Road condition information processing method and traffic integrated information platform |
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| CN102831591B (en) * | 2012-06-27 | 2014-11-05 | 北京航空航天大学 | Gaussian filter-based real-time defogging method for single image |
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