CN104791113A - Automatic engine start and stop intelligent trigger method and system based on driving road condition - Google Patents
Automatic engine start and stop intelligent trigger method and system based on driving road condition Download PDFInfo
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Abstract
The invention discloses an automatic engine start and stop intelligent trigger method and system based on the driving road condition. Whether the current driving road condition is the red light waiting condition or the congestion condition is distinguished by intelligently recognizing the driving road condition, the red light waiting and staying time is recognized, and unnecessary automatic engine start and stop are avoided. Image reorganization and the automatic start and stop technology on automobiles are combined, the intelligent and automatic start and stop functions can be achieved when the automobiles are in the traffic light waiting state and the congestion state, the automatic start and stop function of the automobiles can be more timely and accurate, fuel is saved to the maximum extent, and emission is reduced to the maximum extent.
Description
Technical field
The present invention relates to Vehicle Engineering, particularly relating to a kind of motor automatic start-stop intelligent trigger system based on travelling road conditions.
Background technique
China's oil shortage of resources, external dependence degree is higher, and current petroleum import amount increases with the percentage of annual two digits, and the proportion of Motor Vehicle consumption of petroleum amount and domestic oil needs amount continues to raise, and petroleum resources are about to enter awkward state.Along with the popularity rate of automobile is more and more higher, city automobile is increasing, and traffic congestion rate sharply rises, cause the problems such as Vehicular vibration, noise and the waste of idling fuel oil, add the discharge that motor-vehicle tail-gas is a large amount of, urban environment also go fromes bad to worse, so energy-saving and emission-reduction are imperative.Under the main trend of energy-saving and emission-reduction, first should start with from the improvement of the travelling state aspect of Motor Vehicle.
In order to address this problem to realize energy-saving and emission-reduction, motor arises at the historic moment from start and stop technology, its main operational principle steps on brake petal driver to start working after two seconds, then motor is made to be in temporary transient " dormancy " state, the pedal once driver steps on the throttle, motor is started working again, so just can avoid fuel oil waste during vehicle idling, thus minimizing noise, the discharge of vibration and harmful gas.But the too mechanization of existing start stop system, only take into account the travelling state of vehicle, do not consider the road conditions problem that vehicle travels, especially the section loitered, motor frequent start-stop moves, and does not only reach the object of fuel-economizing, causes the waste of fuel oil on the contrary, reduce stationarity and the travelling comfort of vehicle, also exacerbate the wearing and tearing of motor to a certain extent.When waiting for red light and traffic congestion, the requirement of car owner to its flexibility cannot be met from start stop system.So many times car owner can only be forced to close automatic start-stop function, this advanced energy-conserving and emission-cutting technology is caused to become chicken ribs.
Summary of the invention
The technical problem to be solved in the present invention is for existing defect in start and stop technology, provides a kind of motor automatic start-stop intelligent trigger system based on travelling road conditions, to save vehicle fuel.
The invention provides a kind of motor automatic start-stop Intellective method for triggering based on travelling road conditions, comprising the following steps:
S1, acquisition braking pedal signal, when the speed of a motor vehicle is zero, taken pictures to front road conditions by the camera be arranged on automobile rearview mirror, and cut for the first time the original image obtained, obtain area-of-interest colour picture;
S2, pretreatment is carried out to the image of first cutting, and extract redness, yellow and green area respectively, judge whether these regions have traffic signals, if having, then judge that current road conditions are lights state; If nothing, then judge that current road conditions are congestion status;
If S3 is in lights state, then secondary cut is carried out to image, obtain the image region comprising signaling lamp or numeral in certain sequence respectively, and carry out image procossing, be convenient to the identification to numeral and signaling lamp;
S4, shape recognition is carried out to image region, first judged whether signaling lamp, if having, then judged whether vehicle traveling direction is red light; If red light, then digital picture is judged, if be greater than the first Preset Time, then control engine stop and rotate;
If the current road conditions of S5 are congestion status, then carry out pedal and step on dynamic frequency analysis, if judge in the second Preset Time, the speed of a motor vehicle be zero number of times be greater than preset times, then control engine stop rotate.
In method of the present invention, be specially carrying out pretreatment to the image of first cutting in step S2: will upper half part of picture be positioned at according to the known traffic light of camera angle of shooting, therefore picture upper half part is extracted as area-of-interest colour picture, and carry out binary conversion treatment, the pixel point assignment 1 of threshold condition will be met, ungratified assignment 0; Based on opening and closing operation, delete choosing to the connected region that pixel value is all 1, connected region being comprised the area assignment that pixel count is less than total pixel number 0.2% is 0, to reach the object removing noise.
In method of the present invention, carry out secondary cut to image in step S3 to be specially: the mechanism based on the horizontal and vertical projection grey-value transition of image is split, be partitioned into multiple rectangular area comprising signaling lamp or numeral, and from described area-of-interest colour picture, shear out the rectangular area of original correspondence according to four angle points of each rectangular area.
In method of the present invention, if signaling lamp is arrow in step S4, then the method that direction of arrow identification judges is specially:
Utilize DtB and Hu not bending moment composite character matching method the direction of arrow and digital picture are judged, when judged result be vehicle heading is red light, recycling Hu Moment invariants carries out the characteristics extraction of shape from left to right to remaining region, calculate the Euclidean distance of the eigenvalue of the digital template characteristic value confirmation of 0-9 these ten and extraction respectively, by comparing the size of Euclidean distance and preset number, judge the numerical value of digital picture, when Far Left numerical value is greater than 0, then open from start stop system control module, control engine stop and rotate; If equal 0, then judging next subfield value, when being greater than predefined value, then opening from start stop system control module, control engine stop and rotate.
In method of the present invention, carry out pedal in step S5 and step on dynamic frequency analysis and be specially:
By the speed probe on vehicle wheel tachometer, use counting principle, be that zero frequency of occurrences is added up to the speed of a motor vehicle, and carry out next step analysing and processing according to statistics.
Present invention also offers a kind of motor automatic start-stop intelligent trigger system based on travelling road conditions, comprising:
Speed of a motor vehicle judge module, for obtaining braking pedal signal, when the speed of a motor vehicle is zero, is taken pictures to front road conditions by the camera be arranged on automobile rearview mirror;
Image processing module, cuts for the first time for the original image obtained by camera, obtains area-of-interest colour picture; Pretreatment is carried out to the image of first cutting, and extracts redness, yellow and green area respectively;
Signaling lamp and shape recognition module, for judging whether redness, yellow and the green area extracted has traffic signals, if having, then judges that current road conditions are lights state; If nothing, then judge that current road conditions are congestion status; If be in lights state, then by image processing module, secondary cut is carried out to image, obtain the image region comprising signaling lamp or numeral in certain sequence respectively, and carry out image procossing, to identification that is digital and signaling lamp; This signaling lamp and shape recognition module, also for carrying out shape recognition to image region, have first judged whether signaling lamp, if having, then judge whether vehicle traveling direction is red light; If red light, then digital picture is judged;
From start stop system control module, when being greater than the first Preset Time for the numeral in digital picture, controlling engine stop and rotate;
Pedal steps on dynamic frequency analysis module, for when current road conditions are congestion status, carry out pedal and steps on dynamic frequency analysis, if judge in the second Preset Time, the speed of a motor vehicle be zero number of times be greater than preset times, then by from start stop system control module, control engine stop and rotate.
In system of the present invention, the image of described image processing module to first cutting carries out pretreatment and is specially: will be positioned at upper half part of picture according to the known traffic light of camera angle of shooting, therefore picture upper half part is extracted as area-of-interest colour picture, and carry out binary conversion treatment, the pixel point assignment 1 of threshold condition will be met, ungratified assignment 0; Based on opening and closing operation, delete choosing to the connected region that pixel value is all 1, connected region being comprised the area assignment that pixel count is less than total pixel number 0.2% is 0, to reach the object removing noise.
In system of the present invention, described image processing module carries out secondary cut to image and is specially: the mechanism based on the horizontal and vertical projection grey-value transition of image is split, be partitioned into multiple rectangular area comprising signaling lamp or numeral, and from described area-of-interest colour picture, shear out the rectangular area of original correspondence according to four angle points of each rectangular area.
In system of the present invention, when signaling lamp is arrow, described image processing module is specially the method that arrow and direction of arrow identification judge:
Utilize DtB and Hu not bending moment composite character matching method the shape of arrow and direction are judged, when judged result be vehicle heading is red light, recycling Hu Moment invariants carries out the characteristics extraction of shape from left to right to remaining region; The numerical value of judging characteristic value, when Far Left numerical value is greater than 0, then opens from start stop system control module, controls engine stop and rotates; If equal 0, then judging next subfield value, when being greater than predefined value, then opening from start stop system control module, control engine stop and rotate.
In system of the present invention, described pedal step on dynamic frequency analysis module specifically for: by the speed probe on vehicle wheel tachometer, use counting principle, be that zero frequency of occurrences is added up to the speed of a motor vehicle, and carry out next step analysing and processing according to statistics.
The beneficial effect that the present invention produces is: the present invention is by the intelligent recognition to traveling road conditions, and distinguishing current driving road conditions is waiting for red light or be in congestion status, and identifies that the waiting time waited for by red light, avoids unnecessary motor automatic start-stop.By by combining from start and stop technology in image recognition and automobile, can realize automobile traffic light wait for and congestion time intelligent automatic start-stop function, make automobile automatic start-stop function real-time more, accuracy, saves fuel oil to greatest extent, reduces and discharges.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the flow chart of the embodiment of the present invention based on the motor automatic start-stop Intellective method for triggering of traveling road conditions;
Fig. 2 is the flow chart of another embodiment of the present invention based on the motor automatic start-stop Intellective method for triggering of traveling road conditions;
Fig. 3 a is the red light figure of common crossing shooting in one embodiment of the invention;
Fig. 3 b is red area extraction figure;
Fig. 3 c is region of interest area image cutting negate figure;
Fig. 3 d is the secondary cut figure based on image binaryzation;
Fig. 4 is the structural representation of the embodiment of the present invention based on the motor automatic start-stop intelligent trigger system of traveling road conditions.
Embodiment
In order to make object of the present invention, technological scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The present invention is by by combining from start and stop technology in image recognition and automobile, the intelligent automatic start-stop function of automobile when traffic light wait and congestion can be realized, the intellectuality of motor automatic start-stop can be improved, thus save vehicle fuel, reduce the discharge of vehicle exhaust.
As shown in Figure 1, the embodiment of the present invention, based on the motor automatic start-stop Intellective method for triggering travelling road conditions, comprises the following steps:
S1, acquisition braking pedal signal, when the speed of a motor vehicle is zero, taken pictures to front road conditions by the camera be arranged on automobile rearview mirror, and cut for the first time the original image obtained, obtain area-of-interest colour picture;
S2, pretreatment is carried out to the image of first cutting, and extract redness, yellow and green area respectively, judge whether these regions have traffic signals, if having, then judge that current road conditions are lights state; If nothing, then judge that current road conditions are congestion status;
If S3 is in lights state, then secondary cut is carried out to image, obtain the image region comprising signaling lamp or numeral in certain sequence respectively, and carry out image procossing, be convenient to the identification to numeral and signaling lamp;
S4, shape recognition is carried out to image region, first judged whether signaling lamp, if having, then judged whether vehicle traveling direction is red light; If red light, then digital picture is judged, if be greater than the first Preset Time, then open from start stop system control module, control engine stop and rotate;
If the current road conditions of S5 are congestion status, then carry out pedal and step on dynamic frequency analysis, if judge in the second Preset Time, the speed of a motor vehicle be zero number of times be greater than preset times, then open from start stop system control module, control engine stop rotate.
Carry out pretreatment to the image of first cutting in step S2 to be specially: will upper half part of picture be positioned at according to the known traffic light of camera angle of shooting, therefore picture upper half part is extracted as area-of-interest colour picture, and carry out binary conversion treatment, the pixel point assignment 1 of threshold condition will be met, ungratified assignment 0; Based on opening and closing operation, delete choosing to the connected region that pixel value is all 1, connected region being comprised the area assignment that pixel count is less than total pixel number 0.2% is 0, to reach the object removing noise.
Carry out secondary cut to image in step S3 to be specially: the mechanism based on the horizontal and vertical projection grey-value transition of image is split, be partitioned into multiple rectangular area comprising signaling lamp or numeral, and from described area-of-interest colour picture, shear out the rectangular area of original correspondence according to four angle points of each rectangular area.
If signaling lamp is arrow in step S4, then the method for arrow and the direction of arrow and digital image understanding judgement is specially:
DtB and Hu is utilized not judge in the direction of bending moment composite character matching method to arrow, when judged result be vehicle heading is red light, recycling Hu Moment invariants carries out the characteristics extraction of shape from left to right to remaining region, calculate the Euclidean distance of the eigenvalue of the digital template characteristic value confirmation of 0-9 these ten and extraction respectively, by comparing the size of Euclidean distance and preset number, judge the numerical value of digital picture, when Far Left numerical value is greater than 0, then open from start stop system control module, control engine stop and rotate; If equal 0, then judging next subfield value, when being greater than predefined value, then opening from start stop system control module, control engine stop and rotate.
Carry out pedal in step S5 to step on dynamic frequency analysis and be specially:
By the speed probe on vehicle wheel tachometer, use counting principle, be that zero frequency of occurrences is added up to the speed of a motor vehicle, and carry out next step analysing and processing according to statistics.
In a specific embodiment of the present invention, based on travelling the motor automatic start-stop intelligent trigger system of road conditions, comprise medium-to-high grade automobile carries camera, speed of a motor vehicle judge module, image processing module, signaling lamp and shape recognition module, step on dynamic frequency analysis module and related sensor from start stop system control module, pedal.Use above system, as shown in Figure 2, specifically comprise the following steps:
(1) when running into traffic light or being in congestion state, driver steps on braking pedal, when the speed of a motor vehicle is zero, the signal that the camera receiving sensor being arranged on the wing mirror neutral position of automobile passes over, start to take pictures to front road conditions, obtain picture as shown in Figure 3 a, system obtains area-of-interest by carrying out shearing based on the image processing program module of Matlab to the original image image obtained, in this embodiment, be specially from original image image lower-left end points be (0, 0), abscissa be original image image wide 0.1, y coordinate be original image image high 0.5 for starting point, cutting wide is 0.9image, height is the picture of 0.5image size, thus obtain area-of-interest colour picture, and signal is converted to digital signal transfers to processing system.
(2) the known traffic light of vehicle-mounted camera angle of shooting will be positioned at upper half part of picture, and motor automatic start-stop intelligent trigger system can according to this feature extraction picture upper half part as part interested.And utilize threshold method to extract its red, yellow and green area respectively.Utilize in this embodiment Matlab software module to once segmentation after image carry out the pixel point assignment 1 that binary conversion treatment is about to meet threshold condition, ungratified assignment 0.Then based on opening and closing operation, delete choosing to the connected region that pixel value is all 1, connected region being comprised the area assignment that pixel count is less than total pixel number 0.2% is 0, reaches the object removing noise, obtains the such as effect shown in Fig. 3 b.As can be seen from the figure, the part of lamp and numerical portion are all very outstanding, and on this basis, carry out first time cutting: successively cut in length and breadth based on longitudinal projection and transverse projections respectively, first picture of cutting gained as shown in Figure 3 c.Then system judges the image after process, if having border circular areas or arrow region in region, if be judged as, red light has red light, if there is red light, judges that current road conditions are lights state; If without red light, judge that current road conditions are congestion status.
(3) if system judges that road conditions are in lights state, then based on the traffic light orientation of image procossing and duration recognition program module, secondary splitting is carried out to image.Because each subdivision of traffic lights is roughly horizontal distribution, system is first split the mechanism of image based on the transition of vertical projection gray value, split based on horizontal projection again, thus effectively remove extraneous areas and be partitioned into each interested rectangular area, as shown in Figure 3 d.Then according to the coordinate setting of every width image, image is sorted.After obtaining comprising multiple rectangular image subregion such as red arrow and red numerical in certain sequence respectively, four angle points according to each rectangular area shear out original arrow and color digital region from the area-of-interest colour picture that step (1) obtains, again through a series of images process, make image become more clear, be convenient to the identification of numeral below and arrow.
(4) area-of-interest extracted is carried out shape recognition, first judged whether signaling lamp, signaling lamp has two kinds of possibilities, circular and arrow-shaped.Then the numerical value judging numeral is directly extracted digital picture for the picture containing circular and numeral, when Far Left numerical value is greater than 0, implements from start and stop, if equal 0, then judge next subfield value, implement from start and stop when being greater than 5, otherwise do not implement.In order to make system judge accuracy and receptance more, 10 groups of data can be adopted to train neuron network, then test sample book is tested.For the picture containing arrow and numeral, system accepts signal that automobile steering lamp system passes over and judges next step direction of travel of automobile, utilize DtB and Hu not bending moment composite character matching method the shape of arrow and direction are judged, then matching judgment is carried out to both direction, when judged result be vehicle heading is red light, recycling Hu Moment invariants carries out the characteristics extraction of shape to remaining region according to order from left to right, thus judge numerical value.The analysis and processing method of logarithm value is identical with if circular.
(5) congestion in road analysis module system is by the speed probe on vehicle wheel tachometer, uses counting principle, is that the frequency of the situation appearance of zero is added up, and gained information is passed to computing unit to the speed of a motor vehicle.Judge that the standard of blocking up is as within any 30 second time period, automobile speed is that zero occurrence number is greater than 3 times.Computing unit uses Principle of Statistics, carries out process calculate according to criterion.Result of calculation is converted to digital signal and is passed to from start stop system control module by signal port by last computing unit, if receive signal from start stop system control module, then open from start stop system, engine stop rotates.If do not receive signal from start stop system control module, then do not open from start stop system control module, motor works on.
The embodiment of the present invention, based on the motor automatic start-stop intelligent trigger system travelling road conditions, as shown in Figure 4, comprising:
Speed of a motor vehicle judge module, for obtaining braking pedal signal, when the speed of a motor vehicle is zero, is taken pictures to front road conditions by the camera be arranged on automobile rearview mirror;
Image processing module, cuts for the first time for the original image obtained by camera, obtains area-of-interest colour picture; Pretreatment is carried out to the image of first cutting, and extracts redness, yellow and green area respectively;
Signaling lamp and shape recognition module, for judging whether redness, yellow and the green area extracted has traffic signals, if having, then judges that current road conditions are lights state; If nothing, then judge that current road conditions are congestion status; If be in lights state, then by image processing module, secondary cut is carried out to image, obtain the image region comprising signaling lamp or numeral in certain sequence respectively, and carry out image procossing, to identification that is digital and signaling lamp; This signaling lamp and shape recognition module, also for carrying out shape recognition to image region, have first judged whether signaling lamp, if having, then judge whether vehicle traveling direction is red light; If red light, then digital picture is judged;
From start stop system control module, when being greater than the first Preset Time for the numeral in digital picture, controlling engine stop and rotate;
Pedal steps on dynamic frequency analysis module, for when current road conditions are congestion status, carry out pedal and steps on dynamic frequency analysis, if judge in the second Preset Time, the speed of a motor vehicle be zero number of times be greater than preset times, then by from start stop system control module, control engine stop and rotate.
The image of described image processing module to first cutting carries out pretreatment and is specially: will be positioned at upper half part of picture according to the known traffic light of camera angle of shooting, therefore picture upper half part is extracted as area-of-interest colour picture, and carry out binary conversion treatment, the pixel point assignment 1 of threshold condition will be met, ungratified assignment 0; Based on opening and closing operation, delete choosing to the connected region that pixel value is all 1, connected region being comprised the area assignment that pixel count is less than total pixel number 0.2% is 0, to reach the object removing noise.
Described image processing module carries out secondary cut to image and is specially: the mechanism based on the horizontal and vertical projection grey-value transition of image is split, be partitioned into multiple rectangular area comprising signaling lamp or numeral, and from described area-of-interest colour picture, shear out the rectangular area of original correspondence according to four angle points of each rectangular area.
When signaling lamp is arrow, described signaling lamp and shape recognition module are specially the method that the direction of arrow and digital image understanding judge:
DtB and Hu is utilized not judge in the direction of bending moment composite character matching method to arrow, when judged result be vehicle heading is red light, recycling Hu Moment invariants carries out the characteristics extraction of shape from left to right to remaining region, calculate the Euclidean distance of the eigenvalue of the digital template characteristic value confirmation of 0-9 these ten and extraction respectively, by comparing the size of Euclidean distance and preset number, judge the numerical value of digital picture, when Far Left numerical value is greater than 0, then open from start stop system control module, control engine stop and rotate; If equal 0, then judging next subfield value, when being greater than predefined value, then opening from start stop system control module, control engine stop and rotate.
Described pedal step on dynamic frequency analysis module specifically for: by the speed probe on vehicle wheel tachometer, use counting principle, be that zero frequency of occurrences is added up to the speed of a motor vehicle, and carry out next step analysing and processing according to statistics.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.
Claims (10)
1., based on the motor automatic start-stop Intellective method for triggering travelling road conditions, it is characterized in that, comprise the following steps:
S1, acquisition braking pedal signal, when the speed of a motor vehicle is zero, taken pictures to front road conditions by the camera be arranged on automobile rearview mirror, and cut for the first time the original image obtained, obtain area-of-interest colour picture;
S2, pretreatment is carried out to the image of first cutting, and extract redness, yellow and green area respectively, judge whether these regions have traffic signals, if having, then judge that current road conditions are lights state; If nothing, then judge that current road conditions are congestion status;
If S3 is in lights state, then secondary cut is carried out to image, obtain the image region comprising signaling lamp or numeral in certain sequence respectively, and carry out image procossing, be convenient to the identification to numeral and signaling lamp;
S4, shape recognition is carried out to image region, first judged whether signaling lamp, if having, then judged whether vehicle traveling direction is red light; If red light, then digital picture is judged, if be greater than the first Preset Time, then control engine stop and rotate;
If the current road conditions of S5 are congestion status, then carry out pedal and step on dynamic frequency analysis, if judge in the second Preset Time, the speed of a motor vehicle be zero number of times be greater than preset times, then control engine stop rotate.
2. method according to claim 1, it is characterized in that, carry out pretreatment to the image of first cutting in step S2 to be specially: will upper half part of picture be positioned at according to the known traffic light of camera angle of shooting, therefore picture upper half part is extracted as area-of-interest colour picture, and carry out binary conversion treatment, the pixel point assignment 1 of threshold condition will be met, ungratified assignment 0; Based on opening and closing operation, delete choosing to the connected region that pixel value is all 1, connected region being comprised the area assignment that pixel count is less than total pixel number 0.2% is 0, to reach the object removing noise.
3. method according to claim 2, it is characterized in that, carry out secondary cut to image in step S3 to be specially: the mechanism based on the horizontal and vertical projection grey-value transition of image is split, be partitioned into multiple rectangular area comprising signaling lamp or numeral, and from described area-of-interest colour picture, shear out the rectangular area of original correspondence according to four angle points of each rectangular area.
4. method according to claim 1, is characterized in that, if signaling lamp is arrow in step S4, is then specially the method that the direction of arrow and digital image understanding judge:
DtB and Hu is utilized not judge in the direction of bending moment composite character matching method to arrow, when judged result be vehicle heading is red light, recycling Hu Moment invariants carries out the characteristics extraction of shape from left to right to remaining region, calculate the Euclidean distance of the eigenvalue of the digital template characteristic value confirmation of 0-9 these ten and extraction respectively, by comparing the size of Euclidean distance and preset number, judge the numerical value of digital picture, when Far Left numerical value is greater than 0, then open from start stop system control module, control engine stop and rotate; If equal 0, then judging next subfield value, when being greater than predefined value, then opening from start stop system control module, control engine stop and rotate.
5. method according to claim 1, is characterized in that, carries out pedal and step on dynamic frequency analysis and be specially in step S5:
By the speed probe on vehicle wheel tachometer, use counting principle, be that zero frequency of occurrences is added up to the speed of a motor vehicle, and carry out next step analysing and processing according to statistics.
6., based on the motor automatic start-stop intelligent trigger system travelling road conditions, it is characterized in that, comprising:
Speed of a motor vehicle judge module, for obtaining braking pedal signal, when the speed of a motor vehicle is zero, is taken pictures to front road conditions by the camera be arranged on automobile rearview mirror;
Image processing module, cuts for the first time for the original image obtained by camera, obtains area-of-interest colour picture; Pretreatment is carried out to the image of first cutting, and extracts redness, yellow and green area respectively;
Signaling lamp and shape recognition module, for judging whether redness, yellow and the green area extracted has traffic signals, if having, then judges that current road conditions are lights state; If nothing, then judge that current road conditions are congestion status; If be in lights state, then by image processing module, secondary cut is carried out to image, obtain the image region comprising signaling lamp or numeral in certain sequence respectively, and carry out image procossing, to identification that is digital and signaling lamp; This signaling lamp and shape recognition module, also for carrying out shape recognition to image region, have first judged whether signaling lamp, if having, then judge whether vehicle traveling direction is red light; If red light, then digital picture is judged;
From start stop system control module, when being greater than the first Preset Time for the numeral in digital picture, controlling engine stop and rotate;
Pedal steps on dynamic frequency analysis module, for when current road conditions are congestion status, carry out pedal and steps on dynamic frequency analysis, if judge in the second Preset Time, the speed of a motor vehicle be zero number of times be greater than preset times, then by from start stop system control module, control engine stop and rotate.
7. system according to claim 6, it is characterized in that, the image of described image processing module to first cutting carries out pretreatment and is specially: will be positioned at upper half part of picture according to the known traffic light of camera angle of shooting, therefore picture upper half part is extracted as area-of-interest colour picture, and carry out binary conversion treatment, the pixel point assignment 1 of threshold condition will be met, ungratified assignment 0; Based on opening and closing operation, delete choosing to the connected region that pixel value is all 1, connected region being comprised the area assignment that pixel count is less than total pixel number 0.2% is 0, to reach the object removing noise.
8. system according to claim 7, it is characterized in that, described image processing module carries out secondary cut to image and is specially: the mechanism based on the horizontal and vertical projection grey-value transition of image is split, be partitioned into multiple rectangular area comprising signaling lamp or numeral, and from described area-of-interest colour picture, shear out the rectangular area of original correspondence according to four angle points of each rectangular area.
9. system according to claim 6, is characterized in that, when signaling lamp is arrow, described signaling lamp and shape recognition module are specially the method that the direction of arrow and digital image understanding judge:
DtB and Hu is utilized not judge in the direction of bending moment composite character matching method to arrow, when judged result be vehicle heading is red light, recycling Hu Moment invariants carries out the characteristics extraction of shape from left to right to remaining region, calculate the Euclidean distance of the eigenvalue of the digital template characteristic value confirmation of 0-9 these ten and extraction respectively, by comparing the size of Euclidean distance and preset number, judge the numerical value of digital picture, when Far Left numerical value is greater than 0, then open from start stop system control module, control engine stop and rotate; If equal 0, then judging next subfield value, when being greater than predefined value, then opening from start stop system control module, control engine stop and rotate.
10. system according to claim 6, it is characterized in that, described pedal step on dynamic frequency analysis module specifically for: by the speed probe on vehicle wheel tachometer, use counting principle, be that zero frequency of occurrences is added up to the speed of a motor vehicle, and carry out next step analysing and processing according to statistics.
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| CN105799704A (en) * | 2016-03-11 | 2016-07-27 | 京东方科技集团股份有限公司 | Vehicle control method, control device, vehicle-mounted system and vehicle control system |
| CN106257044A (en) * | 2016-08-02 | 2016-12-28 | 武汉理工大学 | A kind of electromotor based on mutual thinking is from start and stop intelligent trigger system |
| CN106274903A (en) * | 2016-08-30 | 2017-01-04 | 北京汽车股份有限公司 | The control method of automobile, device and automobile |
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