CN104943611A - Vehicle running state monitoring method and device - Google Patents
Vehicle running state monitoring method and device Download PDFInfo
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- CN104943611A CN104943611A CN201510325496.4A CN201510325496A CN104943611A CN 104943611 A CN104943611 A CN 104943611A CN 201510325496 A CN201510325496 A CN 201510325496A CN 104943611 A CN104943611 A CN 104943611A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 26
- 238000005516 engineering process Methods 0.000 abstract description 5
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- 238000004458 analytical method Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- Mathematical Physics (AREA)
- Image Processing (AREA)
Abstract
The invention relates to the vehicle monitoring technology, and discloses a vehicle running state monitoring method and device. The vehicle running state monitoring method comprises the steps that a front image in a running vehicle is captured; at least one lane side boundary of a lane where the vehicle is located is recognized from the front image; two vehicle head side boundaries of the vehicle are recognized from the front image; according to the position relation between the two vehicle head side boundaries and the lane side boundary, whether the vehicle deviates from the lane or normally runs is judged. According to the vehicle running state monitoring method and device, whether the vehicle deviates from the lane or not can be rapidly and accurately judged, and therefore direct and reliable driving prompt messages are provided for a driver based on the vehicle running state.
Description
Technical field
The present invention relates to vehicle monitoring technology, particularly a kind of monitoring method of vehicle running state and monitor.
Background technology
Along with the develop rapidly of economy and the generally raising of living standard, power actuated vehicle is more and more universal, and the pressure of arteries of communication is also increasing.The thing followed, safety traffic also becomes a very severe problem.Most traffic accident is all because the carelessness of chaufeur causes; Especially chaufeur drive for a long time after energy not easily concentrate, easily cause travel time direction of traffic dissociate, even enter adjacent lane.
At present, occurred that some are directed to the equipment of monitoring chaufeur self driving condition on the market; Such as fatigue drive precaution device, by identifying that facial image is differentiated chaufeur and whether is in fatigue state, thus can send prompting.But owing to placing one's entire reliance upon to the graphical analysis of face, and it is analyzed according to being experimental statistics and setting, and for different objects, analysis result must have certain error; And this kind of check implement is only that the state of monitoring chaufeur itself is to play indirectly reminding effect; That is, chaufeur cannot be reminded with the motoring condition of vehicle itself, to provide driving directions.
Summary of the invention
The object of the present invention is to provide a kind of monitoring method and monitor of vehicle running state, fast and accurately can judge vehicle whether run-off-road, thus provide direct failure-free to drive information using the motoring condition of vehicle itself as according to for chaufeur.
For solving the problems of the technologies described above, embodiments of the present invention provide a kind of monitoring method of vehicle running state, comprise following steps: catch the forward image in vehicle travel process; At least one sideline, track in track, described vehicle place is identified from described forward image; Two headstock side lines of described vehicle are identified from described forward image; According to the position relationship in described two headstock side lines and described at least one sideline, track, judge that described vehicle is as run-off-road state or normal motoring condition.
Embodiments of the present invention additionally provide a kind of monitor of vehicle current running state, comprise: image capture unit, for catching the forward image in vehicle travel process; Image identification unit, for two headstock side lines at least one sideline, track and described vehicle of identifying track, described vehicle place from described forward image; Motoring condition identifying unit, for the position relationship according to described two headstock side lines and at least one sideline, track, judges that described vehicle is as run-off-road state or normally motoring condition.
Embodiment of the present invention in terms of existing technologies, at least one sideline, track and two headstock side lines are identified from the forward image caught, and according to the position relationship in two headstock side lines and at least one sideline, track, judge that described vehicle is as run-off-road state or normal motoring condition.Whether the monitoring method of vehicle running state provided by the invention and monitor, fast and accurately can judge vehicle run-off-road, thus provide direct failure-free to drive information using the motoring condition of vehicle itself as according to for chaufeur.
In addition, before judging the step of described vehicle as normal motoring condition, also comprise following steps: according to any point on the headstock side line chosen and the upper extreme point of headstock side line chosen, judge that whether the sideline, track that the headstock side line chosen is corresponding with the headstock side line chosen is parallel; If parallel, then enter and judge the step of described vehicle as normal motoring condition; If not parallel, then judge that described vehicle is as just in run-off-road state.That is, before vehicle has the trend of run-off-road but not yet deviate from track, can anticipation be carried out, thus remind chaufeur attentional manipulation direction early.
In addition, in judging that described vehicle is as just after the step of run-off-road state, also comprises following steps: the current driving speed obtaining described vehicle; According to any point on the current driving speed of described acquisition, the headstock side line chosen, the upper extreme point of headstock side line chosen and the sideline, track chosen, the countdown calculating described automotive run-off-road is long.That is, when vehicle is just at run-off-road, can also anticipation to go out the countdown of automotive run-off-road long.Thus, by more specific for the current running state of vehicle, be more conducive to chaufeur also adjusts vehicle in time travel direction to the anticipation of vehicle driving trace.
Accompanying drawing explanation
Fig. 1 is the diagram of circuit of the monitoring method of vehicle running state according to first embodiment of the invention;
Fig. 2 A and Fig. 2 B represents in the identification in dotted line track, the schematic diagram in each pixel-intensive region identified when track is respectively straight line and curve;
Fig. 3 is the particular flow sheet of the step S14 according to first embodiment of the invention;
Fig. 4 A and Fig. 4 B is expressed as when the sideline, track identified is respectively one and many, chooses the schematic diagram in a nearest headstock side line of relative distance and sideline, a track;
Fig. 5 is the particular flow sheet of the step S14 according to second embodiment of the invention;
Fig. 6 is the whether parallel schematic diagram in sideline, track that the headstock side line chosen according to the judgement in second embodiment of the invention is corresponding with the headstock side line chosen;
Fig. 7 is the particular flow sheet of the step S14 according to third embodiment of the invention;
Fig. 8 is the block scheme of the monitor of vehicle running state according to four embodiment of the invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the embodiments of the present invention are explained in detail.But, persons of ordinary skill in the art may appreciate that in each embodiment of the present invention, proposing many ins and outs to make reader understand the application better.But, even without these ins and outs with based on the many variations of following embodiment and amendment, each claim of the application technical scheme required for protection also can be realized.
First embodiment of the present invention relates to a kind of monitoring method of vehicle running state.As shown in Figure 1, the monitoring method of the vehicle running state of present embodiment comprises step S11 to step S14.
Step S11: catch the forward image in vehicle travel process.
Specifically, vehicle is provided with the monitor of a vehicle running state, this monitor can catch the forward image in this vehicle travel process in real time, and this forward image is the front picture seen in chaufeur driving process.
Step S12: at least one sideline, track identifying track, vehicle place from forward image.Wherein, step S12 comprises sub-step S121 to sub-step S122.
Sub-step S121: identify multiple pixel-intensive regions with pre-set color from forward image.
In reality, sideline, track is solid line or the dotted line with pre-set color, and modal pre-set color is such as white, but the pre-set color of present embodiment to sideline, track does not impose any restrictions.
Specifically, forward image is arranged in a plane coordinate system, and namely each pixel of forward image corresponds to a plane coordinates in this plane coordinate system.The color of each pixel in forward image analyzed by monitor, and record has the doubtful close quarters of the pixel of pre-set color; Monitor judges whether the density in this doubtful close quarters with the pixel of pre-set color is equal to or greater than default density threshold, if so, then this doubtful close quarters is designated pixel-intensive region.Wherein, this density threshold preset is 80%, represents in all pixels of doubtful close quarters, when having at least the pixel of 80% to be pre-set color, thinks that this doubtful close quarters is pixel-intensive region.Such as, doubtful close quarters is the region (totally 100 pixels) of 10*10 pixel, if wherein 98 pixels are pre-set color, then this doubtful close quarters is identified as pixel-intensive region, if wherein 60 pixels are pre-set color, then this doubtful close quarters does not belong to pixel-intensive region.Those skilled in the art can arrange this density threshold according to actual conditions.
Sub-step S122: form sideline, two tracks according to multiple pixel-intensive region.
Specifically, when sideline, track is solid line, theoretic, monitor can identify two pixel-intensive regions, and these two pixel-intensive regions represent two tracks, left and right respectively.
When sideline, track is dotted line, monitor will identify multiple pixel-intensive region, as Fig. 2 A, Fig. 2 B represent that track is the situation of straight line or curve respectively, illustrate pixel-intensive region A1 to A6 in figure, but the number of present embodiment to the pixel-intensive region identified in forward image does not impose any restrictions.Wherein, the triangle housing in figure represents the edge line of the present image of shooting.Monitor obtains the abscissa along the center line L1 to L6 on this zone length direction in each pixel-intensive region, and is coupled together by the center line with approximate abscissa.Wherein, because the horizontal center line of forward image and vertical center line are respectively X-axis and the Y-axis of coordinate plane, therefore, the approximate abscissa described in present embodiment refers to: the abscissa with same-sign.As shown in Fig. 2 A or Fig. 2 B, the abscissa in each pixel-intensive region on the left of Y-axis is all less than zero, and namely the abscissa of the upper each point of the center line L1 to L3 in those pixel-intensive regions is also less than zero, thus, center line center line L1 to L3 coupled together as left-hand lane.Then, those track center lines identified will couple together by monitor) fit to straight line (corresponding to straight way) or arc curve (corresponding to bend).Preferably, the width of the straight line that fits to or arc curve is also expanded as reference width by monitor, and be the straight line of reference width or Curves Recognition by this expansion is track.Wherein, reference width can be arranged according to actual conditions by those skilled in the art, or can set according to the width in one of them the pixel-intensive region identified.
It should be noted that, the picture up and down of the actual forward image captured can should be and catches angle and produce distortion, namely the sideline, two tracks in the actual forward image captured may be not parallel, but, those skilled in the art can carry out inching according to practical experience to the forward image captured or carry out respective handling (not being described further) herein, to facilitate subsequent calculations and judgement to the coordinate in the sideline, two tracks identified.All that situation about being parallel to each other with sideline, two tracks is analyzed in present embodiment.
Step S13: the two headstock side lines identifying this vehicle from forward image.Wherein, step S13 comprises sub-step S131 to sub-step S133.
Sub-step S131: forward image is divided into multiple image section in the horizontal direction.
Namely the horizontal direction of the forward image described in present embodiment refers to the direction perpendicular to headstock side line.Those skilled in the art can need according to realistic accuracy the width arranging each image section.
Sub-step S132: the color difference calculating adjacent image section successively.
That is, the corresponding different color-values of the image section of different colours, the color difference of adjacent image section can represent the color change of these two adjacent image section.Color difference is comparatively large, represents that the color change of these two adjacent image section is obvious.
Sub-step S133: more each color difference and the size of color skip threshold preset, is identified as two headstock side lines by the demarcation line of the adjacent image section corresponding to the color difference being greater than color skip threshold.
Specifically, monitor inside pre-sets a color skip threshold, using as the basis for estimation whether occurring color change.When color difference is greater than this color skip threshold, represent that these two adjacent image sections corresponding to color difference have obviously color change; The demarcation line of the adjacent image section corresponding to this color difference is identified as headstock side line by monitor.
It should be noted that, in practical application, in order to comparatively be accurately identified the position of color change in forward image, the width of set each image section is less, therefore, even if using two adjacent image sections jointly as headstock side line (namely the width of headstock side line equals the overall width of two adjacent image sections), the precision of subsequent calculations also can not be affected.
It should be noted that, the picture up and down of the actual forward image captured can should be and catches angle and produce distortion, namely two headstock side lines in the actual forward image captured may be not parallel, but, those skilled in the art can carry out inching according to practical experience to the forward image captured or carry out respective handling to the coordinate of the two headstock side lines identified, the two headstock side lines identified are parallel to each other, to tally with the actual situation.In present embodiment be all two headstock side lines identifying situation about being parallel to each other and opinion.
Step S14: according to the position relationship in two headstock side lines and at least one sideline, track, judges that vehicle is as run-off-road state or normal motoring condition.As shown in Figure 3, step S14 comprises sub-step S141 to sub-step S145.
Sub-step S141: choose a nearest headstock side line of relative distance and sideline, a track from two headstock side lines and at least one sideline, track.
Specifically, a sideline, track or sideline, many tracks may be identified from the forward image photographed, calculate the relative distance of each bar headstock side line to sideline, each bar track, and choose a minimum headstock side line of relative distance and sideline, a track.
As Fig. 4 A represents the schematic diagram when comprising a sideline, track in forward image, be described to identify a track left side bearing M1 in Fig. 4 A.First, monitor calculates relative distance │ F1N1 │, the │ F2N2 │ of the upper extreme point F2 to track left side bearing M1 of sideline L2 on the right side of the upper extreme point F1 of sideline L1 on the left of headstock, headstock respectively.Secondly, monitor compares │ F1N1 │, │ F2N2 │ and obtains smaller wherein; In present embodiment, on the left of headstock, the upper extreme point F1 of sideline L1 is closer to track left side bearing M1, and namely │ F1N1 │ is less; That is, a headstock side line is chosen in present embodiment and sideline, a track is sideline L1 and track left side bearing M1 on the left of headstock.
As Fig. 4 B represents the schematic diagram when comprising many sidelines, track in forward image, be described to identify sideline, two tracks M1, M2 in Fig. 4 B.First, monitor calculates relative distance │ F1N1 │, the │ F2N2 │ of the upper extreme point F2 to track left side bearing M1 of sideline L2 on the right side of the upper extreme point F1 of sideline L1 on the left of headstock, headstock, and relative distance │ F1N3 │, the │ F2N4 │ of the upper extreme point F2 to track right side bearing M2 of sideline L2 on the right side of the upper extreme point F1 of sideline L1, headstock on the left of headstock.Secondly, monitor compares │ F1N1 │, │ F2N2 │, │ F1N3 │, │ F2N4 │ also acquisition smaller wherein, and in present embodiment, on the left of headstock, the upper extreme point F1 of sideline L1 is closer to track left side bearing M1, and namely │ F1N1 │ is less; That is, a headstock side line is chosen in present embodiment and sideline, a track is sideline L1 and track left side bearing M1 on the left of headstock.
The concrete account form of present embodiment to this step does not also impose any restrictions, and those skilled in the art can adopt the account form of other equivalence.
Sub-step S142: judge that whether the extended line in the headstock side line chosen and the sideline, track chosen or the sideline, track chosen is crossing.If so, sub-step S143 is entered; If not, sub-step S145 is entered.
In present embodiment, judge on the left of headstock, whether sideline L1 and track left side bearing M1 has same coordinate, if having, on the left of representing disconnected headstock, sideline L1 is crossing with track left side bearing M1; If nothing, on the left of representing disconnected headstock, sideline L1 and track left side bearing M1 is non-intersect.
In practical application, when headstock is especially near a certain sideline, track, the sideline, part track being positioned at headstock side possibly cannot photograph, namely this sideline, track identified from the forward image of shooting only comprises the part being positioned at headstock front, now, whether monitoring module extends under needing this lane side alignment this identified, thus crossing with the extended line in the sideline, track chosen by judging the headstock side line chosen, judges vehicle whether as run-off-road state.
Sub-step S143: judge that vehicle is as run-off-road state.
Sub-step S144: produce alerting signal.
Wherein, this alerting signal is such as audio alert, but present embodiment does not impose any restrictions this.
Sub-step S145: judge that vehicle is as normal motoring condition.
Second embodiment of the present invention relates to a kind of monitoring method of vehicle running state.Second embodiment is roughly the same with the first embodiment, and key distinction part is: as shown in Figure 5, in step S14, before sub-step S145, also comprises sub-step S241 and sub-step S242.
Sub-step S241: according to any point on the headstock side line chosen and the upper extreme point of headstock side line chosen, judges that whether the sideline, track that the headstock side line chosen is corresponding with the headstock side line chosen is parallel.If so, sub-step S145 is entered; If not, sub-step S242 is entered.
As shown in Figure 6, on the left of headstock, the coordinate of the upper extreme point F1 of sideline L1 is (x1, y1).First, choose any point F3 on the left of headstock on the L1 of sideline, its coordinate is (x3, y3).Secondly, monitor calculates the difference Δ x=│ x1-x2 │ of the abscissa of this F1 and F3 and the difference Δ y=│ Y1-Y2 │ of ordinate respectively.Again, monitor judges that whether the difference Δ x of abscissa meets a default lateral error scope, and judges the whether satisfied default longitudinal error scope of the difference Δ y of ordinate.If Δ x and Δ y all satisfies condition, then represent that the sideline, track that the headstock side line chosen is corresponding with the headstock side line chosen can be considered as less parallel, namely judge that vehicle is as normal motoring condition; Otherwise, judge that vehicle is as just in run-off-road state.
Owing to strictly can not keep parallel all the time with sideline, track in vehicle travel process, therefore, monitor inside stores this lateral error scope and this longitudinal error scope in advance, and this lateral error scope and this longitudinal error scope represent: the permissible error scope that when headstock side line and sideline, track less parallel, headstock side line tilts towards sideline, track.Wherein, those skilled in the art can set the numerical value of this lateral error scope and this longitudinal error scope according to practical experience, such as lateral error scope and longitudinal error scope are respectively 5 pixels.
It should be noted that, the situation being straight line for sideline, track in Fig. 6 is described, but present embodiment does not impose any restrictions this, similar when determination methods when sideline, track is camber line and sideline, track are straight line, repeats no more herein.
Sub-step S242: judge that vehicle is as just in run-off-road state.
The whether parallel concrete mode in the sideline, track that the headstock side line chosen of the judgement described in present embodiment sub-paragraphs S241 is corresponding with the headstock side line chosen does not impose any restrictions, and those skilled in the art can adopt the judgment mode of any equivalence according to practical experience.
3rd embodiment of the present invention relates to a kind of monitoring method of vehicle running state.3rd embodiment is roughly the same with the second embodiment, key distinction part is: in third embodiment of the invention, as shown in Figure 7, in step 14, after sub-step S242, also comprise sub-step S243 to sub-step S244, and sub-step S247 is to after sub-step S250 is positioned at sub-step S246.
Sub-step S243: the current driving speed obtaining vehicle.
Specifically, monitor is also connected to the master controller of vehicle, to obtain the current driving speed V of vehicle.Wherein, the connection mode of the master controller of monitor and vehicle can be wired connection or wireless connections.
Sub-step S244: according to any point on the current driving speed obtained, the headstock side line chosen, the upper extreme point of headstock side line chosen and the sideline, track chosen, the countdown calculating automotive run-off-road is long.
Please refer to Fig. 6.First, the distance │ F1F3 │ between any point F3 on the left of the upper extreme point F1 in sideline on the left of headstock and headstock on sideline is calculated.Secondly, calculate F1, F3 distance to this track left side bearing M1 respectively, as shown be the length │ F1N1 │ of line segment F1N1, F3N3, │ F3N3 │.Finally, utilize leg-of-mutton correlation theory, calculate: the long t=of countdown (│ F1F1 │ * │ F1F3 the │)/(∣ │ F1F1 │-│ F3N3 │ ∣ * V of automotive run-off-road).
The step of various method divides above, just in order to be described clearly, can merge into a step or splitting some step, being decomposed into multiple step, when realizing as long as comprise identical logical relation, all in the protection domain of this patent; To adding inessential amendment in algorithm or in flow process or introducing inessential design, but the core design not changing its algorithm and flow process is all in the protection domain of this patent.
Four embodiment of the invention relates to a kind of monitor of vehicle running state.Wherein, the monitor 1 of this vehicle running state can be integrated in vehicle body fittings, to be together arranged on this vehicle with this vehicle body fittings; Such as, the monitor 1 of this vehicle running state can be integrated on rearview mirror navigator, to be together fixed on the back mirror of vehicle with this rearview mirror navigator.Or the monitor of this vehicle running state also can be designed to a self contained system, and this self contained system can be fixed on vehicle.
As shown in Figure 8, the monitor 1 of vehicle running state comprises: image capture unit 10, image identification unit 11, motoring condition identifying unit 12 and alarm unit 13, image identification unit 11 is connected to image capture unit 10 and motoring condition identifying unit 12, and alarm unit 13 is connected to motoring condition identifying unit 12.
Image capture unit 10 is for catching the forward image in vehicle travel process.Specifically, image capture unit 10 is such as a camera, towards vehicle front.This camera can catch vehicle front image in real time.
Image identification unit 11 is for two headstock side lines at least one sideline, track and vehicle that identify track, vehicle place from forward image.Specifically, sideline, two tracks is pre-set color, and image identification unit 11 identifies multiple pixel-intensive regions with described pre-set color from forward image, and according to multiple pixel-intensive region to form sideline, two tracks.Further, forward image is divided into multiple image section by image identification unit 11 in the horizontal direction; Calculate the color difference of adjacent image section successively; More each color difference and the size of color skip threshold preset, be identified as two headstock side lines by the adjacent image section corresponding to the color difference being greater than color skip threshold.
Motoring condition identifying unit 12, for the position relationship according to two headstock side lines and at least one sideline, track, judges that vehicle is as run-off-road state or normal motoring condition or just in run-off-road state.When motoring condition identifying unit 12 judges vehicle as run-off-road state, alarm unit 13 produces alerting signal to remind chaufeur.Described motoring condition identifying unit judges that vehicle is as just after run-off-road state, and the countdown that motoring condition identifying unit 12 can also calculate automotive run-off-road is long.
In addition, the monitor 1 of vehicle current running state can also comprise display unit (not shown), is connected to motoring condition identifying unit, and display unit can show the current motoring condition of vehicle in real time.
Be not difficult to find, present embodiment is the system embodiment corresponding with the first to the 3rd embodiment, and present embodiment can be worked in coordination with the first to the 3rd embodiment and be implemented.The relevant technical details mentioned in first to the 3rd embodiment is still effective in the present embodiment, in order to reduce repetition, repeats no more here.Correspondingly, the relevant technical details mentioned in present embodiment also can be applicable in the first to the 3rd embodiment.
It is worth mentioning that, each module involved in present embodiment is logic module, and in actual applications, a logical block can be a physical location, also can be a part for a physical location, can also realize with the combination of multiple physical location.In addition, in order to outstanding innovative part of the present invention, the unit not too close with solving technical matters relation proposed by the invention is not introduced in present embodiment, but this does not show the unit that there is not other in present embodiment.
Persons of ordinary skill in the art may appreciate that the respective embodiments described above realize specific embodiments of the invention, and in actual applications, various change can be done to it in the form and details, and without departing from the spirit and scope of the present invention.
Claims (9)
1. a monitoring method for vehicle running state, is characterized in that, comprises following steps:
Catch the forward image in vehicle travel process;
At least one sideline, track in track, described vehicle place is identified from described forward image;
Two headstock side lines of described vehicle are identified from described forward image;
According to the position relationship in described two headstock side lines and at least one sideline, track, judge that described vehicle is as run-off-road state or normal motoring condition.
2. the monitoring method of vehicle running state according to claim 1, it is characterized in that, according to the position relationship in described two headstock side lines and at least one sideline, track, judge the step of described vehicle as run-off-road state or normal motoring condition, comprise following sub-step:
A nearest headstock side line of relative distance and sideline, a track is chosen from described two headstock side lines and described at least one sideline, track;
Judge that whether the extended line in the headstock side line chosen and the sideline, track chosen or the sideline, track chosen is crossing;
If the headstock side line chosen is crossing with the extended line in the sideline, track chosen or the sideline, track chosen, judge that described vehicle is as run-off-road state;
If the headstock side line chosen and the sideline, track chosen and the extended line in sideline, track chosen all non-intersect, judge that described vehicle is as normal motoring condition.
3. the monitoring method of vehicle running state according to claim 2, is characterized in that, before judging the step of described vehicle as normal motoring condition, also comprises following steps:
According to the upper extreme point of any point on the headstock side line chosen with the headstock side line chosen, judge that whether the headstock side line chosen is parallel with the sideline, track chosen;
If parallel, then enter and judge the step of described vehicle as normal motoring condition;
If not parallel, then judge that described vehicle is as just in run-off-road state.
4. the monitoring method of vehicle running state according to claim 3, is characterized in that, in judging that described vehicle is as just after the step of run-off-road state, also comprises following steps:
Obtain the current driving speed of described vehicle;
According to any point on the current driving speed of described acquisition, the headstock side line chosen, the upper extreme point of headstock side line chosen and the sideline, track chosen, the countdown calculating described automotive run-off-road is long.
5. according to the monitoring method of the vehicle running state in claim 1 or 4 described in any one, it is characterized in that, after judging the step of described vehicle as run-off-road state, also comprise following steps:
Produce alerting signal.
6. the monitoring method of vehicle running state according to claim 1, is characterized in that, identifies the step in the sideline, two tracks in track, described vehicle place, comprise following sub-step from described forward image:
Multiple pixel-intensive regions with pre-set color are identified from described forward image;
Sideline, described two tracks is formed according to described multiple pixel-intensive region.
7. the monitoring method of vehicle running state according to claim 1, is characterized in that, identifies the step of at least one headstock side line of described vehicle, comprise following sub-step from described forward image:
Described forward image is divided into multiple image section in the horizontal direction;
Calculate the color difference of adjacent image section successively;
More each color difference and the size of color skip threshold preset, be identified as described two headstock side lines by the demarcation line of the adjacent image section corresponding to the color difference being greater than described color skip threshold.
8. a monitor for vehicle running state, is characterized in that, comprises:
Image capture unit, for catching the forward image in vehicle travel process;
Image identification unit, for two headstock side lines at least one sideline, track and described vehicle of identifying track, described vehicle place from described forward image;
Motoring condition identifying unit, for the position relationship according to described two headstock side lines and at least one sideline, track, judges that described vehicle is as run-off-road state or normally motoring condition.
9. the monitor of vehicle running state according to claim 8, is characterized in that, the monitor of described vehicle running state also comprises:
Alarm unit, when described motoring condition identifying unit judges described vehicle as run-off-road state, described alarm unit produces alerting signal.
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| CN201510325496.4A CN104943611A (en) | 2015-06-12 | 2015-06-12 | Vehicle running state monitoring method and device |
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| CN201510325496.4A CN104943611A (en) | 2015-06-12 | 2015-06-12 | Vehicle running state monitoring method and device |
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| CN104943611A true CN104943611A (en) | 2015-09-30 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105787455A (en) * | 2016-03-01 | 2016-07-20 | 江苏大学 | Lane-keeping control algorithm introducing image virtual guide line |
| WO2018027500A1 (en) * | 2016-08-08 | 2018-02-15 | 深圳市锐明技术股份有限公司 | Lane line detection method and device |
| CN108873896A (en) * | 2018-06-15 | 2018-11-23 | 驭势科技（北京）有限公司 | A kind of lane line analogy method, device and storage medium |
| CN109782764A (en) * | 2019-01-21 | 2019-05-21 | 湖北汽车工业学院 | A kind of unmanned logistics distribution system of intelligent solar, control method and dispensing vehicle |
| CN111152721A (en) * | 2019-12-31 | 2020-05-15 | 深圳疆程技术有限公司 | Method and device for drawing guide line of lane and head-up display system |
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2015
- 2015-06-12 CN CN201510325496.4A patent/CN104943611A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105787455A (en) * | 2016-03-01 | 2016-07-20 | 江苏大学 | Lane-keeping control algorithm introducing image virtual guide line |
| WO2018027500A1 (en) * | 2016-08-08 | 2018-02-15 | 深圳市锐明技术股份有限公司 | Lane line detection method and device |
| CN108873896A (en) * | 2018-06-15 | 2018-11-23 | 驭势科技（北京）有限公司 | A kind of lane line analogy method, device and storage medium |
| CN108873896B (en) * | 2018-06-15 | 2021-07-02 | 驭势科技（北京）有限公司 | Lane line simulation method and device and storage medium |
| CN109782764A (en) * | 2019-01-21 | 2019-05-21 | 湖北汽车工业学院 | A kind of unmanned logistics distribution system of intelligent solar, control method and dispensing vehicle |
| CN111152721A (en) * | 2019-12-31 | 2020-05-15 | 深圳疆程技术有限公司 | Method and device for drawing guide line of lane and head-up display system |
| CN111152721B (en) * | 2019-12-31 | 2022-09-02 | 合肥疆程技术有限公司 | Method and device for drawing guide line of lane and head-up display system |
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