CN105185160B - The pavement detection method that distorted region mobile trend identifies in virtual grid - Google Patents
The pavement detection method that distorted region mobile trend identifies in virtual grid Download PDFInfo
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Abstract
The invention discloses the pavement detection method that distorted region mobile trend in a kind of virtual grid identifies, after road surface virtual net is formatted, mobile trend identifying system carries out figure identification to the grid image collected, find out distorted region, and the mobile trend in tracing distortion region, driving alarm module sends prompting according to mobile trend recognition result, sends alarm and reminding driver in time and takes effective counter-measure, the generation of traffic accident is eliminated with this.The adjustment of alarm region can be carried out automatically according to driving states, vehicle front can not only be detected, rear and left and right sides can also be detected, rear alarm and elimination left and right blind area during for detecting rear car safe distance and reversing, it can be used in the application such as left and right blind zone alert and track change auxiliary.Present invention reduces amount of calculation and hardware device cost, while active illumination mode can adapt to the light change of day and night, reduces environmental disturbances, improves the correctness and reliability of identification.
Description
Technical field
The invention belongs to the control of vehicle traveling and safety control technology field, and in particular to distorted region is moved in virtual grid
The pavement detection method of dynamic trend identification.
Background technology
With expanding economy, vehicle has been enter into huge numbers of families as the important vehicles, and traveling is on road surface daily
Car it is countless, but the traffic accident occurred daily also remains high, with gradually stepping up for traffic safety consciousness, Che Shangpei
Various driving accessory systems are put, such as vehicle body radar, track change auxiliary, self-actuating brake system, these systems pass through to car
The automatic sensing of ambient condition information and identification, when identifying potential danger, send alarm and reminding driver and take in time
Effective counter-measure, the generation of traffic accident is eliminated with this.
The perceptive mode of vehicle-periphery information has two kinds of active mode and passive mode, and wherein active mode uses more
The means such as laser, ultrasound, microwave carry out the detection of target and environment, and passive mode is then using the detection of contactless progress target
And identification, such as coordinate image recognition to realize using video sensor.Active mode obtains information and generally not enough enriched, and ring be present
Border interference problem, passive mode are realized by image recognition, are influenceed greatly, to realize algorithm complexity, reliability and standard by ambient light
True property has much room for improvement.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of based on mobile trend identification in distorted region in virtual grid
Pavement detection method, which reduce amount of calculation and hardware device cost, while active illumination mode can adapt to daytime and night
The light change in evening, reduces environmental disturbances, improves the correctness and reliability of identification.
The present invention is that solve above-mentioned technical problem by following technical proposals：A kind of pavement detection system, its feature
It is, it is made up of light grid grenade instrumentation, image received device, mobile trend identifying system, alarm module, light grid
Grenade instrumentation, which emits beam, is incident upon road surface formation light grid；Light grid in figure reception device road pavement carries out image
Collection；Mobile trend identifying system carries out figure identification to the grid image collected, finds out distorted region, and tracing distortion area
The mobile trend in domain；Driving alarm module sends prompting according to mobile trend recognition result.
Preferably, the mobile trend identifying system is connected with a communication interface.
Preferably, the mobile trend identifying system is connected with a video output interface.
Preferably, described image reception device includes imaging sensor and optical lens.
Preferably, the Grid Projection device is by being separately mounted to two laser beam emitting device groups of left and right vehicle wheel both sides
Into, or be made up of the single laser beam emitting device installed in vehicle headstock medium position.
Preferably, the light type of the laser beam emitting device projection is horizontal pattern or vertical mode.
Preferably, the light grid grenade instrumentation forms square network on ground.
The present invention also provides a kind of pavement detection method of mobile trend identification in distorted region in virtual grid including following
Step：
The first step：The light that light grid grenade instrumentation is sent is incident upon road surface and forms light grid；
Second step：Light grid in figure reception device road pavement carries out IMAQ；
3rd step：Mobile trend identifying system carries out figure identification to the grid image collected, finds out distorted region, and
The mobile trend in tracing distortion region；
4th step：According to mobile trend recognition result, when entering alarm region, driving alarm module sends prompting.
The positive effect of the present invention is：The present invention projects net by light grid grenade instrumentation on road surface
Lattice, when bump or depression, shape distortion occurs for grid regional area, and figure reception device carries out IMAQ to grid
Afterwards, mobile trend identifying system, which only needs the grid pattern feature in road pavement to be identified, can find road surface abnormal conditions, drop
Low amount of calculation and hardware device cost, while active illumination mode can adapt to the light change of day and night, reduce
Environmental disturbances, improve the correctness and reliability of identification.Light grid is projected as a result of active light-emitting mode, at night
Between under driving mode the system can effectively improve the security of driving, avoid the accident in low light environment from occurring, for night
There is vision dead zone in short-term after disappearing in the strong light of sight blind area and direct projection eyes caused by light intersection is excessively bright when travelling meeting,
The system is unaffected, can normally identify the pavement behavior in blind area, send prompting in time, avoid accident.This road surface
After detecting system formats road surface virtual net, the adjustment of alarm region can be carried out automatically according to driving states, can not only be pacified
It is anterior mounted in headstock, this system can also be installed in vehicle rear, for detecting pavement state after car, in detection traveling rear car away from
Car rear surface conditions are detected during from, reversing, radar and reverse image deficiency can be made up；Simultaneously can also it is left in vehicle,
This system is installed in right both sides, eliminates vision dead zone, realizes the function such as blind zone alert and track change auxiliary, it is hidden to eliminate driving
Suffer from.
Brief description of the drawings
Fig. 1 is the structural representation of pavement detection system of the present invention；
Fig. 2 is grid grenade instrumentation and image received device schematic view of the mounting position；
Fig. 3 is the road surface schematic diagram after gridding；
Mesh distortion schematic diagram in image when Fig. 4 is bump；
Mesh distortion schematic diagram in image when Fig. 5 is road surface depression；
Fig. 6 is road surface object of which movement trend curve schematic diagram；
Fig. 7 is according to the variable alarm region schematic diagram of speed；
Fig. 8 is according to the variable alarm region schematic diagram of vehicle heading.
Embodiment
Present pre-ferred embodiments are provided below in conjunction with the accompanying drawings, to describe technical scheme in detail.
Pavement detection mode is detected for surface conditions, passes through the ratio to active mode and passive mode advantage and disadvantage
It is right, with reference to vehicle and the relative motion relation on road surface, both active mode and passive mode are combined, road surface virtual net is formatted
Afterwards, by the identification to grid search-engine, pavement behavior is detected according to grid search-engine, the mode of being implemented as follows is described as being directed to vehicle row
The pavement detection embodiment in front of direction is sailed, this detecting system can be used for the inspection of the road surfaces such as rear view of vehicle and the left and right sides
In survey.
The composition of pavement detection system of the present invention is as shown in figure 1, by light grid grenade instrumentation, image received device, shifting
Dynamic trend identifying system, alarm module composition, light grid grenade instrumentation, which emits beam, is incident upon road surface formation light grid；Figure
Light grid in shape reception device road pavement carries out IMAQ；Mobile trend identifying system is entered to the grid image collected
Row figure identifies, finds out distorted region, and the mobile trend in tracing distortion region；Driving alarm module identifies according to mobile trend
As a result prompting is sent.Light grid grenade instrumentation, image received device, alarm module all can connect with mobile trend identifying system
Connect, wherein light grid grenade instrumentation can be controlled by mobile trend identifying system or Vehicular power system controls, and such as be become by movement
The control of gesture identifying system can then open and close light grid grenade instrumentation as needed, such as be used for rear detection of moving backward,
And be used to then be controlled by Vehicular power system during vehicle front detection, light grid projection dress is then opened after vehicle startup
Put.Mobile trend identifying system can be connected with a communication interface, through thus communication interface, can be led to vehicle control syetem
The mutual transmission that communications protocol enters row information is crossed, the speed of operation of vehicle is such as obtained, turns to status information, while can also incite somebody to action
The pavement state detected feeds back to vehicle control syetem, is used for other purposes after carrying out data processing by it.Mobile trend is known
Other system can be connected with a video output interface, can be output to the grid image collected by this video output interface
Shown in Vehicular screen.
Wherein light grid grenade instrumentation is made up of one or more laser beam emitting devices, and laser beam emitting device is sent out by laser
Emitter and optical lens composition, generating laser sends the sightless laser of human eye, by spot light after being handled via optical lens
Become a plurality of parallel line source, or be directly the special light sources of mesh shape；Image received device include imaging sensor and
Optical lens.Polarized lenses and light filtering eyeglass are configured in optical lens, limits or filters out the light beyond laser and enter, drop
Influence of the low extraneous light to imaging effect；Alarm module is made up of loudspeaker, highlighted LED, can send voice, light carries
Wake up；Mobile trend identifying system hardware uses the component such as high-speed CPU and Large Copacity RAM, integrated graphics recognizer software with
And the driver of image received device, alarm module, communication interface, video output interface etc..
The detection method of pavement detection system of the present invention comprises the following steps：
The first step：The light that light grid grenade instrumentation is sent is incident upon road surface and forms light grid, and light grid can be by
The light of two groups of vertical and horizontal different directions, which intersects, to be combined or directly by being formed from a single point light source projects；
Second step：Light grid in figure reception device road pavement carries out IMAQ, the height per second for carrying out multiframe
Fast IMAQ, color fortification then is carried out to the image collected and color filters out, grid search-engine reinforcing is carried out, after reduction
The amount of calculation of phase algorithm for pattern recognition；
3rd step：Mobile trend identifying system carries out figure identification to the grid image collected, is existed according to road surface convex
The feature of deformation occurs in grid when rising and being recessed, and finds out distorted region, obtains its corresponding mesh coordinate, and tracing distortion area
The mobile trend in domain；
4th step：According to mobile trend recognition result, when entering alarm region, driving alarm module sends prompting.The
The alarm region of mobile trend can be according to speed, direction adjust automatically in four steps.
Grid Projection device can be made up of two laser beam emitting devices for being separately mounted to left and right vehicle wheel both sides, or by installing
Formed in the single laser beam emitting device of vehicle headstock medium position.
The light type that laser beam emitting device installed in left and right vehicle wheel both sides projects can adjust, and can not only exchange,
Light is not limited to horizontal, vertical both of which simultaneously, can be other forms, and forming grid can be incident upon ground is easy to figure
For the purpose of identification.
Image received device installation is high-order in the car, difference in height be present with grid grenade instrumentation vertical direction.Projection
After image received device acquisition process, mobile trend identifying system is converted into visible image and is output to vehicle-mounted screen grid
Shown on curtain, when detecting that raised and depression etc. is abnormal, show abnormality position on the square network of Vehicular screen, simultaneously
Driving alarm module sends voice, light prompting, so that driver takes treatment measures in time.
Mobile trend identifying system is connected by communication interface with vehicle control syetem, and vehicle row is obtained by communications protocol
Sail speed, steering wheel rotational angle and other vehicle parameters.
Pavement state is converted to data and is supplied to vehicle control syetem by communication interface by mobile trend identifying system, can
It is stored in after adding GPS position information by it in database, and uploads to high in the clouds.Alarm module can send sound, light.This inspection
Examining system can be used for vehicle front, rear and the pavement detection of the left and right sides.
The installation site of light grid grenade instrumentation and image received device can be with as shown in Fig. 2 be thrown by light grid
Injection device 202 projects a square network on road surface, and road surface progress virtual net is formatted, such as Fig. 3 of the road surface after gridding
It is shown.When road surface has the object or depression of protrusion, road surface locally becomes uneven, the grid of relevant position in square network
No longer it is straight line, the torsional deformation such as Fig. 4, Fig. 5 occurs, due to the imaging sensor 201 and reticule in image received device
Lattice grenade instrumentation 202 has differences in vertical height, and imaging sensor 201 can obviously capture the part of grid
Distortion, is identified, and track its mobile trend by the algorithm for pattern recognition in mobile trend identifying system.Due to using master
Dynamic transmitting light forms square network on ground, and road pavement virtual net gathers its grid search-engine after formatting by imaging sensor to be believed
Breath, it is more excellent than carrying out image analysis effect after the simple passive collection by imaging sensor, amount of calculation is reduced, image is passed
Sensor hardware requirement reduces, and reduces hardware cost, while active illumination mode can adapt to the light change of day and night,
Environmental disturbances are reduced, night on daytime can be used, and improve the correctness and reliability of identification.
The square network on ground can realize by one or more light grid grenade instrumentations, can be by installed in headstock
The single light grid grenade instrumentation at middle part is realized, can also pass through as shown in Figure 2 two be arranged at left and right sides of headstock
Light grid grenade instrumentation 202 coordinate realize, a plurality of light projected on ground perpendicular to travel direction, another
Ground projects a plurality of light parallel to travel direction, and the first light grid grenade instrumentation 301 projects vertically in specific such as Fig. 3
Light, the second light grid grenade instrumentation 302 projects horizontal light, two groups of light are incident upon intersect on ground after form net
Lattice, it is described below in of the invention to be based on the above-mentioned division of labor, in actual applications, the light of the first light grid grenade instrumentation 301 projection
Line type, the light type of the second light grid grenade instrumentation 302 projection can adjust, and can not only exchange, project simultaneously
Light be not limited to horizontal, vertical both of which, can be other forms, forming grid can be incident upon ground is easy to image
For the purpose of identification.
The advantages of two light grid grenade instrumentations, is the more single height of light intensity, improves contrast and using the longevity
Life, can not only be imaged in imaging sensor 201 it is apparent, it is empty simultaneously because two grenade instrumentations stagger in horizontal plane
Between on distance be present, deform more obvious when running into the pit-hole of the object of front protrusion and depression, improve the sensitive of identification
Degree, can preferably identify pavement state.
Imaging sensor 201 and the bigger recognition effect of vertical direction difference in height of grid grenade instrumentation 202 are more notable, in order to adopt
Collect the maximum distortion of grid, image received device may be mounted at the front of room mirror.
In vehicle launch, light grid grenade instrumentation is lighted, light grid is projected on road surface, is adopted through imaging sensor
After collection identification, self-test and calibration are completed, judges whether detecting system working condition is normal, for being led due to light decay or external dust
Light intensity deficiency of cause etc. can send self-test information, easy access extremely.
In traveling, detecting system carries out high-speed computation, report is sent immediately for the exception of discovery to the real-time detection of road conditions
It is alert, the imaging sensor IMAQ per second carried out not less than 30 frames, by supercomputing, Real time identification road conditions.Image
The sensor three-dimensional camera higher without cost, reduces hardware implementation cost, while decreases the calculating of figure identification
Amount, improves recognition speed.
In order to avoid interference drives, the light selection used in light grid grenade instrumentation uses the sightless laser of human eye,
Because laser has the unicity of frequency, polarized lenses and light filtering eyeglass, limitation or filter are configured before image sensor lens
Light in addition to laser enters, and influence of the extraneous light to imaging effect is reduced, to big to track when particularly meeting at night
The interference of the high bright light rays of lamp, after IMAQ, carry out the reinforcing of image first and color filter out, carry out grid search-engine reinforcing,
To reduce the amount of calculation of later stage algorithm for pattern recognition.Light grid is projected as a result of active light-emitting mode, in night row
The security of driving can be effectively improved by sailing the system under pattern, avoid the accident in low light environment from occurring, while be directed to night
There is vision dead zone in short-term after disappearing in the strong light of sight blind area and direct projection eyes caused by light intersection is excessively bright when travelling meeting,
The system is unaffected, can normally identify the pavement behavior in blind area, send prompting in time, avoid accident.
For the grid of projection after image received device acquisition process, detecting system is converted into visible image through video
Output interface output is shown in Vehicular screen, when detecting that raised and depression etc. is abnormal, is shown in the grid on screen
Go out out-of-the way position, while drive alarm module to send voice reminder, so as to driver's timely processing.
When driving a vehicle in the daytime, when the improper driving such as driver's dispersion attention, drowsiness fails to avoid preceding object in time
During thing, it can in time send and alarm and take control measure automatically, two side elevation barriers can be detected, make up blind area, such as pacify
Mounted in vehicle body rear, then can continue to being detected after car, security incident caused by avoiding front-and-rear vehicle distance excessively near.Simultaneously
It can be used for reversing detection, eliminate reversing blind area, can recognize that the short raised and depression of road, this is current radar
It is irrealizable, when effectively solving the defects of radar can not detect short object and pit, while it also avoid insufficient light
Reverse image can not blur-free imaging the defects of, the barrier on real-time display road surface and pit-hole etc. in Vehicular screen, enhancing drive
Security.Obstacle and the hole on road surface and both sides can effectively be assisted in identifying on no street lamp and the road of illumination deficiency
Hole, pedestrian and object in vision dead zone etc. can be identified in the strong light of meeting.
On road surface, object be present is moved and static two states, the mobile trend of object and the transverse direction of object in grid
Speed is relevant with longitudinally relative speed, the difference of lengthwise travel rate of the longitudinally relative speed between object and vehicle, in image
Distorted region can be presented below as different mobile trends within a grid：
When object transfixion, such as the object 606 in Fig. 6 grids A1, with the movement of vehicle, enter successively from grid A1
Enter grid A2 until grid A8, the mobile trend formed within a grid is shown in the first curve 601；When speed is constant, object by
Gradually reduce translational speed, or object translational speed is constant, when speed increases, from grid A1 to grid B2 finally to grid F8,
The mobile trend formed in grid is as shown in the second curve 602；When speed is constant, object gradually increases translational speed, or object
Translational speed is constant, and when speed reduces, the mobile trend formed within a grid is as shown in the 3rd curve 603；When object moves speed
Trend is as shown in the 4th curve 604 when degree and speed keep constant；When left side has vehicle to change lane to drive into, the trend of formation
As shown in the 5th curve 605.
When being identified as the first curve 601, prompting is sent, reminds driver to pay attention to observing, passes through with caution；When being identified as
When two curves 602, the 3rd curve 603, the 4th curve 604, five curves 605, according to its position and distance within a grid, sentence
Break whether in alarm region, when finding to influence traffic safety in alarm region, driving alarm module sends sound, light alarm.
Fig. 7 be according to the variable alarm region of speed, according to different speeds, alarm region can adjust automatically, it is automatic to adapt to not
Same driving condition, false alarm when running at a low speed is avoided, while take into account sensitivity when running at high speed, such as the high speed in Fig. 7
The alarm that driving mode curve 701, high speed modeling curve 702, middling speed modeling curve 703, low-speed mode curve 704 are formed
Region.When entering Fig. 7 grey areas such as the mobile trend of object under the pattern of running at high speed, this detecting system driving alarm mould
Block sends sound, light alarm immediately, is detecting that vehicle do not take any control measure after delay after a while, then from
It is dynamic to reduce speed even brake hard brake.And alarm region when running at a low speed then reduces a lot, frequently wrong report interference is avoided
Drive.
Fig. 8 is the variable alarm region according to vehicle heading adjust automatically, and the 7th curve 801 is when vehicle turns left
Alarm region, the 8th curve 802 are alarm region when vehicle is turned right, and the knowledge of designated area can be carried out according to turn signal
Not, can also be by obtaining the rotational angle adjust automatically alarm region of steering wheel.
The adjust automatically of alarm region can be realized by communications protocol in Fig. 7, Fig. 8, pass through communication interface and vehicle-mounted control
System connection processed, the Vehicle Speed obtained in real time by communications protocol and steering, adjust automatically alarm region, are realized different
Pavement behavior that is adaptive under drive manner, while being detected in time to vehicle control syetem feedback by communications protocol, such as
It was found that when raised, depression be present, vehicle control syetem can by adjusting the suspension of vehicle body, adjust automatically terrain clearance and
Damping effect, different road surfaces are adapted to, while improve the level of comfort of seating.
The size of the light grid of projection, can be simultaneously to multiple depending on accuracy of identification needs and hardware computing capability
The mobile trend Tracking Recognition of target object, improve the security of driving.
The present embodiment describes the Road Detection accessory system in front part of vehicle, due to road surface has been carried out into virtual grid
Change, be easy to procedure identification, this detecting system can not only detect vehicle front, can also detect rear and left and right sides, Ke Yi
This system is installed in vehicle rear and the left and right sides, for detecting rear car safe distance and rear alarm when moving backward and elimination left and right
Blind area, it can be used in the application such as left and right blind zone alert and track change auxiliary.
Pavement state is converted to data and is supplied to vehicle control syetem by communication by the system, can add GPS by it
It is stored in after positional information in database, and uploads to high in the clouds, realizes the selectivity maintenance on road surface and sharing for pavement state information
Use.
Light grid grenade instrumentation projects reticule lattice on road surface, is filled after road surface virtual net is formatted through image-receptive
Put collection and the figure to grid search-engine identifies, find out distorted region, and the mobile trend in tracing distortion region, become according to movement
Gesture recognition result, the abnormal conditions on road surface are can detect that, show abnormality position in the square network in Vehicular screen, simultaneously
Driving alarm module sends voice, light prompting.The light that day and night is can adapt to using active illumination mode is changed, drop
Low environmental disturbances, improve the correctness and reliability of identification.The tune of alarm region can be carried out automatically according to driving states
It is whole, cannot be only used for the pavement detection before and after vehicle, make up radar and reverse image deficiency, while can also it is left in vehicle,
This system is installed in right both sides, eliminates vision dead zone, realizes the function such as blind zone alert and track change auxiliary, it is hidden to eliminate driving
Suffer from.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations, and that is made within the spirit and principles of the invention any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (1)
1. a kind of pavement detection method that distorted region mobile trend identifies in virtual grid, it is characterised in that light is incident upon
Road surface forms light grid；Light grid in road pavement carries out IMAQ；Alarm region is carried out automatically according to driving states
Adjustment, figure identification is carried out to the grid image that collects, finds out distorted region, obtains its corresponding mesh coordinate, and with
The mobile trend of track distorted region；According to mobile trend recognition result, when entering alarm region, voice, light prompting are sent,
The pavement state detected is fed back into vehicle control syetem.
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| CN101694084A (en) * | 2009-10-14 | 2010-04-14 | 武汉武大卓越科技有限责任公司 | Ground on-vehicle mobile detecting system |
| WO2012144144A1 (en) * | 2011-04-22 | 2012-10-26 | 株式会社小糸製作所 | Obstacle detection device |
| CN203132515U (en) * | 2013-03-28 | 2013-08-14 | 江苏苏科畅联科技有限公司 | Vehicle-mounted road surface laser evenness detection device |
| CN103625367A (en) * | 2013-12-11 | 2014-03-12 | 魏子安 | Road obstacle recognition device and recognition method thereof |
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