CN105206109A - Infrared CCD based foggy day identifying early-warning system and method for vehicle - Google Patents
Infrared CCD based foggy day identifying early-warning system and method for vehicle Download PDFInfo
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Abstract
The invention discloses an infrared CCD based foggy day identifying early-warning system and method for a vehicle, and aims at providing safety guarantee for drivers, passengers and the third party in the complex driving environment of a foggy day. The system comprises an infrared CCD shooting module, an image processing module, a distance measuring module, an early warning module and a power supply module, the infrared CCD shooting module collects an infrared image sequence of a vehicle in front; the image processing module the image processing module makes the image sequence input by the infrared CCD shooting module clear, identifies the edge features of the vehicle, and identifies the vehicle in front; the distance measuring module establishes an image coordinate system, an imaging plane coordinate system, a camera coordinate system and a global coordinate system for the image sequence input by the infrared CCD shooting module, and calculates the distance to the vehicle in front; and the early warning module is connected with the output ends of the image processing module and the distance measuring module, and can emit early warning information to the driver.
Description
Technical field
The present invention relates to mobile unit technical field, be specifically related to identification early warning system of a kind of vehicle greasy weather based on infrared CCD and method.
Background technology
Along with the development of national economy, the demand of people to vehicle is more and more important, but the thing followed is the road accident rate constantly risen, and wherein the traffic hazard of travelling in fog day takes place frequently, tracing it to its cause is exactly because the condition of people's safe driving is limited in the present context.Situation Just because of this, vehicle-mounted recognition system is just able to fast development.At present, prior art corresponding fixing external environment can only carry out safe early warning, for the environment of condition for identification can not be provided just can not to identify early warning, so the identification early warning treating complex environment need further research.
Summary of the invention
In order to solve the problems of the prior art, the present invention proposes one and is applied to greasy weather complicated environment, can be the identification early warning system of the vehicle greasy weather based on infrared CCD and method that driver, passenger and third party provide safety guarantee.
In order to realize above object, the technical solution adopted in the present invention is:
The vehicle greasy weather based on infrared CCD identifies an early warning system, comprising:
Infrared CCD photographing module, comprises infrared CCD video camera and image pick-up card, can gather the infrared image sequence of front vehicles and send image processing module and distance-measurement module to;
Image processing module and distance-measurement module, be connected with the output terminal of infrared CCD photographing module, and image processing module can carry out sharpening process to the image sequence of infrared CCD photographing module input, by identifying the edge feature of vehicle, identifies front vehicles; Distance-measurement module can set up image coordinate system, imaging plane coordinate system, camera coordinate system and world coordinate system to the image sequence of infrared CCD photographing module input, calculates the distance with front vehicles;
Warning module, is connected with the output terminal of image procossing and distance-measurement module, can send early warning information to driver;
Power module, is connected with infrared CCD photographing module, image processing module, distance-measurement module and warning module respectively.
Described warning module comprises light signal alarm unit, and concealed light represents that front does not have vehicle, and green light represents and is in safe distance between vehicles, and amber light represents and is about to be less than safe distance between vehicles, and red light represents dangerous.
The vehicle greasy weather based on infrared CCD identifies a method for early warning, comprises the following steps:
1) utilize infrared CCD photographing module to gather the infrared image sequence of front vehicles, and send image processing module and distance-measurement module to;
2) image processing module processes infrared image sequence: comprising and convert simulating signal to digital signal, compression process, pre-service, segmentation analyzing and processing and classification process, by identifying the edge feature of vehicle, identifying front vehicles;
3) distance-measurement module identifies vehicle according to the vertically profiling of vehicle, and adopts Zhang Zhengyou plane reference method and pinhole imaging system principle to measure the distance with front vehicles;
4) according to image processing module and distance-measurement module to the identification of front vehicles and range observation, export early warning signal to warning module, prompting driver realizes people's car information interaction.
Described image processing module is based on the basic precognition feature of automobile tail: the symmetry of vehicle and the obvious feature of vehicle tail vertically profiling, be that gradation of image zone boundary jumpy identifies vehicle based on vehicle ' s contour again, utilize the partition threshold of OTSU method determination display foreground and background, under the discernmible situation of front vehicles profile, front automobile is positioned.
The described pre-service to infrared image sequence comprises: denoising and image sharpening process.
Described denoising adopts medium filtering to reduce the noise of infrared image.
Described distance-measurement module sets up image coordinate system, imaging plane coordinate system, camera coordinate system and world coordinate system, Zhang Zhengyou standardization is utilized to demarcate ccd video camera by the two dimension of foundation and the corresponding relation of 3-D view, determine the intrinsic parameter of ccd video camera, the end point of the vehicle wheel profile identified left and right is as unique point (u
1, v
1) and (u
2, v
2), be first stored in buffer memory using the vehicle identification result of each frame as a vehicle list, the spline interpolation for next step calculates and provides data basis, when a certain vehicle is tracked be less than three frames time, use unique point (u
1, v
1) and (u
2, v
2) original value calculate, after three frames, use identical method correction vehicle coordinate position, utilize this three two field picture to calculate internal reference matrix, be the angle point image set up based on particular point herein; Recycling pinhole imaging system principle derives the actual range of front vehicles.
The longitudinally relative spacing computing formula of described front vehicles is:
Wherein, W
1for the real width of vehicle, suppose that all vehicle widths are identical, W
2for the width of vehicle on ccd video camera, by the pixel wide W of camera calibration and vehicle
ccalculate.
The pixel wide W of described vehicle
cneeding, by the width calibration of vehicle ' s contour, first to determine the region of front vehicles when calculating, supposing that this car and front vehicles are all the time in same lanes, by target search area reduction to being intersected the Delta Region and region of interest that form by two lane lines;
Then binary conversion treatment is carried out to image, image is after binary conversion treatment, in area-of-interest, the vertical edge of vehicle is separated, first in the height direction the marginal point of the vertical edge image in area-of-interest is added up, namely the vertical direction projection value at edge is obtained, again the symmetry of vehicle is analyzed, symmetry is calculated based on every a line horizontal pixel in image, defining Symmetry measurement with energy function, judging front whether as vehicle by judging whether to meet symmetry requirement;
The coordinate axis u of axis of symmetry is found finally by Symmetry measurement
s, make u
s=u
0, then find maximum vertical projection value max in the edge projection of region of interest, using 1/3 of maximal projection value max as the judgment condition finding right boundary, scanning from the left of axis of symmetry, when being greater than 1/3 of max, namely thinking for left side outline line coordinate is u
min; On the right of axis of symmetry during surface sweeping, when undergoing mutation, when being greater than 1/3 of max, namely regarding as right edge outline line coordinates is u
max, then surveyed vehicle pixel wide W
c=u
max-u
min.
Described binary conversion treatment adopts OTSU algorithm, with best threshold values, gradation of image figure is divided into two parts, and the variance within clusters of a part is minimum, and the inter-class variance of another part is maximum.
Compared with prior art, present system gathers the infrared image sequence of front vehicles by infrared CCD photographing module, and send image processing module and distance-measurement module to, image processing module carries out sharpening process to the image sequence that infrared CCD photographing module inputs, by identifying the edge feature of vehicle, identify front vehicles, distance-measurement module sets up image coordinate system, imaging plane coordinate system, camera coordinate system and world coordinate system to the image sequence that infrared CCD photographing module inputs, and calculates the distance with front vehicles, image processing module and distance-measurement module export early warning signal to warning module, warning module sends early warning information prompting driver front vehicles information to driver, system of the present invention is adopted to use in greasy weather situation, also use under some special case, the conditions such as example tail-light is damaged, the situation of fog lamp is not opened under dense fog environment, can judge whether front has the distance of vehicle and front vehicles, warning module is utilized to send early warning signal to driver, prompting driver's regulation speed also makes corresponding driver behavior, for driver, passenger and third party provide safety guarantee.
The inventive method utilizes infrared CCD photographing module to gather the infrared image sequence of front vehicles, and send image processing module and distance-measurement module to, image processing module processes infrared image sequence: comprise and convert simulating signal to digital signal, compression process, pre-service, segmentation analyzing and processing and classification process, by identifying the edge feature of vehicle, identify front vehicles, distance-measurement module identifies vehicle according to the vertically profiling of vehicle, and adopt Zhang Zhengyou plane reference method and pinhole imaging system principle to measure the distance with front vehicles, and according to the identification of front vehicles and distance, early warning signal is exported to warning module, prompting driver realizes people's car information interaction, the identification of front vehicles is accurately clear, range observation is accurate, safe and reliable early warning information can be provided for driver.
Accompanying drawing explanation
Fig. 1 is the structural representation of present system;
Fig. 2 a example image that to be former figure, Fig. 2 b of example before Edge contrast be after Edge contrast;
Fig. 3 is foggy weather vehicle traveling figure;
Fig. 4 is the graph of a relation of image coordinate system and imaging plane coordinate system;
Fig. 5 is the graph of a relation of camera coordinate system and world coordinate system;
Fig. 6 is road image imaging schematic diagram;
Fig. 7 is area-of-interest vertical edge Symmetry measurement figure.
Embodiment
Below in conjunction with specific embodiment and Figure of description, the present invention is further explained.
See Fig. 1, system of the present invention comprises: infrared CCD photographing module, comprises infrared CCD video camera and image pick-up card, can gather the infrared image sequence of front vehicles and send image processing module and distance-measurement module to;
Image processing module and distance-measurement module, be connected with the output terminal of infrared CCD photographing module, and image processing module can carry out sharpening process to the image sequence of infrared CCD photographing module input, by identifying the edge feature of vehicle, identifies front vehicles; Distance-measurement module can set up image coordinate system, imaging plane coordinate system, camera coordinate system and world coordinate system to the image sequence of infrared CCD photographing module input, calculates the distance with front vehicles;
Warning module, be connected with the output terminal of image procossing and distance-measurement module, early warning information can be sent to driver, warning module comprises light signal alarm unit, concealed light represents that front does not have vehicle, green light represents and is in safe distance between vehicles, and amber light represents and is about to be less than safe distance between vehicles, and red light represents dangerous;
Power module, is connected with infrared CCD photographing module, image processing module, distance-measurement module and warning module respectively.
Infrared CCD photographing module in the inventive method provides single camera vision system, and the image of collection is given computing machine and processed by video camera, picture signal is converted to digital signal, i.e. the half-tone information of image;
Infrared image is carried out pre-service by image processing module, mainly noise remove and image sharpening are processed, medium filtering is adopted to reduce the noise of infrared image, medium filtering generally adopts a moving window, the intermediate value of gray-scale value each in window is carried out the central point of alternative window for n element, intermediate value is:
N is odd number
N is even number
The pixel coordinate of image is f (u, v) definition, definition f (u, the v) gradient vector at point (u, v) place
for:
The amplitude of gradient is with G [f (u, v)], and its value is:
Can draw such conclusion thus, the numerical value of gradient is exactly the amount that the unit distance of f (u, v) on its maximum rate of change direction increases, and can be write as discrete digital picture above formula:
G[f(u，v)]≌
|f(u，v)-f(u+1，v+1)|+|f(u+1，v)-f(u，v+1)|
Reset certain threshold values Δ, if G [f (u, v)] < Δ, keep former gray-scale value, if G [f (u, v)] > Δ, then assignment G [f (u, v)] is namely:
Threshold values is chosen for image after 10 after image procossing as shown in Figure 2, automobile the greasy weather traveling image as shown in Figure 3;
Distance-measurement module first sets up coordinate axis: image coordinate system and imaging plane coordinate axis; Image coordinate system utilizes the size of element numerical value in array to carry out the gray-scale value of respective pixel.Represent abscissa value and the ordinate value of pixel with the columns of pixel in image array and line number, be expressed as (u, v), imaging plane coordinate axis method for building up is as follows: be initial point O by the intersection point of the plane of delineation and camera optical axis
1, its coordinate is (u
0, v
0) definition d
xfor pixel physical size in the direction of the x axis, d
yfor the physical size of pixel in y-axis, the relation of image coordinate system and imaging plane coordinate system is as follows as shown in Figure 4:
Camera coordinate system (X
c, Y
c, Z
c) and world coordinate system (X
w, Y
w, Z
w) relation as shown in Figure 5, O
co
1for focal length of camera;
Imaging plane coordinate system and camera coordinate system relation have:
World coordinates is tied to camera coordinate system relation to be had:
Wherein R, T represent the translation vector and rotation matrix that describe world coordinate system and camera coordinate system respectively, and R represents the orthogonal matrices of a 3*3, T=(t
1, t
2, t
3)
trepresent D translation vector;
Can draw the conversion of P point from world coordinates to image coordinate by above formula, formula is:
Wherein, A is the Intrinsic Matrix of video camera, and [RT] is the outer parameter matrix of video camera, if video camera is put as being rigidly connected, namely establishes outer parameter constant.
c
xwith C
yfor (u
0, v
0) coordinate in imager coordinate axle, just obtain the position coordinates of front vehicles in two-dimensional digital image, utilize Zhang Zhengyou standardization to camera calibration by the corresponding relation of the two dimension set up and 3-D view, determine the intrinsic parameter of video camera.The end point of the outline line identified left and right is as unique point (u
1, v
1) and (u
2, v
2), first the vehicle identification result of each frame is stored in buffer memory as a vehicle list and (stores nearest one second, the i.e. data of front 30 frames), like this for next step spline interpolation calculating provides data basis, when a certain vehicle is tracked be less than three frames time, use unique point (u
1, v
1), (u
2, v
2) original value calculate.After three frames, use identical method correction vehicle coordinate position.Utilize this three two field picture to calculate internal reference matrix, be the angle point image set up based on particular point herein, and recycling pinhole imaging system principle derives the actual range of vehicle, as shown in Figure 6:
Longitudinally spacing computing formula is relatively:
Wherein W
1for the real width of vehicle, the width of general vehicle is roughly the same, supposes that all vehicle widths are identical accordingly, W
2for vehicle width on a sensor, can by the pixel wide W of camera calibration and vehicle
ccalculate.
Calculating the pixel wide W of vehicle
cin time, needs first by the width calibration of vehicle ' s contour, first the region of front vehicles is first determined, because suppose that this car and front vehicles are all the time in same lanes, namely target search area reduction can be intersected to by two lane lines the Delta Region formed, be called region of interest (RegionofInterest, ROI), the carrying out scanning from bottom to top of concrete employing formula calculates:
In formula:
The left end pixel coordinate that in lb (v)-AOI, v is capable;
The right-hand member pixel coordinate that in rb (v)-AOI, v is capable;
The gray-scale value of g (u, v)-pixel;
The average gray that in G (v)-AOI, v is capable;
Using the row k (k value is obtained by Experimental Calibration) of gray-scale value sudden change as the base of AOI, ask the intersection point of base and two lane lines, the dual-side of vertical curve as rectangle AOI is upwards drawn respectively again by left and right intersection point, make a rectangle frame, vehicle, according to the priori of vehicle shape, is all included in rectangle frame by the selection of height as far as possible;
And then need to carry out binary conversion treatment to image, gradation of image figure is divided into two parts with best threshold values by OTSU algorithm, make the variance within clusters of a part minimum, the inter-class variance of another part is maximum, image is after binary conversion treatment, the vertical edge of vehicle can be separated in area-of-interest, namely first added up by the marginal point of the vertical edge image in area-of-interest in the height direction obtains the vertical direction projection value at edge; And then the symmetry of vehicle is analyzed, symmetric estimate based on be the form that any function can be write as an even function and odd function sum, the relative size of the importance of the two can reflect symmetrical degree, even function is more symmetrical than great explanation, calculate symmetry based on every a line horizontal pixel in image, it is as follows that its energy function definition symmetry estimates s:
S=1 represents full symmetric, and s=-1 represents completely asymmetric.Judge front whether as vehicle by judging whether to meet symmetry requirement, symmetry experiment as shown in Figure 7;
Wherein u
sfor pixel axis of symmetry coordinate, w is symmetric domains width, and Ee is even energy function, and Eo is strange energy function.
E(f(x))＝∫f
2(x)dx。
For certain u
sand w, function g (x)=g (u
s+ u) even function and odd function be respectively:
The coordinate axis u of axis of symmetry can be found by Symmetry measurement
s, make u
s=u
0then find maximum vertical projection value max in edge projection interested, using 1/3 of maximal projection value max as the judgment condition finding right boundary, scanning from the left of axis of symmetry, when being greater than 1/3 of max, namely thinking that, for left side outline line, coordinate is u
min.On the right of axis of symmetry during surface sweeping, when undergoing mutation, when being greater than 1/3 of max, namely regard as right edge outline line, coordinate is u
max, then surveyed pixel wide W
c=u
max-u
min.
In present system, infrared CCD photographing module is connected with image processing module and distance-measurement module, warning module is connected with the output terminal of image processing module and distance-measurement module, and power module is connected with warning module with infrared CCD photographing module, image processing module, distance-measurement module respectively.
Infrared CCD module transfer pictorial information, image procossing and distance-measurement module to process picture according to output information and carry out range observation, people's car information interaction is realized eventually through warning module, warning module is connected with cab signal lamp, by the object of reminding driver to reach control rate, power module is directly connected with automobile storage battery, and when automobile does not start, system does not work.When after automobile starting, press system switching, system starts.
The present invention uses in greasy weather situation, also use under some special case, the conditions such as example tail-light is damaged, the situation of fog lamp is not opened under dense fog environment, can judge whether front has the distance of vehicle and front vehicles, utilize warning module to send early warning signal to driver, prompting driver's regulation speed also makes corresponding driver behavior, for driver, passenger and third party provide safety guarantee.
Claims (10)
1. the vehicle greasy weather based on infrared CCD identifies an early warning system, it is characterized in that, comprising:
Infrared CCD photographing module, comprises infrared CCD video camera and image pick-up card, can gather the infrared image sequence of front vehicles and send image processing module and distance-measurement module to;
Image processing module and distance-measurement module, be connected with the output terminal of infrared CCD photographing module, and image processing module can carry out sharpening process to the image sequence of infrared CCD photographing module input, by identifying the edge feature of vehicle, identifies front vehicles; Distance-measurement module can set up image coordinate system, imaging plane coordinate system, camera coordinate system and world coordinate system to the image sequence of infrared CCD photographing module input, calculates the distance with front vehicles;
Warning module, is connected with the output terminal of image procossing and distance-measurement module, can send early warning information to driver;
Power module, is connected with infrared CCD photographing module, image processing module, distance-measurement module and warning module respectively.
2. a kind of vehicle greasy weather based on infrared CCD according to claim 1 identifies early warning system, it is characterized in that, described warning module comprises light signal alarm unit, concealed light represents that front does not have vehicle, green light represents and is in safe distance between vehicles, amber light represents and is about to be less than safe distance between vehicles, and red light represents dangerous.
3. the vehicle greasy weather based on infrared CCD identifies a method for early warning, it is characterized in that, comprises the following steps:
1) utilize infrared CCD photographing module to gather the infrared image sequence of front vehicles, and send image processing module and distance-measurement module to;
2) image processing module processes infrared image sequence: comprising and convert simulating signal to digital signal, compression process, pre-service, segmentation analyzing and processing and classification process, by identifying the edge feature of vehicle, identifying front vehicles;
3) distance-measurement module identifies vehicle according to the vertically profiling of vehicle, and adopts Zhang Zhengyou plane reference method and pinhole imaging system principle to measure the distance with front vehicles;
4) according to image processing module and distance-measurement module to the identification of front vehicles and range observation, export early warning signal to warning module, prompting driver realizes people's car information interaction.
4. a kind of vehicle greasy weather based on infrared CCD according to claim 3 identifies method for early warning, it is characterized in that, described image processing module is based on the basic precognition feature of automobile tail: the symmetry of vehicle and the obvious feature of vehicle tail vertically profiling, be that gradation of image zone boundary jumpy identifies vehicle based on vehicle ' s contour again, utilize the partition threshold of OTSU method determination display foreground and background, under the discernmible situation of front vehicles profile, front automobile is positioned.
5. a kind of vehicle greasy weather based on infrared CCD according to claim 4 identifies method for early warning, and it is characterized in that, the described pre-service to infrared image sequence comprises: denoising and image sharpening process.
6. a kind of vehicle greasy weather based on infrared CCD according to claim 5 identifies method for early warning, it is characterized in that, described denoising adopts medium filtering to reduce the noise of infrared image.
7. a kind of vehicle greasy weather based on infrared CCD according to claim 6 identifies method for early warning, it is characterized in that, described distance-measurement module sets up image coordinate system, imaging plane coordinate system, camera coordinate system and world coordinate system, Zhang Zhengyou standardization is utilized to demarcate ccd video camera by the two dimension of foundation and the corresponding relation of 3-D view, determine the intrinsic parameter of ccd video camera, the end point of the vehicle wheel profile identified left and right is as unique point (u
1, v
1) and (u
2, v
2), be first stored in buffer memory using the vehicle identification result of each frame as a vehicle list, the spline interpolation for next step calculates and provides data basis, when a certain vehicle is tracked be less than three frames time, use unique point (u
1, v
1) and (u
2, v
2) original value calculate, after three frames, use identical method correction vehicle coordinate position, utilize this three two field picture to calculate internal reference matrix, be the angle point image set up based on particular point herein; Recycling pinhole imaging system principle derives the actual range of front vehicles.
8. a kind of vehicle greasy weather based on infrared CCD according to claim 7 identifies method for early warning, it is characterized in that, the longitudinally relative spacing computing formula of described front vehicles is:
Wherein, W
1for the real width of vehicle, suppose that all vehicle widths are identical, W
2for the width of vehicle on ccd video camera, by the pixel wide W of camera calibration and vehicle
ccalculate.
9. a kind of vehicle greasy weather based on infrared CCD according to claim 8 identifies method for early warning, it is characterized in that, the pixel wide W of described vehicle
cneeding, by the width calibration of vehicle ' s contour, first to determine the region of front vehicles when calculating, supposing that this car and front vehicles are all the time in same lanes, by target search area reduction to being intersected the Delta Region and region of interest that form by two lane lines;
Then binary conversion treatment is carried out to image, image is after binary conversion treatment, in area-of-interest, the vertical edge of vehicle is separated, first in the height direction the marginal point of the vertical edge image in area-of-interest is added up, namely the vertical direction projection value at edge is obtained, again the symmetry of vehicle is analyzed, symmetry is calculated based on every a line horizontal pixel in image, defining Symmetry measurement with energy function, judging front whether as vehicle by judging whether to meet symmetry requirement;
The coordinate axis u of axis of symmetry is found finally by Symmetry measurement
s, make u
s=u
0, then find maximum vertical projection value max in the edge projection of region of interest, using 1/3 of maximal projection value max as the judgment condition finding right boundary, scanning from the left of axis of symmetry, when being greater than 1/3 of max, namely thinking for left side outline line coordinate is u
min; On the right of axis of symmetry during surface sweeping, when undergoing mutation, when being greater than 1/3 of max, namely regarding as right edge outline line coordinates is u
max, then surveyed vehicle pixel wide W
c=u
mzx-u
min.
10. a kind of vehicle greasy weather based on infrared CCD according to claim 9 identifies method for early warning, it is characterized in that, described binary conversion treatment adopts OTSU algorithm, with best threshold values, gradation of image figure is divided into two parts, the variance within clusters of a part is minimum, and the inter-class variance of another part is maximum.
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