CN105460010A - Safety identification reaction system and method for vehicle - Google Patents
Safety identification reaction system and method for vehicle Download PDFInfo
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- CN105460010A CN105460010A CN201410439378.1A CN201410439378A CN105460010A CN 105460010 A CN105460010 A CN 105460010A CN 201410439378 A CN201410439378 A CN 201410439378A CN 105460010 A CN105460010 A CN 105460010A
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Abstract
The invention relates to the field of intelligent identification and particularly relates to an intelligent night pavement safety identification reaction system for a vehicle. The system is applied to the vehicle. The system analyzes an image obtained by shooting a reticular light path of the front pavement of the vehicle to judge the danger level of the front pavement environment of the vehicle, and determines a corresponding action command according to the determined danger level and a relation table between the danger level and the action command so as to control reaction components of the vehicle to carry out corresponding action, thereby realizing adjustment on the running state of the vehicle. The invention also relates to a safety identification reaction method for the vehicle. The system and method provided by the invention can provide partial intelligent judgment for a driver to avoid excessive continuous tension of the driver working at night, thereby avoiding the danger caused by insufficient reaction time when the driver encounters an emergency condition.
Description
Technical field
The present invention relates to Intelligent Recognition field, particularly the safe recognition reaction system and method in a kind of vehicle intelligent road surface at night.
Background technology
Vehicular night trip is inevitable; but chaufeur night driving vehicle easily produces fatigue; and night driving environment is relatively more severe, and chaufeur usually to some particular surroundingss, can cannot may cause the generation of accident because the reaction time is short as situation rapid reactions such as pot hole.
Summary of the invention
In view of this, be necessary to provide a kind of vehicle safety recognition reaction system and method, to solve the problem.
A kind of vehicle safety recognition reaction system, be applied in a vehicle, this vehicle comprises grid light sources, camera, processing unit, memory cell and reaction part, this processing unit runs this system, this grid light sources is used for forming netted light path at the road ahead of vehicle, this camera is used for taking this netted light path and obtaining this netted light path image, this cell stores has the feature image comprising vehicle road environment in a large number, wherein, each feature image one_to_one corresponding has the harmful grade information of road surface ahead, this memory cell also stores the harmful grade of road surface ahead environment and the relation table of action command of vehicle, the road environment and the vehicle that define vehicle current driving in this relation table are keep the relation between the required action command performed of comparatively safe state, this reaction part realizes the adjustment carried out this vehicle for the operation responding an instruction action, this system comprises:
Read module, takes and the image obtained for obtaining the netted light path of camera to the road surface ahead at this vehicle;
Analysis module, for analyzing the image obtained in read module and judging the harmful grade of the road surface ahead environment of vehicle;
For the harmful grade of road surface ahead environment determined according to analysis module and this harmful grade and action command relation table, execution module, determines that the reaction part that corresponding action command controls vehicle carries out corresponding action, the motoring condition of adjustment vehicle.
A kind of vehicle safety recognition reaction method, be applied in a vehicle, the method comprising the steps of:
The image that the netted light path of acquisition camera to the road surface ahead at this vehicle is taken and obtained;
The image got is analyzed and judges the harmful grade of the road surface ahead environment of vehicle;
Determine that the reaction part that corresponding action command controls vehicle carries out corresponding action, the motoring condition of adjustment vehicle according to the harmful grade of the road surface ahead environment determined and this harmful grade and action command relation table.
Adopt vehicle safety recognition reaction system and method for the present invention, to be taken by the netted light path of the road surface ahead to this vehicle and the image obtained is analyzed and judges the harmful grade of the road surface ahead environment of vehicle, and determine that the reaction part that corresponding action command controls vehicle carries out corresponding action according to the harmful grade determined and this harmful grade and action command relation table, realize the adjustment of the motoring condition to vehicle.The present invention can provide part intelligent decision for chaufeur, allows the chaufeur of working at night need not excessive constant tension, and then danger chaufeur can being avoided to run into emergency situation cause because of reaction time deficiency.
Accompanying drawing explanation
Fig. 1 is an embodiment of the present invention vehicle safety recognition reaction system.
Fig. 2 is the netted index path in the present invention.
Fig. 3 is the functional block diagram of an embodiment of the present invention vehicle safety recognition reaction system.
Fig. 4 is the diagram of circuit of an embodiment of the present invention vehicle safety recognition reaction method.
Main element nomenclature
| Vehicle safety recognition reaction system | 100 |
| Vehicle | 200 |
| Read module | 110 |
| Analysis module | 120 |
| Execution module | 130 |
| Grid light sources | 10 |
| Camera | 20 |
| Processing unit | 30 |
| Memory cell | 40 |
| Reaction part | 50 |
| Netted light path | 12 |
| Netting twine | 14 |
| Grid | 16 |
| Black hole | 18 |
| Voice message parts | 52 |
| Brake component | 54 |
Following detailed description of the invention will further illustrate the specific embodiment of the invention in conjunction with above-mentioned accompanying drawing.
Detailed description of the invention
Below in conjunction with accompanying drawing, vehicle safety recognition reaction system and method for the present invention is described in further detail.
Please refer to Fig. 1, is the running environment figure of an embodiment of the present invention vehicle safety recognition reaction system 100.This system cloud gray model is in the middle of a vehicle 200, and this vehicle 200 comprises grid light sources 10, camera 20, processing unit 30, memory cell 40 and reaction part 50.This grid light sources 10 is positioned at the headlight place of vehicle 200, for sending grid light.Wherein, this grid light sources 10 can provide illumination so that chaufeur is clear that the scene of road front end and forms netted light path 12 at the road ahead of vehicle 200 when this vehicle 200 travels, please refer to Fig. 2.The latticed view that this netted light path 12 is formed for some horizontal and vertical light intertextures be parallel to each other.In present embodiment, this grid light sources 10 50 meters of can form netted light paths 12 in vehicle 200 front end, certainly can regulate distance between this netted light path 12 and vehicle 200 by regulating the intensity of grid light sources 10 as required.When the road surface ahead of this vehicle 200 is smooth, it is clear, smooth for irradiating by grid light sources 10 the netted light path 12 formed, and the netting twine 14 in this netted light path 12 is straight line.When there is pit in the road surface ahead of this vehicle 200, latticed light path 12 unfairness formed is irradiated by grid light sources 10, and netted light path 12 bends with the netting twine 14 of pit corresponding position and presents " v " word shape, dimple size is larger, netting twine 14 degree of crook presenting " v " font in netted light path 12 corresponding position is larger, and when the size of pit exceedes certain limit, netting twine 14 corresponding with groove position place in netted light path 12 lacks, and forms " black hole " 18 shown in Fig. 2.When the road surface ahead of this vehicle 200 has projection, netted light path 12 unfairness formed is irradiated by grid light sources 10, and netted light path 12 bends with the netting twine 14 of projection corresponding position and presents " n " word shape, size of lug is larger, netting twine 14 degree of crook presenting " n " font in netted light path 12 corresponding position is larger, and when the size of projection exceedes certain limit, netted light path 12 also will lack with the netting twine 14 of bump position corresponding position, and form " black hole " 18.Certainly the grid light sources 10 of different size can be adopted as required to realize regulating the size of the grid 16 in this netted light path 12, to differentiate road front end whether have the obstacle such as pit or projection.Wherein, the grid 16 of this netted light path 12 is less, then the ability telling road front end pit and projection is stronger.
This camera 20 is for taking irradiating in road vehicle front end the netted light path 12 formed by this grid light sources 10 and obtain the image of this netted light path 12.This memory cell 40 stores the characteristic image of the road environment comprising vehicle 200 in a large number, and wherein, each characteristic image is a partial mesh index path picture comprising road environment feature, and each characteristic image one_to_one corresponding has the harmful grade information of road surface ahead.This memory cell 40 also stores the harmful grade of road surface ahead environment and the relation table of action command of vehicle 200.The harmful grade and the vehicle 200 that define the road environment of vehicle 200 current driving in this relation table are keep the relation between the required action command performed of comparatively safe state.This reaction part 50 realizes the adjustment carried out this vehicle 200 for the operation responding an instruction action.In present embodiment, this system 100 is for being embedded in the program in this processing unit 30.In other embodiments, this system 100 is stored in this memory cell 40, and can be called execution by this processing unit 30.This system 100 is for obtaining this camera 20 and take the netted light path 12 in vehicle 200 road ahead and the image obtained carry out analyzing and processing to this image, and after analyzing this image, judge the harmful grade of vehicle 200 current driving road environment, and determine that corresponding action command controls reaction part 50 and carries out action according to the harmful grade of vehicle 200 current driving road environment with action command relation table, the motoring condition of adjustment vehicle 200.
Please refer to Fig. 3, is the functional block diagram of vehicle safety recognition reaction system 100 in an embodiment of the present invention.This system comprises read module 110, analysis module 120 and execution module 130.This read module 110 is taken and the image obtained for obtaining the netted light path 12 of camera 20 to the road surface ahead at this vehicle 200.Wherein, when the road surface ahead of vehicle 200 is smooth, netted light path 12 in the image that this read module 110 obtains is smooth, netting twine 14 in this netted light path 12 is straight line, when there is pit or projection in road surface ahead, netted light path 12 in the image that this read module 110 obtains is irregular, and the netting twine 14 in this netted light path 12 bends.
This analysis module 120 is for analyzing the image obtained in read module 110 and judge the harmful grade of the road surface ahead environment of vehicle 200.Wherein, this analysis module 120 is by the harmful grade of the road surface ahead environment judging vehicle 200 of being compared by the characteristic image stored in the image of the netted light path 12 about road surface ahead obtained and memory cell 40.Concrete, the image of the netted light path 12 obtained is carried out scanning analysis by this analysis module 120, netting twine 14 sweep zone marker in unfairness part in image and netted light path 12 is compared with the feature image be stored in memory cell 40, determine a characteristic image comprising road environment feature the most close with this mark, determine the harmful grade of the road surface ahead environment of vehicle 200 according to the harmful grade of this characteristic image and the road surface ahead environment corresponding with this characteristic image.
In present embodiment, this analysis module 120 determines different harmful grades according to the difference of the planarization of light path 12 netted in characteristic image and the degree of crook of netting twine 14.Wherein, if there is the unfairness of netted light path 12 in this characteristic image and the less feature of netting twine 14 degree of crook of this netted light path 12, then analysis module 120 determines that the harmful grade corresponding with this characteristic image is lesser hazard.If there is the unfairness of netted light path 12 in this feature image and netting twine 14 degree of crook of this netted light path 12 is comparatively large and there is the feature of excalation, then analysis module 120 determines that the harmful grade corresponding with this characteristic image is higher risk.If there is the unfairness of netted light path 12 in this characteristic image and the netting twine of this netted light path 12 disappearance and be formed with the feature in " black hole " 18, then analysis module 120 determines that the harmful grade corresponding with this characteristic image is abnormally dangerous.
The harmful grade of the road surface ahead environment that this execution module 130 is determined according to analysis module 120 and this harmful grade and action command relation table determine that the reaction part 50 that corresponding action command controls vehicle 200 carries out corresponding action, the motoring condition of adjustment vehicle.Wherein, this mapping table defines: the instruction action corresponding with it when the harmful grade of road surface ahead is lower danger is alerting driver Reduced Speed Now; The instruction action corresponding with it when the harmful grade of road surface ahead is higher risk travels for controlling vehicle 200 automatic retarding; The instruction action corresponding with it when the harmful grade of road surface ahead is abnormally dangerous is for controlling vehicle 200 self-actuating brake.
Concrete, this reaction part 50 comprises voice message parts 52 and brake component 54.When this analysis module 120 judges the harmful grade of road surface ahead environment for lower danger, this execution module 130 produces corresponding control signal control voice message parts 52 and reminds chaufeur Reduced Speed Now.When the harmful grade that this analysis module 120 judges road surface ahead environment is higher risk, this execution module 130 produces the action of corresponding control signal control brake component 54 makes vehicle automatically carry out Reduced Speed Now.When this analysis module 120 judges that the harmful grade of road surface ahead environment is abnormally dangerous, this execution module 130 produces the action of corresponding control signal control brake component 54 makes vehicle automatically brake.
Please refer to Fig. 4, is the diagram of circuit of an embodiment of the present invention vehicle safety recognition reaction method.The method is applied in vehicle 200, and the method comprising the steps of:
S301: the image that the netted light path 12 of acquisition camera 20 to the road surface ahead at this vehicle 200 is taken and obtained.Wherein, when the road surface ahead of vehicle 200 is smooth, netted light path 12 in the image obtained is smooth, netting twine 14 in this netted light path 12 is straight line, when there is pit or projection in road surface ahead, netted light path 12 in the image of this acquisition is irregular, and the netting twine 14 in this netted light path 12 bends.
S302: the image got is analyzed and judges the harmful grade of the road surface ahead environment of vehicle 200.Wherein, this image characteristic of correspondence image is judged by being compared by the characteristic image stored in the image of the netted light path 12 about road surface ahead obtained and memory cell 40, and the harmful grade corresponding to characteristic image, determine the harmful grade of the road surface ahead environment of vehicle 200.
S303: determine that the reaction part 50 that corresponding action command controls vehicle 200 carries out corresponding action, the motoring condition of adjustment vehicle 200 according to the harmful grade of the road surface ahead environment determined and this harmful grade and action command relation table.Wherein, this mapping table defines: the instruction action corresponding with it when the harmful grade of road surface ahead is lower danger is alerting driver Reduced Speed Now; The instruction action corresponding with it when the harmful grade of road surface ahead is higher risk travels for controlling vehicle 200 automatic retarding; The instruction action corresponding with it when the harmful grade of road surface ahead is abnormally dangerous is for controlling vehicle 200 self-actuating brake.
Although be illustrated the preferred embodiment of the present invention and describe, but those skilled in the art will realize, the explanation of above embodiment just understands the present invention for helping, to those skilled in the art, according to thought of the present invention, can make various changes and modifications in specific embodiments and applications, these do not exceed true scope of the present invention.
Claims (8)
1. a vehicle safety recognition reaction system, be applied in a vehicle, this vehicle comprises grid light sources, camera, processing unit, memory cell and reaction part, this processing unit runs this system, this grid light sources is used for forming netted light path at the road ahead of vehicle, this camera is used for taking this netted light path and obtaining this netted light path image, this cell stores has the feature image comprising vehicle road environment in a large number, wherein, each feature image one_to_one corresponding has the harmful grade information of road surface ahead, this memory cell also stores the harmful grade of road surface ahead environment and the relation table of action command of vehicle, the road environment and the vehicle that define vehicle current driving in this relation table are keep the relation between the required action command performed of comparatively safe state, this reaction part realizes the adjustment carried out this vehicle for the operation responding an instruction action, it is characterized in that, this system comprises:
Read module, takes and the image obtained for obtaining the netted light path of camera to the road surface ahead at this vehicle;
Analysis module, for analyzing the image obtained in read module and judging the harmful grade of the road surface ahead environment of vehicle;
For the harmful grade of road surface ahead environment determined according to analysis module and this harmful grade and action command relation table, execution module, determines that the reaction part that corresponding action command controls vehicle carries out corresponding action, the motoring condition of adjustment vehicle.
2. vehicle safety recognition reaction system as claimed in claim 1, it is characterized in that, this analysis module is by comparing the information of the characteristic image stored in the image of the netted light path about road surface ahead obtained and memory cell, determine characteristic of correspondence image, and determine that harmful grade that this characteristic image is corresponding is to judge the harmful grade of the road surface ahead environment of vehicle.
3. vehicle safety recognition reaction system as claimed in claim 2, it is characterized in that, this analysis module is also defined as different harmful grades according to the difference of the planarization of light path netted in feature image and the degree of crook of netting twine, if there is netted light path unfairness in this feature image and the less feature of the netting twine degree of crook of this netted light path, then analysis module determines that the harmful grade corresponding with this feature image is lesser hazard; If there is netted light path unfairness in this feature image and the netting twine degree of crook of this netted light path is comparatively large and there is the feature of excalation, then analysis module determines that the harmful grade corresponding with this feature image is higher risk; If there is netted light path unfairness in this feature image and the netting twine of this netted light path disappearance and be formed with the feature in " black hole ", then analysis module determines that the harmful grade corresponding with this is abnormally dangerous.
4. vehicle safety recognition reaction system as claimed in claim 1, it is characterized in that, this mapping table defines: the instruction action corresponding with it when the harmful grade of road surface ahead is lower danger is alerting driver Reduced Speed Now; The instruction action corresponding with it when the harmful grade of road surface ahead is higher risk travels for controlling vehicle automatic retarding; The instruction action corresponding with it when the harmful grade of road surface ahead is abnormally dangerous is for controlling vehicle self-actuating brake.
5. a vehicle safety recognition reaction method, be applied in a vehicle, it is characterized in that, the method comprising the steps of:
The image that the netted light path of acquisition camera to the road surface ahead at this vehicle is taken and obtained;
The image got is analyzed and judges the harmful grade of the road surface ahead environment of vehicle;
Determine that the reaction part that corresponding action command controls vehicle carries out corresponding action, the motoring condition of adjustment vehicle according to the harmful grade of the road surface ahead environment determined and this harmful grade and action command relation table.
6. vehicle safety recognition reaction method as claimed in claim 5, is characterized in that, " analyzes the image got and judge the harmful grade of the road surface ahead environment of vehicle " to comprise in step:
The information of the characteristic image stored in the image of the netted light path about road surface ahead obtained and memory cell is compared, determine characteristic of correspondence image, and determine that harmful grade that this characteristic image is corresponding is to judge the harmful grade of the road surface ahead environment of vehicle.
7. vehicle safety recognition reaction method as claimed in claim 6, it is characterized in that, difference according to the planarization of light path netted in feature image and the degree of crook of netting twine is defined as different harmful grades: if there is netted light path unfairness in this feature image and the less feature of the netting twine degree of crook of this netted light path, then defining the harmful grade corresponding with this feature image is lesser hazard; If there is netted light path unfairness in this feature image and the netting twine degree of crook of this netted light path is comparatively large and there is the feature of excalation, then defining the harmful grade corresponding with this feature image is higher risk; If there is netted light path unfairness in this feature image and the netting twine of this netted light path disappearance and be formed with the feature in " black hole ", then it is abnormally dangerous for defining the harmful grade corresponding with this feature image.
8. vehicle safety recognition reaction method as claimed in claim 5, it is characterized in that, this mapping table defines: the instruction action corresponding with it when the harmful grade of road surface ahead is lower danger is alerting driver Reduced Speed Now; The instruction action corresponding with it when the harmful grade of road surface ahead is higher risk travels for controlling vehicle automatic retarding; The instruction action corresponding with it when the harmful grade of road surface ahead is abnormally dangerous is for controlling vehicle self-actuating brake.
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| CN201410439378.1A CN105460010A (en) | 2014-09-01 | 2014-09-01 | Safety identification reaction system and method for vehicle |
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| CN201410439378.1A CN105460010A (en) | 2014-09-01 | 2014-09-01 | Safety identification reaction system and method for vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109733391A (en) * | 2018-12-10 | 2019-05-10 | 北京百度网讯科技有限公司 | Control method, device, equipment, vehicle and the storage medium of vehicle |
| CN110562250A (en) * | 2018-06-06 | 2019-12-13 | 纬创资通股份有限公司 | Driving prediction method and processing device and system thereof |
| CN110766182A (en) * | 2018-12-12 | 2020-02-07 | 北京嘀嘀无限科技发展有限公司 | Safety protection for passengers |
| CN110874946A (en) * | 2018-09-03 | 2020-03-10 | 上海博泰悦臻电子设备制造有限公司 | Reminding method for safe driving and vehicle |
| CN111216628A (en) * | 2020-01-13 | 2020-06-02 | 内蒙古广纳信息科技有限公司 | Road condition safety early warning device and method for dump truck for strip mine |
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2014
- 2014-09-01 CN CN201410439378.1A patent/CN105460010A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562250A (en) * | 2018-06-06 | 2019-12-13 | 纬创资通股份有限公司 | Driving prediction method and processing device and system thereof |
| CN110562250B (en) * | 2018-06-06 | 2022-12-16 | 纬创资通股份有限公司 | Driving prediction method and processing device and system thereof |
| CN110874946A (en) * | 2018-09-03 | 2020-03-10 | 上海博泰悦臻电子设备制造有限公司 | Reminding method for safe driving and vehicle |
| CN109733391A (en) * | 2018-12-10 | 2019-05-10 | 北京百度网讯科技有限公司 | Control method, device, equipment, vehicle and the storage medium of vehicle |
| US11300966B2 (en) | 2018-12-10 | 2022-04-12 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Vehicle control method and apparatus, device, vehicle and storage medium |
| CN110766182A (en) * | 2018-12-12 | 2020-02-07 | 北京嘀嘀无限科技发展有限公司 | Safety protection for passengers |
| CN111216628A (en) * | 2020-01-13 | 2020-06-02 | 内蒙古广纳信息科技有限公司 | Road condition safety early warning device and method for dump truck for strip mine |
| CN111216628B (en) * | 2020-01-13 | 2023-04-25 | 江苏恒旺数字科技有限责任公司 | Road condition safety early warning device and method for dump truck for strip mine |
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