CN105513358B - Driving behavior assessment and vehicle running state monitoring and pre-warning system and method - Google Patents

Driving behavior assessment and vehicle running state monitoring and pre-warning system and method Download PDF

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Publication number
CN105513358B
CN105513358B CN201610004742.0A CN201610004742A CN105513358B CN 105513358 B CN105513358 B CN 105513358B CN 201610004742 A CN201610004742 A CN 201610004742A CN 105513358 B CN105513358 B CN 105513358B
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vehicle
information
unit
driver
running state
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CN201610004742.0A
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CN105513358A (en
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孙瑞川
李铁
赵剑峰
赵汇博
谭远波
于连勇
朱振英
李俊达
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烟台中正新技术有限公司
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Abstract

The present invention relates to driving behavior assessment and vehicle running state monitoring and pre-warning system and method, including video information collecting unit, video information process unit, identity information authentication unit, travel condition of vehicle collecting unit, integrated information processing unit and information management unit.This system is by structure for the evaluation mechanism of driving behavior, road conditions video information, vehicle running state information and driver are acquired to data informations such as vehicle operating processes, it excavates its data characteristics and carries out weight distribution, information fusion, integrated judgment, realize the real-time assessment to driving behavior and early warning is carried out to danger that may be present.

Description

Driving behavior assessment and vehicle running state monitoring and pre-warning system and method

Technical field

The invention belongs to intelligent transportation fields, are related to driving behavior assessment and vehicle running state monitoring and warning system and side Method.

Background technology

In current such as logistics, the vehicle in use management of shipping company, public transport company, universal only installs BDS/GPS/ additional The equipment such as GPRS automobile travel recorder devices are difficult evaluation to running state of the vehicle, driver's driving habit, and evaluation index can only It is examined by the violation record of traffic control department, is extremely difficult to the effect of the improvement of driving habit and generation of preventing accident.

In terms of the patent achievement in similar technique field, some pertains only to driver actions' information collection, to driving behavior It is judged;Some relates only to the acquisition of traffic information, handles and associated vehicle occurs with it, the evaluation of pedestrian is fed back, right Driving behavior is judged.The present invention is by structure for the evaluation mechanism of driving behavior, acquisition road conditions video information, vehicle row Status information and driver are sailed to data informations such as vehicle operating processes, its data characteristics is excavated and carries out weight distribution, information Fusion, integrated judgment realize the real-time assessment to driving behavior and carry out early warning to danger that may be present.Present invention is alternatively directed to The more complicated special road section of road junction roadway line, turn inside diameter turn around to be also easy to produce vehicle crimping erroneous judgement, misjudgement situation, using regarding The multi-factor comprehensives such as frequency information and travel condition of vehicle and driver actions consider, avoid individually using caused by video information Erroneous judgement.

Invention content

The technical problems to be solved by the invention are to provide driving behavior assessment and vehicle running state monitoring and warning system And method, by the processing to video traffic information and the acquisition of travel condition of vehicle information, in real time to the operation of driver Cheng Jinhang is assessed, and to carry out early warning to there may be accidents or precarious position.

The technical solution that the present invention solves above-mentioned technical problem is as follows:

One side according to the present invention provides driving behavior assessment and vehicle running state monitoring and warning system, It is characterized in that, the system comprises video information collecting unit, video information process unit, identity information authentication unit, vehicles Operating status collecting unit, integrated information processing unit and information management unit;

The video information collecting unit, for shooting the road conditions video image of vehicle front road, and by road conditions video Image is transferred to video information process unit;

The video information process unit, for according to road conditions video image, road conditions information being extracted, by road conditions Information is sent to integrated information processing unit;

The travel condition of vehicle collecting unit, will for obtaining travel condition of vehicle information and driver's operational motion Travel condition of vehicle information and driver's operational motion are transferred to integrated information processing unit;

Driver identity information for identifying driver identity, and is transferred to synthesis by the identity information authentication unit Information process unit;

The integrated information processing unit, for being grasped according to road conditions information, travel condition of vehicle information and driver The characteristic value for making action message carries out integrated treatment, and the value of information obtained and driver identity information are transferred to information management Unit;

Described information administrative unit, for the value of information obtained according to integrated information processing unit, carry out weighted value distribution, Characteristic quantification and Fusion Features, operation obtain assessment result, driver are carried out according to the harmful grade of assessment result corresponding Safe early warning, while the harmful grade of assessment result is sent to vehicle management system or administrative staff by wireless network, and Memory of driving person's identity information with by the assessment result.

As a further improvement on the present invention, the video information collecting unit includes ccd sensor box body and camera, Camera installation cavity is equipped in the box body, the camera is mounted on by mounting bracket in the installation cavity.

Advantageous effect using above-mentioned further scheme be camera be closed in shading chamber ensure that acquisition image Stability and authenticity.

As a further improvement on the present invention, the video information process unit includes vehicle-mounted DSP processing equipments, described Vehicle-mounted DSP processing equipments include picture processing chip TMS320C6455.

Advantageous effect using above-mentioned further scheme is quickly to handle image information.

As a further improvement on the present invention, the travel condition of vehicle collecting unit include pedal sensor, BDS/GPS equipment, OBD-II interfaces, 9 axle sensors, steering indicating light sensor and steering wheel sensor;

The pedal sensor, for acquire automobile clutch pedal, gas pedal and brake pedal action amplitude and Speed;

The BDS/GPS equipment, for receiving car speed and vehicle position information;

The OBD-II interfaces, for collection vehicle engine speed, water temperature, inlet exhaust gas temperature, oil temperature, oil consumption;

9 axle sensor, acceleration, the variation of vehicle motion track, vehicle for collection vehicle operation operate steadily Degree is the variation at angle of inclination;

The steering indicating light sensor opens and closes signal for acquiring steering indicating light;

The steering wheel sensor, for acquiring the direction of rotation of steering wheel and angle.

Advantageous effect using above-mentioned further scheme is to obtain travel condition of vehicle information and driver's operational motion.

As a further improvement on the present invention, the identity information authentication unit includes identification sensor, by driving The person's of sailing account, fingerprint, magnetic card or short message confirming identify driver identity.

Advantageous effect using above-mentioned further scheme is can to identify driver identity.

As a further improvement on the present invention, described information administrative unit include liquid crystal display, sound report loudspeaker and Wireless telecommunications system;The liquid crystal display, for showing assessment result;The sound reports loudspeaker, for according to institute's commentary Estimate result and safe early warning is carried out to driver;The wireless telecommunications system, for wireless telecommunications.

Advantageous effect using above-mentioned further scheme is to accurately reflect travel condition of vehicle.

On the other hand, the present invention provides driving behavior assessment and vehicle running state monitoring and pre-alarming method, the methods Including:

Step S1a, the road conditions video image of vehicle front road is shot;

Step S1b, collection vehicle running state information, driver's operational motion and identification driver identity information;

Step S2, by road conditions video image, the travel condition of vehicle information of acquisition and driver identity information integration one A independent set, and the independent set is extracted and handled;

Step S3, publication, extraction and treated independent set are carried out weighted value distribution, characteristic quantification and feature to melt It closes, operation obtains assessment result, and safe early warning is carried out, and simultaneously according to the danger of assessment result to driver according to the assessment result Dangerous rank sends vehicle management system or administrative staff to by wireless network in time;

Step S4, by driver identity information with assessment result record is stored.

Driving behavior assessment provided by the invention and vehicle running state monitoring and pre-warning system and method can be by being enclosed in Camera acquisition traffic information in shading chamber ensure that the stability and authenticity of acquisition image, while collection vehicle operation shape State information in real time assesses the operating process of driver, and to carry out the same of early warning to there may be accidents or precarious position When display automobile real-time running state, driver is facilitated to drive, and be able to record the driving information of driver.

Description of the drawings

Fig. 1 is the dimensional structure diagram of video information collecting unit.

Fig. 2 is driving behavior assessment and vehicle running state monitoring and warning system schematic.

Fig. 3 is driving behavior assessment and vehicle running state monitoring and pre-warning system and method realization method concrete structure diagram.

Fig. 4 is driving behavior assessment and vehicle running state monitoring and pre-alarming method flow chart.

In attached drawing, parts list represented by the reference numerals are as follows:

1. video information collecting unit;2. video information process unit;3. travel condition of vehicle collecting unit;4. identity is believed Cease authentication unit;5. integrated information processing unit;6. information management unit;11. camera;12. mounting bracket;13. box body; 14. installation cavity;15.CCD sensors;21.DSP processing equipments;31. pedal sensor;32.BDS/GPS equipment;33.OBD-II Interface;34.9 axle sensors;35. steering indicating light sensor;36. steering wheel sensor;41. identification sensor;51.ARM A9 Chip Exynos4612;61. liquid crystal display;62. sound reports loudspeaker;63. wireless telecommunications system;211. picture processing chip TMS320C6455。

Specific embodiment

The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and It is non-to be used to limit the scope of the present invention.

Embodiment one, referring to shown in Fig. 1-Fig. 3, the present invention provides driving behavior assessment and vehicle running state monitoring and warning System is adopted including video information collecting unit 1, video information process unit 2, identity information authentication unit 4, travel condition of vehicle Collect unit 3, integrated information processing unit 5 and information management unit 6.

The video information collecting unit 1, for shooting the road conditions video image of vehicle front road, and by road conditions video Image is transferred to video information process unit 2.

The video information process unit 2, for according to road conditions video image, road conditions information being extracted, by Road Condition information is sent to integrated information processing unit 5.

The travel condition of vehicle collecting unit 3, will for obtaining travel condition of vehicle information and driver's operational motion Travel condition of vehicle information and driver's operational motion are transferred to integrated information processing unit 5.

Driver identity information for identifying driver identity, and is transferred to synthesis by the identity information authentication unit 4 Information process unit 5.

The integrated information processing unit 5, for being grasped according to road conditions information, travel condition of vehicle information and driver The characteristic value for making action message carries out integrated treatment, and the value of information obtained and driver identity information are transferred to information management Unit 6.

Described information administrative unit 6 for the value of information obtained according to integrated information processing unit 5, carries out weighted value point Match, characteristic quantification and Fusion Features, operation obtain assessment result, driver is carried out according to the harmful grade of assessment result corresponding Safe early warning, while the harmful grade of assessment result is sent to vehicle management system or administrative staff by wireless network, And memory of driving person's identity information with by the assessment result.

The video information collecting unit 1 includes 15 box body 13 of ccd sensor and camera 11, is equipped in the box body 13 Camera installation cavity 14, the camera 11 are mounted on by mounting bracket 12 in the installation cavity 14.

The video information process unit 2 includes vehicle-mounted DSP processing equipments 21, the vehicle-mounted DSP processing equipments 21 Including picture processing chip TMS320C6455211.

The travel condition of vehicle collecting unit 3 includes pedal sensor 31, BDS/GPS equipment 32, OBD-II and connects 33,9 axle sensors 34 of mouth, steering indicating light sensor 35 and steering wheel sensor 36.

The pedal sensor 31, for acquiring the amplitude of automobile clutch pedal, gas pedal and brake pedal action And speed;The BDS/GPS equipment 32, for receiving car speed and vehicle position information;The OBD-II interfaces 33, are used for Collection vehicle engine speed, water temperature, inlet exhaust gas temperature, oil temperature, oil consumption;9 axle sensor 34, for collection vehicle The acceleration of operation, the variation of vehicle motion track, vehicle degree of the operating steadily i.e. variation at angle of inclination;The steering indicating light sensor 35, open and close signal for acquiring steering indicating light;The steering wheel sensor 36, for acquire the direction of rotation of steering wheel and Angle.

The identity information authentication unit 4 include identification sensor 41, by driver's account, fingerprint, magnetic card or Short message confirming identifies driver identity.

Described information administrative unit 6 includes liquid crystal display 61, sound reports loudspeaker 62 and wireless telecommunications system 63;It is described Liquid crystal display 61, for showing assessment result;The sound reports loudspeaker 62, for according to the assessment result to driver Carry out safe early warning;The wireless telecommunications system 63, for wireless telecommunications.

Embodiment two, driving behavior assessment and vehicle running state monitoring and pre-alarming method.With reference to Fig. 4 to the present embodiment The method of offer is described in detail.

Step S1a, the road conditions video image of vehicle front road is shot.

Step S1b, collection vehicle running state information, driver's operational motion and identification driver identity information.

Step S2, by road conditions video image, the travel condition of vehicle information of acquisition and driver identity information integration one A independent set, and the independent set is extracted and handled.

Specifically, it is specifically wrapped according to collected road conditions video information, extraction road conditions characteristic information in the step S2 It includes the identification to lane line, the identification of arrow is oriented to the identification of front vehicles and pedestrian and to zebra stripes;

The identification of lane line is included:

Noise of video image is inhibited using medium filtering, using Sobel operators as edge detection operator, to video figure As carrying out marginalisation processing, binary conversion treatment carries out image using dynamic thresholding method, discrete point is removed to image after binaryzation;

By Hough transformation by the video image after removing discrete point be divided into it is remote, in, nearly 3 visual fields, by near-sighted field It is handled to obtain histogram of gradients, acquires track desired value, Hough transform parameter is obtained according to desired value, passes through near-sighted field Parameter determines middle visual field parameter, and obtained parameter is arranged and solved, and far visual field is solved by near, middle visual field restriction on the parameters Parameter;

By above data processed result, lane line line type is extracted, completes Lane detection;

The identification of front vehicles and pedestrian are included:

V=(St-St-1)/△t

T=St/V;

Wherein, V is vehicle and front truck or the relative velocity of pedestrian, and St is current time distance, St-1 for last moment with The distance of front truck, △ t are the acquisition interval time twice, when t is less than threshold range, represent that there are security risks;

Using feature histogram HOG algorithms, the position in the image collected is appeared according to vehicle and pedestrian, passes through figure As the position that phase point has been demarcated, current time vehicle and the distance between front truck and pedestrian can be extrapolated;

The identification of zebra stripes, guiding arrow is included:

It is progressively scanned, and according to the gray-value variation rule and ladder of image using to fixed area selected immediately ahead of vehicle Direction is spent, identification zebra stripes are oriented to arrow.

Step S3, publication, extraction and treated independent set are carried out weighted value distribution, characteristic quantification and feature to melt It closes, operation obtains assessment result, and safe early warning is carried out, and simultaneously according to the danger of assessment result to driver according to the assessment result Dangerous rank sends vehicle management system or administrative staff to by wireless network in time.

Specifically, comprehensive assessment and safe early warning packet are carried out to driving behavior and vehicle running state in the step S3 It includes:

It is monitored by steering wheel into line direction, judges whether steering wheel has pro-active intervention, if without pro-active intervention, show to send out Raw lane line deviates, then starts safe early warning and record;

According to the crimping situation of left and right wheels, judgement is crimping traveling or lane change traveling;

By identifying that road guiding arrow detects, judge whether vehicle is travelled by guiding;

When vehicle is laterally tilted more than 30 degree beyond normal braking acceleration or vehicle, judges that vehicle topples, believe Breath administrative unit can pass vehicle position information and vehicle brake acceleration exception information back backstage automatically by wireless signal and manage Reason system, and send out running state of the vehicle security alarm;

When zebra stripes occurs in front, vehicle present speed is judged, if speed is more than threshold speed and no brake, then It sends out safe early warning and records the current speed of service of vehicle.

The judgment criteria of the harmful grade is:

Wherein, x is assessment coefficients, and ki*xi is the evaluation of estimate of each factor, and weight is k=(k1, k2 ..., kn)Τ, n is comments The type of valency index, Y are evaluation of estimate variable.

Step S4, by driver identity information with assessment result record is stored.

The beneficial effects of the invention are as follows:Driving behavior assessment provided by the invention and vehicle running state monitoring and warning system And method can acquire stability and authenticity that traffic information ensure that acquisition image by the camera being enclosed in shading chamber, Collection vehicle running state information simultaneously, in real time assesses the operating process of driver, and to there may be accident or danger Dangerous state carries out display automobile real-time running state while early warning, driver is facilitated to drive, and be able to record driver's Driving information.

The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.

Claims (6)

1. driving behavior assessment and vehicle running state monitoring and warning system, which is characterized in that including video information collecting unit (1), video information process unit (2), identity information authentication unit (4), travel condition of vehicle collecting unit (3), integrated information Processing unit (5) and information management unit (6);
The video information collecting unit (1), for shooting the road conditions video image of vehicle front road, and by road conditions video figure Image relaying is to video information process unit (2);
The video information process unit (2), for according to road conditions video image, road conditions information being extracted, by road conditions Information is sent to integrated information processing unit (5);
The travel condition of vehicle collecting unit (3), for obtaining travel condition of vehicle information and driver's operational motion, by vehicle Running state information and driver's operational motion are transferred to integrated information processing unit (5);
Driver identity information for identifying driver identity, and is transferred to comprehensive letter by the identity information authentication unit (4) Cease processing unit (5);
The integrated information processing unit (5), for being operated according to road conditions information, travel condition of vehicle information and driver The characteristic value of action message carries out integrated treatment, and the value of information obtained and driver identity information are transferred to information management list First (6);
Described information administrative unit (6) for the value of information obtained according to integrated information processing unit (5), carries out weighted value point Match, characteristic quantification and Fusion Features, operation obtain assessment result, driver is carried out according to the harmful grade of assessment result corresponding Safe early warning, while the harmful grade of assessment result is sent to vehicle management system or administrative staff by wireless network, And memory of driving person's identity information with by the assessment result;
The travel condition of vehicle collecting unit (3) includes pedal sensor (31), BDS/GPS equipment (32), OBD-II interfaces (33), 9 axle sensors (34), steering indicating light sensor (35) and steering wheel sensor (36);
The pedal sensor (31), for acquire automobile clutch pedal, gas pedal and brake pedal action amplitude and Speed;
The BDS/GPS equipment (32), for receiving car speed and vehicle position information;
The OBD-II interfaces (33), for collection vehicle engine speed, water temperature, inlet exhaust gas temperature, oil temperature, oil consumption;
9 axle sensor (34), acceleration, the variation of vehicle motion track, vehicle for collection vehicle operation operate steadily Degree is the variation at angle of inclination;
The steering indicating light sensor (35) opens and closes signal for acquiring steering indicating light;
The steering wheel sensor (36), for acquiring the direction of rotation of steering wheel and angle;
Described information administrative unit (6) is additionally operable to according to collected road conditions video information, and extraction road conditions characteristic information specifically wraps It includes the identification to lane line, the identification of arrow is oriented to the identification of front vehicles and pedestrian and to zebra stripes;
The identification of lane line is included:
Noise of video image is inhibited using medium filtering, using Sobel operators as edge detection operator, to video image into Row marginalisation is handled, and binary conversion treatment is carried out to image using dynamic thresholding method, discrete point is removed to image after binaryzation;
By Hough transformation by the video image after removing discrete point be divided into it is remote, in, nearly 3 visual fields, by being carried out to near-sighted field Processing obtains histogram of gradients, acquires track desired value, obtains Hough transform parameter according to desired value, passes through near-sighted field parameters Visual field parameter, is arranged and is solved to obtained parameter in determining, solving far visual field by near, middle visual field restriction on the parameters joins Number;
By above data processed result, lane line line type is extracted, completes Lane detection;
The identification of front vehicles and pedestrian are included:
V=(S t-S t-1)/△t
T=S t/V;
Wherein, V is vehicle and front truck or the relative velocity of pedestrian, and S t are current time distance, S t-1For last moment and front truck Distance, △ t are acquisition interval time twice, when t is less than threshold range, represent that there are security risks;
Using feature histogram HOG algorithms, the position in the image collected is appeared according to vehicle and pedestrian, passes through image phase The position that site has been demarcated can extrapolate current time vehicle and the distance between front truck and pedestrian;
The identification of zebra stripes, guiding arrow is included:
It is progressively scanned, and according to the gray-value variation rule of image and gradient side using to fixed area selected immediately ahead of vehicle To identification zebra stripes are oriented to arrow;
Described information administrative unit (6) carries out comprehensive assessment to driving behavior and vehicle running state and safe early warning includes:
It is monitored by steering wheel into line direction, judges whether steering wheel has pro-active intervention, if without pro-active intervention, show that vehicle occurs Diatom deviates, then starts safe early warning and record;
According to the crimping situation of left and right wheels, judgement is crimping traveling or lane change traveling;
By identifying that road guiding arrow detects, judge whether vehicle is travelled by guiding;
When vehicle is laterally tilted more than 30 degree beyond normal braking acceleration or vehicle, judge that vehicle topples, message tube Reason unit can pass vehicle position information and vehicle brake acceleration exception information back back-stage management system automatically by wireless signal System, and send out running state of the vehicle security alarm;
When zebra stripes occurs in front, vehicle present speed is judged, if speed is more than threshold speed and no brake, then send out Safe early warning simultaneously records the current speed of service of vehicle;
The judgment criteria of the harmful grade is:
Wherein, x is assessment coefficients, and ki*xi is the evaluation of estimate of each factor, and weight is k=(k1, k2 ..., kn)Τ, n is that evaluation refers to Target type, Y are evaluation of estimate variable.
2. driving behavior assessment according to claim 1 and vehicle running state monitoring and warning system, which is characterized in that institute It states video information collecting unit (1) and includes ccd sensor (15) box body (13) and camera (11), be equipped in the box body (13) Camera installation cavity (14), the camera (11) is by mounting bracket (12) in the installation cavity (14).
3. driving behavior assessment according to claim 1 and vehicle running state monitoring and warning system, which is characterized in that institute It states video information process unit (2) and includes vehicle-mounted DSP processing equipments (21), the vehicle-mounted DSP processing equipments (21) include Picture processing chip TMS320C6455 (211).
4. driving behavior assessment according to claim 1 and vehicle running state monitoring and warning system, which is characterized in that institute It states identity information authentication unit (4) and includes identification sensor (41), it is short by driver's account, fingerprint, magnetic card or mobile phone Letter confirms to identify driver identity.
5. driving behavior assessment according to claim 1 and vehicle running state monitoring and warning system, which is characterized in that institute It states information management unit (6) and reports loudspeaker (62) and wireless telecommunications system (63) including liquid crystal display (61), sound;
The liquid crystal display (61), for showing assessment result;
The sound reports loudspeaker (62), for carrying out safe early warning to driver according to the assessment result;
The wireless telecommunications system (63), for wireless telecommunications.
6. driving behavior assessment and vehicle running state monitoring and pre-alarming method, which is characterized in that the method includes:
Step S1a, the road conditions video image of vehicle front road is shot;
Step S1b, collection vehicle running state information, driver's operational motion and identification driver identity information;
Step S2, by road conditions video image, the travel condition of vehicle information of acquisition and driver identity information integration one solely Vertical set, and the independent set is extracted and handled;
Step S3, publication, extraction and treated independent set are subjected to weighted value distribution, characteristic quantification and Fusion Features, fortune Calculation obtains assessment result, and safe early warning is carried out, and simultaneously according to the hazard class of assessment result to driver according to the assessment result Do not send vehicle management system or administrative staff in time by wireless network;
Step S4, by driver identity information with assessment result record is stored;
Wherein, comprehensive assessment is carried out to driving behavior and vehicle running state and safe early warning includes:
It is monitored by steering wheel into line direction, judges whether steering wheel has pro-active intervention, if without pro-active intervention, show that vehicle occurs Diatom deviates, then starts safe early warning and record;
According to the crimping situation of left and right wheels, judgement is crimping traveling or lane change traveling;
By identifying that road guiding arrow detects, judge whether vehicle is travelled by guiding;
When vehicle is laterally tilted more than 30 degree beyond normal braking acceleration or vehicle, judge that vehicle topples, message tube Reason unit can pass vehicle position information and vehicle brake acceleration exception information back back-stage management system automatically by wireless signal System, and send out running state of the vehicle security alarm;
When zebra stripes occurs in front, vehicle present speed is judged, if speed is more than threshold speed and no brake, then send out Safe early warning simultaneously records the current speed of service of vehicle;
The judgment criteria of the harmful grade is:
Wherein, x is assessment coefficients, and ki*xi is the evaluation of estimate of each factor, and weight is k=(k1, k2 ..., kn)Τ, n is that evaluation refers to Target type, Y are evaluation of estimate variable;
The knowledge to lane line is specifically included according to collected road conditions video information, extraction road conditions characteristic information in the step S2 Not, the identification to front vehicles and pedestrian and the identification to zebra stripes guiding arrow;
The identification of lane line is included:
Noise of video image is inhibited using medium filtering, using Sobel operators as edge detection operator, to video image into Row marginalisation is handled, and binary conversion treatment is carried out to image using dynamic thresholding method, discrete point is removed to image after binaryzation;
By Hough transformation by the video image after removing discrete point be divided into it is remote, in, nearly 3 visual fields, by being carried out to near-sighted field Processing obtains histogram of gradients, acquires track desired value, obtains Hough transform parameter according to desired value, passes through near-sighted field parameters Visual field parameter, is arranged and is solved to obtained parameter in determining, solving far visual field by near, middle visual field restriction on the parameters joins Number;
By above data processed result, lane line line type is extracted, completes Lane detection;
The identification of front vehicles and pedestrian are included:
V=(S t-S t-1)/△t
T=S t/V;
Wherein, V is vehicle and front truck or the relative velocity of pedestrian, and S t are current time distance, S t-1For last moment and front truck Distance, △ t are acquisition interval time twice, when t is less than threshold range, represent that there are security risks;
Using feature histogram HOG algorithms, the position in the image collected is appeared according to vehicle and pedestrian, passes through image phase The position that site has been demarcated can extrapolate current time vehicle and the distance between front truck and pedestrian;
The identification of zebra stripes, guiding arrow is included:
It is progressively scanned, and according to the gray-value variation rule of image and gradient side using to fixed area selected immediately ahead of vehicle To identification zebra stripes are oriented to arrow.
CN201610004742.0A 2016-01-04 2016-01-04 Driving behavior assessment and vehicle running state monitoring and pre-warning system and method CN105513358B (en)

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