CN105761547A - Traffic collision pre-warning technique and system based on images - Google Patents
Traffic collision pre-warning technique and system based on images Download PDFInfo
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- CN105761547A CN105761547A CN201610180290.1A CN201610180290A CN105761547A CN 105761547 A CN105761547 A CN 105761547A CN 201610180290 A CN201610180290 A CN 201610180290A CN 105761547 A CN105761547 A CN 105761547A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The invention discloses a traffic collision pre-warning technique and system based on images. The traffic collision pre-warning technique and system is characterized by 1) acquiring the real-time videos of an intersection by installing a high-definition camera at the intersection or directly using an existing camera in order to guarantee that the camera may cover the entire intersection; 2) installing a warning device at the intersection; and 3) installing an image analysis control module at the intersection. Based on the camera at the intersection, the traffic collision pre-warning technique and system, analyzes the speed and the locus of any moving target at the intersection, estimates the probability of any possible collision, gives an alarm by a broadcast lamp or sound when a collision probability is greater than a preset value so as to reduce a traffic accident probability caused by sight dead zones.
Description
Technical field
The present invention relates to the algorithmic technique field of a kind of infrared image enhancement, particularly relate to a kind of traffic based on image and touch
Hit early warning technology and system.
Background technology
Research shows, cash road traffic accident is the massive losses that human lives brings.The Organization of Economy and Cooperation Development
Showing in 2006 yearly correlation reports, road traffic accident has been increasingly becoming one of principal element causing Europe casualty accident.
The World Health Organization has the population average more than million to lose in traffic accident in calendar year 2001 just points out world wide every year
Remove life, more people's major injuries.It is not European distinctive phenomenon that traffic accident takes place frequently, but a worldwide difficult problem.
The data of total evaluation system, American National traffic control center the combined data arranged shows, remembers by police in the U.S.
Record various types of collision accidents on record and have close to 6170000 examples, wherein comprise motor vehicle accident 10945000 example.Vehicle chases after
Tail accident and front vehicles stop suddenly, traveling ahead vehicle slows down suddenly and traveling ahead Vehicle Speed is relatively low etc.
Relatively conventional travel conditions, constitutes in all collision accidents and occupies main body.
Therefore along with the fast development of urban transportation, motor vehicle, bicycle, pedestrian are more and more intensive.At traffic cross
Crossing, blocks sight line or the carelessness of self due to other vehicle, greening-tree, billboard etc., be generally difficult to find in time from
The danger of blind area, thus cause colliding traffic accident.
Summary of the invention
For the deficiencies in the prior art, for the problems referred to above of optical reading technique, the i.e. thermal response of sensible heat unit not only
Influence each other, the problem also having coupled various noise, the present invention propose a kind of Traffic Collision early warning technology based on image and
System.
In order to realize above-mentioned technical purpose, the present invention adopts the following technical scheme that: a kind of Traffic Collision based on image is pre-
Alert technology and system,
1) at traffic intersection, high-definition camera it is installed or directly uses already present camera, gathering regarding in real time of traffic intersection
Frequently.Need to guarantee that camera can cover traffic intersection overall picture；
2) at traffic intersection, alarming device is installed；
3) at traffic intersection, image analysis control module is installed.
Further, the control flow of the analysis and Control module of described step 3:
1) based on the camera real-time video obtained, by the image comparison of consecutive frame, the mobile target in video is analyzed；
2) by the shape facility of mobile target, motion track and the displacement of target are followed the tracks of；
3) by current motion track and displacement, analyze the translational speed of target, and estimate that the maximum possible in the S second is moved
Dynamic track；
4) according to the maximum possible motion track in each mobile target S second.
Further, described camera is wide-angle camera.
Further, described alarming device is warning lamp, warning sign or audible alarm.
Further, described step 4 exists motion track crossing instances, possible for there is collision, immediately by warning
Device sends anti-collision warning, broadcasts to surrounding space, reminds neighbouring personnel to note.
Operation principle: from current time, the target trajectory in the n second and displacement, target trajectory is to exist according to target
The change of the pixel coordinate value in image, is obtained by data the Fitting Calculation, generally straight line or conic section.Displacement is
According to target in the change of target pixel coordinate value in the picture, and it is multiplied by time interval and is calculated, generally less than 100
Rice.
The technical characterstic of the present invention and effect be: camera based on traffic intersection, analyzes any movement at crossing in real time
The speed of target and track, carry out probability Estimation to possible any collision, when collision probability is higher than predetermined value, and broadcast singal
Lamp or sound early warning, thus reduce the probability of the traffic accident caused because of sight line blind area；
The pedestrian made a dash across the red light, motor vehicle, bicycle are provided collision probability accurately to estimate, and warn；
Reduce the Traffic Collision accident caused because of sight line blind area；
1) movable object Real time identification
2) speed of movable object and the real-time of motion track calculate
3) collision probability of each movable object is estimated in real time.
Accompanying drawing explanation
Fig. 1 is the system diagram of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.
The present invention provides a kind of Traffic Collision early warning technology based on image and system,
1) at traffic intersection, high-definition camera it is installed or directly uses already present camera, gathering regarding in real time of traffic intersection
Frequently.Need to guarantee that camera can cover traffic intersection overall picture.(wide-angle camera)
2) at traffic intersection, alarming device (warning lamp, warning sign, audible alarm etc.) is installed
3) installing image analysis control module at traffic intersection, module realizes following functions:
A. based on the camera real-time video obtained, by the image comparison of consecutive frame, analyze the mobile target in video, i.e. scheme
Moogle database in 1；
B. by the shape facility of mobile target, the image procossing in the motion track of target and displacement, i.e. Fig. 1 is followed the tracks of
Module；C. by current motion track and displacement, analyze the translational speed of target, and estimate the maximum possible in the S second
Frontal collisions warning algorithm in motion track, i.e. Fig. 1.
According to the maximum possible motion track in each mobile target S second, if there is motion track crossing instances, i.e. show to deposit
Possible in collision, send anti-collision warning by alarming device immediately, broadcast to surrounding space, remind neighbouring personnel to note.
From current time, the target trajectory in the n second and displacement, target trajectory is according to target picture in the picture
The change of element coordinate value, is obtained by data the Fitting Calculation, generally straight line or conic section.Displacement is to exist according to target
The change of target pixel coordinate value in the picture, and be multiplied by time interval and be calculated, generally less than 100 meters.
Present invention camera based on traffic intersection, analyzes speed and the track of any mobile target at crossing in real time, right
Possible any collision carries out probability Estimation, when collision probability is higher than predetermined value, and broadcast singal lamp or sound early warning, thus drop
The probability of the low traffic accident caused because of sight line blind area；
The pedestrian made a dash across the red light, motor vehicle, bicycle are provided collision probability accurately to estimate, and warn；
Reduce the Traffic Collision accident caused because of sight line blind area；
1) movable object Real time identification
2) speed of movable object and the real-time of motion track calculate
3) collision probability of each movable object is estimated in real time.
Refer to Fig. 1, wherein, the hyperbolic fit of this front side side lane line can be obtained by lane detection algorithm
Parameter, including curvature k, lane line slope b under image coordinate system1And br, lane line intercept c and lane line vanishing point height
h.So lane line pixel coordinate under image coordinate system can represent by below equation:
Further according to equation below, this coordinate is projected under camera coordinates system according to the parameter of camera:
In formula, y1、x1Represent diatom coordinate under camera coordinates system by bus；yr、xrRepresent that right lane line is under camera coordinates system
Coordinate；M, n represent image resolution ratio (horizontal pixel number, longitudinal pixel count) respectively；；H
Represent camera or camera antenna height；β represents the half at horizontal market angle, and α represents the half at vertical market angle.
The vehicle dynamics data provided according to Moogle database, can obtain Current vehicle longitudinal velocity u and
Side acceleration ay, then the radius of this circular arc can be calculated.
According to this arc track, the maximum 3 seconds of default TTC can be taken here with rough estimate the most a certain moment T()
This car is relative to the coordinate under current vehicle body coordinate system, and compares with lane line coordinate, when this coordinate is positioned at outside lane line
Time, it is believed that there is the trend that lane-change travels in this car, thus notifies that interesting target selects module to need to switch interesting target.
When lane detection lost efficacy, the historical data of special bus coordinate in the picture is mapped to vehicle body and sits by this module
Under mark system, and it is fitted, rough special bus driving trace can be obtained, when this car position after the T second and special bus
When driving trace intersects, i.e. there is the possibility collided with this vehicular traffic in this car, needs to switch interesting target.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (5)
1. a Traffic Collision early warning technology based on image and system, it is characterised in that:
1) at traffic intersection, high-definition camera it is installed or directly uses already present camera, gathering regarding in real time of traffic intersection
Frequently, need to guarantee that camera can cover traffic intersection overall picture；
2) at traffic intersection, alarming device is installed；
3) at traffic intersection, image analysis control module is installed.
A kind of Traffic Collision early warning technology based on image the most according to claim 1 and system, it is characterised in that: described
The control flow of the analysis and Control module of step 3:
1) based on the camera real-time video obtained, by the image comparison of consecutive frame, the mobile target in video is analyzed；
2) by the shape facility of mobile target, motion track and the displacement of target are followed the tracks of；
3) by current motion track and displacement, analyze the translational speed of target, and estimate that the maximum possible in the S second is moved
Dynamic track；
4) according to the maximum possible motion track in each mobile target S second.
A kind of Traffic Collision early warning technology based on image the most according to claim 1 and system, it is characterised in that: described
Camera is wide-angle camera.
A kind of Traffic Collision early warning technology based on image the most according to claim 1 and system, it is characterised in that: described
Alarming device is warning lamp, warning sign or audible alarm.
A kind of Traffic Collision early warning technology based on image the most according to claim 2 and system, it is characterised in that: described
Step 4 exists motion track crossing instances, possible for there is collision, send anti-collision warning by alarming device immediately, to week
Confining space is broadcasted, and reminds neighbouring personnel to note.
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Cited By (11)
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| CN106530825A (en) * | 2016-11-16 | 2017-03-22 | 淮阴工学院 | Method for detecting traffic conflict between motor-assisted bicycle and automobile based on ST-MRF model |
| CN107871402A (en) * | 2016-09-26 | 2018-04-03 | 财团法人工业技术研究院 | Roadside display system, roadside device and roadside display method thereof |
| CN108417089A (en) * | 2018-03-14 | 2018-08-17 | 杭州分数科技有限公司 | Traffic safety method for early warning, apparatus and system |
| CN108492567A (en) * | 2018-04-24 | 2018-09-04 | 汪宇明 | Monitor terminal, road traffic method for early warning and system |
| CN110390826A (en) * | 2019-08-09 | 2019-10-29 | 象山锐文智能装备有限公司 | A kind of traffic warning for crossing blind area |
| CN110910673A (en) * | 2018-09-14 | 2020-03-24 | 海信集团有限公司 | Method and system for reminding pedestrian to collide with vehicle, camera and mobile terminal |
| CN111243274A (en) * | 2020-01-20 | 2020-06-05 | 陈俊言 | Road collision early warning system and method for non-internet traffic individuals |
| CN111932882A (en) * | 2020-08-13 | 2020-11-13 | 广东飞达交通工程有限公司 | Real-time early warning system, method and equipment for road accidents based on image recognition |
| CN112435475A (en) * | 2020-11-23 | 2021-03-02 | 北京软通智慧城市科技有限公司 | Traffic state detection method, device, equipment and storage medium |
| CN115083209A (en) * | 2022-07-26 | 2022-09-20 | 广州市德赛西威智慧交通技术有限公司 | Vehicle-road cooperation method and system based on visual positioning |
| CN117935559A (en) * | 2024-03-07 | 2024-04-26 | 深圳市新创中天信息科技发展有限公司 | Traffic accident decision system based on multi-mode fusion perception technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107871402A (en) * | 2016-09-26 | 2018-04-03 | 财团法人工业技术研究院 | Roadside display system, roadside device and roadside display method thereof |
| CN106530825A (en) * | 2016-11-16 | 2017-03-22 | 淮阴工学院 | Method for detecting traffic conflict between motor-assisted bicycle and automobile based on ST-MRF model |
| CN108417089A (en) * | 2018-03-14 | 2018-08-17 | 杭州分数科技有限公司 | Traffic safety method for early warning, apparatus and system |
| CN108492567A (en) * | 2018-04-24 | 2018-09-04 | 汪宇明 | Monitor terminal, road traffic method for early warning and system |
| CN110910673B (en) * | 2018-09-14 | 2022-04-19 | 海信集团有限公司 | Method and system for reminding pedestrian to collide with vehicle, camera and mobile terminal |
| CN110910673A (en) * | 2018-09-14 | 2020-03-24 | 海信集团有限公司 | Method and system for reminding pedestrian to collide with vehicle, camera and mobile terminal |
| CN110390826A (en) * | 2019-08-09 | 2019-10-29 | 象山锐文智能装备有限公司 | A kind of traffic warning for crossing blind area |
| CN111243274A (en) * | 2020-01-20 | 2020-06-05 | 陈俊言 | Road collision early warning system and method for non-internet traffic individuals |
| CN111932882A (en) * | 2020-08-13 | 2020-11-13 | 广东飞达交通工程有限公司 | Real-time early warning system, method and equipment for road accidents based on image recognition |
| CN111932882B (en) * | 2020-08-13 | 2022-05-06 | 广东飞达交通工程有限公司 | Real-time early warning system, method and equipment for road accidents based on image recognition |
| CN112435475A (en) * | 2020-11-23 | 2021-03-02 | 北京软通智慧城市科技有限公司 | Traffic state detection method, device, equipment and storage medium |
| CN115083209A (en) * | 2022-07-26 | 2022-09-20 | 广州市德赛西威智慧交通技术有限公司 | Vehicle-road cooperation method and system based on visual positioning |
| CN117935559A (en) * | 2024-03-07 | 2024-04-26 | 深圳市新创中天信息科技发展有限公司 | Traffic accident decision system based on multi-mode fusion perception technology |
| CN117935559B (en) * | 2024-03-07 | 2024-05-24 | 深圳市新创中天信息科技发展有限公司 | Traffic accident decision system based on multi-mode fusion perception technology |
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Application publication date: 20160713 |