CN105882661A - Motor vehicle curve driving assistance system and operation type - Google Patents

Abstract

The invention mainly relates to a motor vehicle curve driving assistance system and an operation type. The motor vehicle curve driving assistance system mainly comprises a frontend camera device, an image and data processor, a GPS (global positioning system) positioning device, a vehicle speed detection device, a wheel steering angle detection device, a vehicle-mounted multimedia display device and a system control processor, and is based on an image processing technique. The image and data processor of the system is used for determining whether a motor vehicle enters a curve or not through judging whether a complete obstacle background type exists in the driving road image of the motor vehicle or not, and analyzing and computing to obtain the site curvature radius data K. The motor vehicle curve driving assistance system has the advantage that when the motor vehicle approaches and drives through the curve, the related curve data and driving suggestions are accurately prompted to the driver through the multimedia display device, the driver, especially the primary driver, is assisted to safely and smoothly pass through the curve road, and the possibility of traffic accidents at curve is decreased.

Description

Motor vehicles driving curves aid system and the method for operation

Technical field

The present invention relates to a kind of motor vehicle driving aid system and the method for operation, especially one and carry out curved based on image processing techniques The motor vehicles driving curves aid system of road monitoring and the method for operation.

Background technology

Driving curves technology is an important driving technology for driver, and whether ordinary motor vehicle is putting down through bend Steady relevant with factors, the curvature of such as bend, car speed, bend inclination angle, road friction coefficient and vehicle self Weight and size etc..Although generally there is caution sign for sharp turn, or it is marked with speed restriction, but driver can't note sometimes The speed that these caution signs of anticipating or follow are indicated limits and keeps passing through at a high speed, the most then can cause the uncomfortable of Vehicular occupant, weight Can cause to lose control of one's vehicle the most in some cases, serious vehicle accident occurs.In consideration of it, present some motor vehicles auxiliary control System processed also includes more corresponding bend monitoring technology, including by use gps signal, map data base, car speed, The data such as yaw rate and steering angle point out the vehicle suitable speed that should use when distance bend diverse location, but on Stating existing for technology problem is that accuracy is the highest when calculating bend curvature data, and actual should using can not well be expired The demand of foot driver.

Summary of the invention

For the deficiencies in the prior art, the invention provides a kind of based on image processing techniques, calculate curved in combination with gps data Road curvature is to realize motor vehicles driving curves aid system and the method for operation of auxiliary driving.

The technical solution used in the present invention is as follows: a kind of motor vehicles driving curves aid system, mainly include front end camera head, Image data processor, GPS positioner, vehicle speed detector device, wheel turning angle detector, vehicle mounted multimedia display dress Put and system control processor；The video letter of the video signal delivery outlet of described front end camera head and described image data processor Number input port is electrically connected with, the data transmission port of described image data processor and the data transmission port of system control processor Being electrically connected with, the data transmission port of described GPS positioner is electrically connected with the data transmission port of system control processor, The data transmission port of described vehicle speed detector device is electrically connected with the data transmission port of system control processor, and described wheel turns Data transmission port to the data transmission port of angle detecting device with system control processor is electrically connected with, described vehicle mounted multimedia The video signal input port of display device is electrically connected with the video signal delivery outlet of system control processor.

The method of operation of motor vehicles driving curves aid system described in a kind of claim 1, mainly includes standby mode of operation and curved Two kinds of mode of operations of road real time data monitoring pattern, carrying out practically mode is as follows:

Standby mode of operation:

A., when described system control processor is in standby mode of operation, described GPS positioner real-time Transmission vehicle location is believed Breath and map information data are to system control processor；

B. after described system control processor receives the data that motor-driven vehicle going front i.e. will appear from bend from gps data, Just control described image data processor and start bend monitoring and curve data collecting work；

The most described image data processor receives the image signal data gathered from described motor vehicles front end camera head, locates Motor-driven vehicle going road ahead information data is transferred back to system control processor after analyzing by reason；

The most described system control processor by from image data processor real time road information data and GPS location signal and Map information data carries out coincideing and compares, if confirming, motor vehicles is just moving closer to and will sail into bend, then enter bend and count in real time According to monitoring pattern, otherwise system control processor control system persistently keeps standby mode of operation to turn again to step a；

Bend real time data monitoring pattern:

A., after system control processor enters bend real time data monitoring pattern, described image data processor continual analysis processes The bend image information passed back from front end camera head, and computational analysis obtain including bend radius of curvature data K curved Road information data；

The curve data information such as bend radius of curvature data K are real-time transmitted at system control by the most described image data processor Reason device, described GPS positioner real-time Transmission vehicle position information data is to system control processor, and described Bus-Speed Monitoring fills Putting real-time Transmission motor vehicle speed information data to system control processor, described wheel turning angle detector real-time Transmission is motor-driven Car wheel turning angle information data is to system control processor；

After the most described system control processor receives above-mentioned data message, whether every service data of computational analysis motor vehicles is located In the safe driving scope of data of negotiation of bends, and will process after prompting data be sent to vehicle-mounted multimedia display device；

D. vehicle-mounted multimedia display device shows the bend prompting data received, and informs the real-time bend information of driver and driving Information；When system control processor monitor the bend running status of motor vehicles be in outside the safe driving scope of negotiation of bends time, Will pass through vehicle-mounted multimedia display device and carry out acousto-optic warning；When system control processor monitors the bend running status of motor vehicles Time outside the serious safe driving scope beyond negotiation of bends, just force to control driving mechanism of motor vehicle and slow down；At system control Reason device monitors motor vehicles when rolling bend away from, and just control system enters standby mode of operation, otherwise keeps the monitoring of bend real time data Pattern turns again to step a.

Preferably, described image data processor judges that motor vehicles enters bend and analytical calculation obtains on-the-spot radius of curvature data K Key step as follows:

A. image data processor is partitioned into image receiving after the picture signal of front end camera head in single-frame images Specific Delta Region；

B. whether image data processor there is complete obstacle background in analyzing described Delta Region top area；If occurring hindering completely There is bend in motor vehicle front to hinder background to be then judged as；

C. extract the outline data of described complete obstacle background, carry out bend walking direction simultaneously, if two occurred in image curved Road trajectory is all ramp-like in inclining to the left, and can determine that this bend is left bend, otherwise if two bend trajectories are all in the shape that is tilted to the right, Then can determine that this bend is right bend；

D. image data processor is according to described complete obstacle background profile data, calculates complete obstacle background profile area, analyzes The complete obstacle background profile area change data of adjacent two two field pictures during motor-driven vehicle going, and calculate bend image curvature Radius data k；

E. image data processor obtains GPS map data from system control processor, and by calculated bend image curvature Radius data k carries out global alignment, correction with the bend radius of curvature data of offer in GPS map data, obtains final showing Field curvature radius data K.

Preferably, the formula of described image data processor calculating bend image radius of curvature data k is as follows:

If α is the half of delta-shaped region drift angle described in single-frame images, if β is in adjacent two two field pictures the three of the second two field picture Point of contact radius at angular domain and bend intersection of locus is positioned at, with delta-shaped region, the angle that the hypotenuse of this side, point of contact is formed, l₁It is intersection point and the distance of apex, the l of bend track and delta-shaped region in the first two field picture₂It it is bend rail in the second two field picture The intersection point of mark and delta-shaped region and the distance of apex, l is the bend arc length of motor-driven vehicle going process in Δ t time interval, and d is The distance of motor-driven vehicle going in Δ t time interval, then when adjacent two image frame grabber Δ interval time t are less, bend image curvature The calculation of radius data k is as follows:

$l=\sqrt{d^2+{(l_2-l_1)}^2-2d(l_2-l_1)cos\mathrm{\α}}$

$\mathrm{\θ}=arcsin\frac{dsin\mathrm{\α}}{l}$

$k=\frac{l}{180-2(\mathrm{\θ}+\mathrm{\β})}.$

Use motor vehicles driving curves aid system of the present invention, can motor vehicles close to and during crossing bend, logical Crossing multi-media display device and point out relevant curve data and drive advice to driver accurately, auxiliary driver is the most primary Driver safety by bend road, reduces the probability that curve traffic accident occurs smoothly.

Accompanying drawing explanation

Fig. 1 is the system block diagram of motor vehicles driving curves aid system of the present invention；

Fig. 2 is the first two field picture specific Delta Region schematic diagram in the embodiment of the present invention；

Fig. 3 is the second two field picture specific Delta Region schematic diagram in the embodiment of the present invention；

Fig. 4 is the flow chart that motor vehicles driving curves aid system of the present invention judges whether complete obstacle background occur.

1 front end camera head in figure, 2 image data processors, 3 system control processors, 4 vehicle-mounted multimedia display devices, 5 vehicle speed detector devices, 6GPS positioner, 7 wheel turning angle detectors.

Detailed description of the invention

As shown in Figure 1, a kind of motor vehicles driving curves aid system, mainly include front end camera head 1, image real time transfer Device 2, GPS positioner 6, vehicle speed detector device 5, wheel turning angle detector 7, vehicle-mounted multimedia display device 4 With system control processor 3；

Front end camera head 1 is high definition CCD vehicle-mounted vidicon, is installed on vehicle cockpit anterior, for harvester motor-car The view data in travel front, its video signal delivery outlet electrically connects with the video signal input port of image data processor 2 Connect；

The main work of image data processor 2 is to use complete obstacle background method to be analyzed road image data calculating, with Obtain in image data, the data transmission port of image data processor 2 and the system control processors 3 such as bend radius of curvature Data transmission port is electrically connected with；

The data transmission port of GPS positioner 6 is electrically connected with the data transmission port of system control processor 3, and speed is examined The data transmission port of the data transmission port and system control processor 3 of surveying device 5 is electrically connected with, wheel turning angle detection dress Put the data transmission port of 7 to be electrically connected with the data transmission port of system control processor 3；

Vehicle-mounted multimedia display device 4 uses vehicle-mounted projector, its video signal input port and the video of system control processor 3 Signal output is electrically connected with；

As shown in Figure 4, image data processor 2 uses the method for operation of complete obstacle background method as follows:

The first step: setting specific triangles region in the road image that front end camera head 1 is gathered, specific Delta Region is One isosceles triangle with the width that is mapped on image of motorcar body width that travels as the end, the vertical line of this triangle and road Road center line coincides；

Second step: judge the background image whether occurred in specific Delta Region beyond road boundary, if occurring i.e. defining completely Obstacle background, can determine whether that motor vehicle front occurs in that bend, and otherwise motor vehicle front is Through Lane.

Use specific embodiment that the method for operation of motor vehicles driving curves aid system is illustrated below:

Under normal circumstances, motor vehicles driving curves aid system is constantly in standby mode of operation, carrying out practically in straight road Mode is as follows:

A. system control processor 3 is in standby mode of operation, GPS positioner 6 real-time Transmission vehicle position information and Map information data is to system control processor 3；

B. after system control processor 3 receives the data that motor-driven vehicle going front i.e. will appear from bend from gps data, Just control image data processor 2 and start bend monitoring and curve data collecting work；

C. image data processor 2 receives the image signal data gathered from described motor vehicles front end camera head 1, carries out After Treatment Analysis, motor-driven vehicle going road ahead information data is transferred back to system control processor 3；

D. system control processor 3 by from image data processor 2 real time road information data and GPS location signal and Map information data carries out coincideing and compares, if confirming, motor vehicles is just moving closer to and will sail into bend, then enter bend and count in real time According to monitoring pattern, otherwise system control processor 3 control system persistently keeps standby mode of operation to turn again to step a；

When motor vehicles driving curves aid system is after standby mode of operation enters bend real time data monitoring pattern, its carrying out practically Mode is as follows:

A. system control processor 3 enters bend real time data monitoring pattern, and image data processor 2 continual analysis processes The bend image information passed back from front end camera head 1, and computational analysis obtain including bend radius of curvature data K curved Road information data；

B. the curve data information such as bend radius of curvature data K are real-time transmitted to system control process by image data processor 2 Device 3, GPS positioner 6 real-time Transmission vehicle position information data is to system control processor 3, vehicle speed detector device 5 Real-time Transmission motor vehicle speed information data is to system control processor 3, wheel turning angle detector 7 real-time Transmission motor vehicles Wheel turning angle information data is to system control processor 3；

C. after system control processor 3 receives above-mentioned data message, whether every service data of computational analysis motor vehicles is in In the safe driving scope of data of negotiation of bends, and will process after prompting data be sent to vehicle-mounted multimedia display device 4；

D. the bend prompting data that vehicle-mounted multimedia display device 4 display receives, inform the real-time bend information of driver and drive Sail information；When system control processor 3 monitor the bend running status of motor vehicles be in negotiation of bends safe driving scope it Time outer, will pass through vehicle-mounted multimedia display device 4 and carry out acousto-optic warning；When system control processor 3 monitors the curved of motor vehicles Road running status seriously beyond time outside the safe driving scope of negotiation of bends, is just forced to control driving mechanism of motor vehicle and is slowed down；When System control processor 3 monitors motor vehicles when rolling bend away from, and just control system enters standby mode of operation, otherwise keeps bend Real time data monitoring pattern turns again to step a.

As shown in Figures 2 and 3, in the running of motor vehicles driving curves aid system, image data processor 2 judges The key step whether motor vehicles enters bend and on-the-spot radius of curvature data K of analytical calculation acquisition is as follows:

A. image data processor 2 is partitioned into receiving after the picture signal of front end camera head 1 in single-frame images The specific Delta Region of image；

B. whether image data processor 2 there is complete obstacle background in analyzing described Delta Region top area；If occurring completely Obstacle background is then judged as that bend occurs in motor vehicle front；

C. extract the outline data of described complete obstacle background, carry out bend walking direction simultaneously, if two occurred in image curved Road trajectory is all ramp-like in inclining to the left, and can determine that this bend is left bend, otherwise if two bend trajectories are all in the shape that is tilted to the right, Then can determine that this bend is right bend；

D. image data processor 2 is according to described complete obstacle background profile data, calculates complete obstacle background profile area, point The complete obstacle background profile area change data of adjacent two two field pictures during analysis motor-driven vehicle going, and it is bent to calculate bend image Rate radius data k；If α is the half of delta-shaped region drift angle described in single-frame images, if β is in adjacent two two field pictures second Point of contact radius at the delta-shaped region of two field picture and bend intersection of locus is positioned at the hypotenuse institute shape of this side, point of contact with delta-shaped region The angle become, l₁It is intersection point and the distance of apex, the l of bend track and delta-shaped region in the first two field picture₂It it is the second frame figure The intersection point of bend track and delta-shaped region and the distance of apex in Xiang, l is the curved of motor-driven vehicle going process in Δ t time interval Road arc length, d is the distance of motor-driven vehicle going in Δ t time interval, then when adjacent two image frame grabber Δ interval time t are less, The calculation of bend image radius of curvature data k is as follows:

$l=\sqrt{d^2+{(l_2-l_1)}^2-2d(l_2-l_1)cos\mathrm{\α}}$

$\mathrm{\θ}=\arcsin \frac{dsin\mathrm{\α}}{l}$

$k=\frac{l}{180-2(\mathrm{\θ}+\mathrm{\β})};$

E. image data processor 2 obtains GPS map data from system control processor 3, and by calculated bend figure As radius of curvature data k carry out global alignment, correction with the bend radius of curvature data of offer in GPS map data, obtain Whole on-the-spot radius of curvature data K.

Use motor vehicles driving curves aid system of the present invention, by judging from the road image captured by camera head Whether bend occur and calculates the radius of curvature of bend, in combination with data such as gps data, speed, steering angles, analyzing motor-driven Car is the most in a safe condition during negotiation of bends, points out relevant curve data and drive advice to driver simultaneously, The particularly primary driver safety of auxiliary driver, smoothly by bend road, reduces the probability that curve traffic accident occurs.

The above embodiment of the present invention is only for example of the present invention is described, and not to embodiments of the present invention Limit.For those of ordinary skill in the field, other multi-forms can also be made on the basis of the above description Change and variation.Here cannot give exhaustive by all of embodiment.Every belong to that technical scheme amplified out aobvious And the change being clear to or variation are still in the row of protection scope of the present invention.

Claims (4)

1. a motor vehicles driving curves aid system, it is characterised in that mainly include front end camera head, figure As data processor, GPS positioner, vehicle speed detector device, wheel turning angle detector, vehicle-mounted many matchmakers Body display device and system control processor；The video signal delivery outlet of described front end camera head and described image The video signal input port of data processor is electrically connected with, the data transmission port of described image data processor with The data transmission port of system control processor is electrically connected with, the data transmission port of described GPS positioner It is electrically connected with the data transmission port of system control processor, the data transmission port of described vehicle speed detector device Being electrically connected with the data transmission port of system control processor, the data of described wheel turning angle detector pass Defeated port is electrically connected with the data transmission port of system control processor, described vehicle-mounted multimedia display device Video signal input port is electrically connected with the video signal delivery outlet of system control processor.

2. the method for operation of motor vehicles driving curves aid system described in a claim 1, it is characterised in that Mainly including standby mode of operation and two kinds of mode of operations of bend real time data monitoring pattern, carrying out practically mode is such as Under:

Standby mode of operation:

A., when described system control processor is in standby mode of operation, described GPS positioner passes in real time Defeated vehicle position information and map information data are to system control processor；

B. i.e. will appear from curved when described system control processor receives motor-driven vehicle going front from gps data After the data in road, just control described image data processor and start bend monitoring and curve data collecting work；

The most described image data processor receives the picture signal gathered from described motor vehicles front end camera head Data, transfer back to system control processor by motor-driven vehicle going road ahead information data after carrying out Treatment Analysis；

The most described system control processor is by from the real time road information data of image data processor and GPS Position signalling and map information data carry out coincideing and compare, if confirming, motor vehicles is just moving closer to and will sail into curved Road, then enter bend real time data monitoring pattern, and otherwise system control processor control system persistently keeps standby Operational mode turns again to step a；

Bend real time data monitoring pattern:

A. after system control processor enters bend real time data monitoring pattern, described image data processor Continual analysis processes the bend image information passed back from front end camera head, and computational analysis obtains including bend Radius of curvature data K are in interior bend information data；

The curve data information such as bend radius of curvature data K are real-time transmitted to by the most described image data processor System control processor, described GPS positioner real-time Transmission vehicle position information data to system controls Processor, described vehicle speed detector device real-time Transmission motor vehicle speed information data is to system control processor, institute State wheel turning angle detector real-time Transmission motor vehicle wheel steering angle information data to system control processor；

The most described system control processor receives every operation of computational analysis motor vehicles after above-mentioned data message Whether data are in the safe driving scope of data of negotiation of bends, and will process after prompting data be sent to car Carry multi-media display device；

D. vehicle-mounted multimedia display device shows the bend prompting data received, and informs real-time curved of driver Road information and driving information；It is in bend row when system control processor monitors the bend running status of motor vehicles Time outside the safe driving scope sailed, will pass through vehicle-mounted multimedia display device and carry out acousto-optic warning；When system control Processor processed monitor the bend running status of motor vehicles seriously beyond the safe driving scope of negotiation of bends outside Time, just force to control driving mechanism of motor vehicle and slow down；Bend is rolled away from when system control processor monitors motor vehicles Time, just control system enters standby mode of operation, otherwise keeps bend real time data monitoring pattern to turn again to step Rapid a.

The method of operation of motor vehicles driving curves aid system the most according to claim 2, it is characterised in that Described image data processor judges that motor vehicles enters bend and analytical calculation obtains on-the-spot radius of curvature data K Key step as follows:

A. image data processor is receiving after the picture signal of front end camera head in single-frame images It is partitioned into the specific Delta Region of image；

B. whether image data processor there is complete obstacle background in analyzing described Delta Region top area； If complete obstacle background occurs, it is judged as that bend occurs in motor vehicle front；

C. extract the outline data of described complete obstacle background, carry out bend walking direction, if in image simultaneously Two the bend trajectories occurred are all ramp-like in inclining to the left, and can determine that this bend is left bend, otherwise if two curved Road trajectory all in the shape that is tilted to the right, then can determine that this bend is right bend；

D. image data processor is according to described complete obstacle background profile data, calculates complete obstacle background wheel Profile surface is amassed, the complete obstacle background profile area change number of adjacent two two field pictures during analysis motor-driven vehicle going According to, and calculate bend image radius of curvature data k；

E. image data processor obtains GPS map data from system control processor, and by calculated Bend image radius of curvature data k are carried out comprehensively with the bend radius of curvature data of offer in GPS map data Comparison, correction, obtain final on-the-spot radius of curvature data K.

The method of operation of motor vehicles driving curves aid system the most according to claim 3, it is characterised in that The formula that described image data processor calculates bend image radius of curvature data k is as follows:

If α is the half of delta-shaped region drift angle described in single-frame images, if β is in adjacent two two field pictures second Point of contact radius at the delta-shaped region of two field picture and bend intersection of locus is positioned at this point of contact one with delta-shaped region The angle that the hypotenuse of side is formed, l₁It is intersection point and the summit of bend track and delta-shaped region in the first two field picture The distance at place, l₂It is intersection point and the distance of apex, the l of bend track and delta-shaped region in the second two field picture For the bend arc length of motor-driven vehicle going process in Δ t time interval, d is motor-driven vehicle going in Δ t time interval Distance, then when adjacent two image frame grabber Δ interval time t are less, bend image radius of curvature data k Calculation is as follows:

$l=\sqrt{d^2+{(l_2-l_1)}^2-2d(l_2-l_1)cos\mathrm{\α}}$

$\mathrm{\θ}=arcsin\frac{dsin\mathrm{\α}}{l}$

$k=\frac{l}{180-2(\mathrm{\θ}+\mathrm{\β})}.$