CN105946859A - System for preventing red light running and vehicle - Google Patents

Abstract

The invention discloses a system for preventing running a red light and a vehicle, and relates to the field of vehicles. The system for preventing running a red light includes an image recognition device for receiving and sending current traffic signal light information; a position detection device for detecting and sending current vehicle position information; a voice prompt unit for prompting the driver to drive safely; a dynamic system, used to control the braking of the vehicle; and an adaptive cruise system control device, used to receive and process the current traffic signal light information sent by the image recognition device and the current vehicle position information sent by the position detection device , and simultaneously control the voice prompt unit and the vehicle braking system according to the processing result. The present invention also provides a vehicle, including the system for preventing running a red light. The invention can effectively prevent the vehicle from running a red light when the self-adaptive cruise system is turned on, and also improves the automation degree of the vehicle and enhances the safety performance of the vehicle.

Description

System and vehicle for preventing red light running

technical field

The invention relates to the field of vehicles, in particular to a system for preventing running a red light and a vehicle.

Background technique

The adaptive cruise system is an intelligent automatic control system, which is developed on the basis of the existing constant speed cruise control system. During the driving process of the vehicle, the vehicle distance sensor (radar) installed in the front of the vehicle continuously scans the road conditions in front of the vehicle. If there is a target vehicle ahead and its speed is lower than the cruise speed set by the vehicle itself, the adaptive cruise system will combine the information of the vehicle ahead detected by the radar with the speed signal provided by the wheel speed sensor to calculate the time required for collision with the front vehicle, if the calculated value is less than When the system sets the threshold, the adaptive cruise control unit will reduce the torque through the engine or directly request the vehicle dynamic stability system to brake until the speed of the vehicle drops to the same speed as that of the vehicle in front, and then cruise at the speed of the vehicle in front. If there is no target vehicle in front or the speed of the target vehicle is higher than the cruise speed set by the vehicle itself, the vehicle will perform constant speed cruise at the set speed. At present, there are two types of adaptive cruise systems on the market: one is the basic adaptive cruise system, and the other is the start-stop adaptive cruise system. The basic adaptive cruise system can only operate at a certain speed. It can be activated and used (generally 30kph). In the following state, it cannot follow the vehicle in front to stop. It is mainly suitable for suburban or expressway roads. The start-stop adaptive cruise system can complete the stop and start following the vehicle in front. In the longitudinal direction of the vehicle In terms of control, semi-automatic driving is basically realized, and the applicability is stronger, and it can cope with complex urban road environments.

From the above introduction to the adaptive cruise system, it can be seen that without the intervention of the driver, no matter what type of adaptive cruise system is used, there is a risk of running a red light, and it is easier for the start-stop adaptive cruise system. Running a red light violation when following the vehicle in front while using adaptive cruise control.

Therefore, in order to prevent the problem that the driver does not operate the vehicle to stop and make the adaptive cruise system easy to run a red light, and to improve the degree of vehicle automation and improve vehicle safety performance, the present invention proposes a method to prevent the adaptive cruise system from running a red light when the adaptive cruise system is turned on. systems and vehicles.

Contents of the invention

The object of the present invention is to provide a system for preventing running a red light, which can prevent the vehicle from running a red light due to the driver not intervening to operate the vehicle to stop when the adaptive cruise system is turned on and the vehicle is at a traffic intersection and needs to stop.

Another object of the present invention is to provide a vehicle, which includes the above-mentioned system for preventing running a red light, and when the vehicle is turned on the adaptive cruise system and is located at a traffic intersection and needs to stop, it can effectively prevent the vehicle from being stopped due to the driver's non-intervention operation. The occurrence of the phenomenon of running a red light, and the degree of automation of the vehicle are significantly improved.

In particular, the present invention provides a system for preventing red light running, the system comprising:

An image recognition device for receiving and sending current traffic light information;

A position detection device for detecting and sending current vehicle position information;

The voice prompt unit is used to prompt the driver to drive safely;

a vehicle braking system for controlling braking of said vehicle; and

An adaptive cruise system control device, used to receive and process the current traffic signal light information sent by the image recognition device and the current vehicle position information sent by the position detection device, and control the voice prompt unit and the vehicle position information according to the processing results Described vehicle braking system.

Further, the control device of the adaptive cruise system includes an image processing unit for processing the color information of the traffic signal light and extracting only in red.

Further, the image processing unit at least includes the following steps:

Intercepting the current traffic signal light information picture sent by the image recognition unit;

Carry out color segmentation to the picture after intercepting, and only extract according to red, remove all images that are not red on the picture;

Perform noise reduction processing on the segmented image;

Compare the image above to the template.

Further, the control device for the adaptive cruise system further includes a direction judging unit. When the direction judging unit receives the signal of the vehicle turn signal, it considers that the vehicle is turning, otherwise, it considers that the vehicle is going straight.

Further, the direction judging unit also receives the rotation angle signal sent by the vehicle steering wheel sensor. A threshold, the vehicle is considered to be turning.

Further, when it is considered that the vehicle is turning, the control device for the adaptive cruise system controls the voice prompt unit and/or the vehicle braking system according to the turning traffic signal light information.

Further, when the control device of the adaptive cruise system judges that the vehicle is not suitable for turning according to the information of the turning traffic lights, it only activates the voice prompting unit for voice prompting.

Further, when the direction judging unit receives the vehicle turn signal signal and defaults to the vehicle turning, if the received corner signal is smaller than the preset second threshold, the vehicle is considered to go straight.

Further, when it is considered that the vehicle is going straight and the adaptive cruise system control device judges that the vehicle is not suitable for going straight according to the information of the straight traffic lights, only the voice prompt unit is activated to give voice prompts.

Further, the present invention also provides a vehicle, including a vehicle body and the above-mentioned system for preventing running a red light.

The red light prevention system and the vehicle of the present invention, when the adaptive cruise system is turned on, can judge that the vehicle is located at a traffic intersection through the position detection device, and judge the traffic light signal through the image recognition device. When the traffic light is a red signal, it will first pass the voice The prompt unit reminds the driver to stop. If the driver does not take measures to stop the vehicle, he will then request the vehicle brake system to brake the vehicle to prevent the vehicle from running a red light. By adopting the above measures, the occurrence of the vehicle running a red light is effectively prevented, and at the same time, the vehicle is improved. The degree of automation of the vehicle enhances the safety performance of the vehicle.

Description of drawings

Hereinafter, some specific embodiments of the present invention will be described in detail by way of illustration and not limitation with reference to the accompanying drawings. The same reference numerals in the drawings designate the same or similar parts or parts. In the attached picture:

Fig. 1 is a schematic structural view of a system for preventing running a red light according to an embodiment of the present invention;

FIG. 2 is an unprocessed schematic diagram of a traffic signal light according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of the processed traffic signal lights in FIG. 2 .

detailed description

Fig. 1 is a schematic structural view of a system for preventing running a red light according to an embodiment of the present invention. As shown in Fig. 1 , the system for preventing running a red light of the present invention includes an image recognition device 10 for receiving and sending current traffic signal light information. Here, the The image recognition device 10 may be a camera installed on the front of the vehicle; the position detection device 20 is used to detect and send current vehicle position information. Here, the position detection device 20 may be a vehicle navigation system, which is a vehicle navigation system. The more common basic configuration; the voice prompt unit 40 is used to prompt the driver to drive safely, and the voice prompt unit 40 can be a voice player; the vehicle braking system 50 is used to control the braking of the vehicle; and adaptive cruise The system control device 30 is used to receive and process the current traffic signal light information sent by the image recognition device 10 and the current vehicle position information sent by the position detection device 20, and control the voice prompt unit 40 and The vehicle braking system 50 .

Through the setting of the above-mentioned system, when the vehicle is at a traffic intersection and the traffic signal light is red and it is not suitable to continue driving, the adaptive cruise control system control device 30 will remind the driver to stop through the voice prompt unit 40, and will further control the vehicle brake system 50 to use The vehicle stops in time. Therefore, it effectively avoids the phenomenon of running a red light when the vehicle turns on the adaptive cruise system, and also improves the degree of automation of the vehicle and enhances the safety performance of the vehicle. At the same time, the invention is developed based on the current hardware configuration of the vehicle. There is no increase in hardware cost, and the quality of the vehicle is effectively improved while reducing the production cost of the vehicle.

In the process of judging whether the vehicle runs a red light, identifying the color information of the traffic signal light is the key. If it is recognized that the lane is a red signal light that prohibits communication, then it is possible to start the voice prompt unit 40 or the vehicle braking system 50. Therefore, all The adaptive cruise system control device 30 includes an image processing unit 301, which is used to process the color information of traffic lights and extract only red.

Specifically, after the adaptive cruise system control device 30 receives the traffic signal light information sent by the image recognition device 10, the image processing unit 301 will perform a series of processing on the traffic signal light information, which may at least include the following steps:

S1: Intercepting the current traffic signal light information picture sent by the image recognition unit;

S2: Carry out color segmentation on the intercepted picture, and extract only red, and remove all images that are not red on the picture;

S3: performing noise reduction processing on the segmented picture;

S4: Compare the above picture with the template.

More specifically, as shown in Figure 2 and Figure 3, Figure 2 is an unprocessed schematic diagram of a traffic signal light according to an embodiment of the present invention, the arrow on the left in Figure 2 points to the left and is displayed in red, and the arrow in the middle Arrows pointing forward are shown in red, and arrows pointing to the right are shown in green. FIG. 3 is a schematic diagram of the processed traffic signal lights in FIG. 2 . First, the image processing unit 301 will intercept the pictures sent by the image recognition device 10. Generally speaking, the height of the traffic lights will be more than 2 meters, so the image processing unit 301 will intercept and only keep the pictures of more than 2 meters. In order to carry out the next step of processing, as shown in Figure 2, the interception operation can avoid the interference of irrelevant information, and can effectively improve the accuracy of traffic signal light extraction. After the picture is intercepted, the image processing unit 301 will color-segment the picture, and only extract according to red, and remove all images that are not red on the picture. The specific method used can be the HIS color model, wherein the H (hue) component Indicates the chromaticity signal, I (intensity) indicates the intensity of light, S (saturation) indicates the saturation of the color, according to the test results, the best value of each component can be: H: 0-17 or 335- 360; I: greater than 0; S: greater than 0.2. Figure 3 is a schematic diagram of traffic lights obtained after processing according to this method. It can be seen from the figure that all parts that are not red have become black, and only the red signal is left. The shape of the two indicator lights completes the color segmentation. It should be noted that when the traffic signal light is circular, it can also be processed in the same way. After the color segmentation is completed, due to the HIS color model method, there will be more or less residual images on the picture, and it is impossible to be a piece of pure black, so next, the image processing unit 301 will process the picture. Noise reduction processing, specifically removing discontinuous graphics (such as hollow graphics) and graphics with fewer pixels in the picture, so as to avoid the generation of interference and reduce the accuracy of traffic signal light extraction. After the noise reduction processing, if the image processing unit 301 finds that the graphics are all black, it will directly send a non-red light signal. If the image processing unit 301 finds that some graphics are not black, it will further compare the templates of the pictures, specifically Comparing the arrow-shaped or circular figure in the picture with the arrow or circle, the qualified standard is: after the template is enlarged or reduced, it can approximate the same shape as the arrow-shaped or circular figure in the picture, and the threshold of approximation must reach 0.8 above.

When a vehicle approaches a traffic intersection, it is first necessary to determine whether the vehicle is going straight or turning, and then determine whether the lane in which it is located is prohibited from passing through. Therefore, in order to determine the vehicle's driving direction, the adaptive cruise system control device 30 also includes a direction determination unit 302. When the direction If the judging unit 302 receives the signal of the vehicle turn signal, it will consider the vehicle to turn, otherwise, it will consider the vehicle to go straight.

In the actual situation, due to some special circumstances, such as the driver does not turn on the turn signal, the system determines that the vehicle is going straight, but the actual situation is that the vehicle is turning. Therefore, in order to avoid similar situations and ensure the effective and stable operation of the system, the The direction judging unit 302 also receives the rotation angle signal sent by the vehicle steering wheel sensor. When the direction judging unit 302 does not receive the vehicle turn signal signal and defaults to the vehicle going straight, if the received rotation angle signal exceeds the preset first threshold , it is considered that the vehicle is turning, and the first threshold may be 5°. When it is determined that the vehicle is turning, the adaptive cruise system control device 30 can control the voice prompt unit 40 and/or the vehicle braking system 50 according to the turning traffic signal information to avoid the phenomenon of the vehicle running a red light. Specifically, when the adaptive cruise system control device 30 judges that the vehicle is not suitable for turning, since the vehicle is already in the intersection at this time, if the vehicle brake system 50 is activated, it may cause a traffic accident, so only the voice will be activated. The prompting unit 40 performs voice prompting to remind the driver, so as to minimize the occurrence of accidents.

Similarly, when the direction judging unit 302 receives the vehicle turn signal signal and defaults to the vehicle turning, if the received corner signal is smaller than the preset second threshold, it is considered that the vehicle is going straight, and the second threshold may be 3°. When it is determined that the vehicle is going straight, the adaptive cruise control device 30 can control the voice prompt unit 40 and/or the vehicle braking system 50 according to the information of the straight traffic lights to avoid the phenomenon of the vehicle running a red light. Specifically, when the adaptive cruise system control device 30 judges that the vehicle is not suitable for going straight, since the vehicle is already in the intersection at this time, if the vehicle braking system 50 is activated, it may cause a traffic accident, so only the voice will be activated. The prompting unit 40 performs voice prompting to remind the driver, so as to minimize the occurrence of accidents.

In particular, the present invention also provides a vehicle, including the vehicle body and the above-mentioned system for preventing red-light running. The position detection device 20 of this system judges that the vehicle is located at a traffic intersection, and judges the traffic light signal by the image recognition device 10. When the traffic light is a red signal, it will first remind the driver to stop through the voice prompt unit 40. If the driver does not take a parking measure , then the vehicle brake system 50 will be requested to brake the vehicle, which effectively prevents the occurrence of the phenomenon of the vehicle running a red light, improves the degree of automation of the vehicle, and enhances the safety performance of the vehicle.

So far, those skilled in the art should appreciate that, although a number of exemplary embodiments of the present invention have been shown and described in detail herein, without departing from the spirit and scope of the present invention, the disclosed embodiments of the present invention can still be used. Many other variations or modifications consistent with the principles of the invention are directly identified or derived from the content. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.

Claims (10)

1. A system for preventing red light running, comprising: An image recognition device for receiving and sending current traffic light information; A position detection device for detecting and sending current vehicle position information; The voice prompt unit is used to prompt the driver to drive safely; a vehicle braking system for controlling braking of said vehicle; and An adaptive cruise system control device, used to receive and process the current traffic signal light information sent by the image recognition device and the current vehicle position information sent by the position detection device, and control the voice prompt unit and the vehicle position information according to the processing results Described vehicle braking system. 2 . The system for preventing red light running according to claim 1 , wherein the adaptive cruise control system control device includes an image processing unit for processing the color information of traffic lights and extracting only red. 3. The system for preventing running a red light according to claim 2, wherein the image processing unit at least comprises the following steps: Intercepting the current traffic signal light information picture sent by the image recognition unit; Carry out color segmentation to the picture after intercepting, and only extract according to red, remove all images that are not red on the picture; Perform noise reduction processing on the segmented image; Compare the image above to the template. 4. The system for preventing running a red light according to claim 1, wherein the adaptive cruise control device further comprises a direction judging unit, and when the direction judging unit receives the vehicle turn signal signal, it is considered that the vehicle is turning, otherwise , the vehicle is considered to be going straight. 5. The system for preventing running a red light according to claim 4, wherein the direction judging unit also receives the rotation angle signal sent by the vehicle steering wheel sensor, and when the direction judging unit does not receive the vehicle turn signal signal and defaults to the vehicle going straight Afterwards, if the received rotation angle signal exceeds the preset first threshold, it is considered that the vehicle is turning. 6. The system for preventing red light running according to claim 4 or 5, characterized in that, when it is considered that the vehicle is turning, the adaptive cruise system control device controls the voice prompt unit and/or the vehicle according to the information of the turning traffic signal light Braking System. 7. The system for preventing red light running according to claim 6, characterized in that, when the control device of the adaptive cruise system judges that the vehicle is not suitable for turning according to the information of the turning traffic signal light, only the voice prompt unit is activated to give a voice prompt . 8. The system for preventing running a red light according to claim 5, characterized in that, when the direction judging unit receives the vehicle turn signal signal and defaults to the vehicle turning, if the received corner signal is smaller than the preset second threshold , the vehicle is considered to be going straight. 9. The system for preventing red light running according to claim 8, characterized in that, when the vehicle is considered to be going straight and the adaptive cruise system control device judges that the vehicle is not suitable for going straight according to the information of the straight-going traffic lights, only the voice is activated The prompting unit performs voice prompting. 10. A vehicle, comprising a vehicle body and the system for preventing running a red light according to any one of claims 1-9.