CN106143308A - Lane Departure Warning System based on intelligent back vision mirror - Google Patents
Lane Departure Warning System based on intelligent back vision mirror Download PDFInfo
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- CN106143308A CN106143308A CN201610566271.2A CN201610566271A CN106143308A CN 106143308 A CN106143308 A CN 106143308A CN 201610566271 A CN201610566271 A CN 201610566271A CN 106143308 A CN106143308 A CN 106143308A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8086—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for vehicle path indication
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of Lane Departure Warning System based on intelligent back vision mirror, including: intelligent back vision mirror module, video acquisition module, video processing module, OBD vehicle speed measuring module, user's Visual Intelligent Interface Model module, voice and graphic early warning module, intelligent back vision mirror module provides sensor information, and as running carrier；Video acquisition module gathers the raw image data of intelligent back vision mirror module；Video processing module carries out lane mark identification to raw image data, it is determined whether deviation current lane；OBD vehicle speed measuring module obtains the real-time speed of vehicle, opens with control system and closes；User's Visual Intelligent Interface Model module is used for driver's basic setup to system；Voice and graphic early warning module, according to the result of video processing module, choose whether driver to carry out voice and the warning of eye-catching figure.Present invention Android platform based on low cost is developed, and has low cost, advantage simple, easy to use is safeguarded in Highgrade integration, installation.
Description
Technical field
The present invention relates to Digital Image Processing, senior drive assist system field, in particular it relates to after one is based on intelligence
The Lane Departure Warning System of visor.
Background technology
Since 18th century, this walking-replacing tool of automobile is had deep love for the most never stopping by people.So far, automobile has become
For the requisite part of city life.Along with the development of science and technology, the quantity of automobile is on the increase, and incident is each
Planting the problem relevant to automobile, such as vehicle accident takes place frequently, road is crowded, motor vehicle exhaust emission is polluted.Wherein there is the biggest one
Point problem is because what anthropic factor caused, and such as fatigue driving, drunk driving cause vehicle accident etc..Lead for these anthropic factors
The problem caused, the concept of pilotless automobile is given birth to because of fortune.
In recent years, senior drive assist system becomes a popular research direction, and it is pre-that it generally includes deviation
Police, automatic obstacle avoidance, automatic parking, Traffic Sign Recognition etc..Traditional senior drive assist system needs one to pacify on automobile
Filling one or more computer, computer obtains the real-time status of vehicle by the way of wired, wireless connections, then is aided with shooting
The sensor senses information that head, GPS, inertial navigation, laser radar etc. are complicated, through the process of central control system, carries to driver
For driving auxiliary.
Lane departure warning is a very important part in senior drive assist system.Lane Departure Warning System, can
Cause vehicle accident because of reasons such as fatigue drivings being prevented effectively from driver.Typically by the mode of vision-based detection, identify and work as
The position in front track, judges driver's whether run-off-road with this and makes the early warning of necessity.
Along with developing rapidly of hardware, cannot be broken already by the bottleneck that software is broken through the most then.Heavy meter
Calculation machine adds the mode of wire transmission, is the most replaced by intelligent movable equipment and ubiquitous radio communication.Intelligent movable
The calculated performance of equipment, no less than the computer of some main flows then, has the advantage that volume is little, easy to carry, multiple functional.
As a example by the Android operation system of main flow, Android system increases income, opens, compatible strong, and therefore, increasing research staff opens
Begin to study senior drive assist system based on mobile device.
Through the literature search of prior art is found that Chinese invention patent application number: 201510283690.0 discloses one
Plant lane departure warning method and system；Chinese invention patent application number: 201410314210.8, discloses a kind of panorama track
Deviation method for early warning and system.In above-mentioned patent, the former obtains track line chart by being arranged on the backup camera of automobile tail
Lane line in Xiang, determines the mapping relations of image coordinate system and world coordinate system；The latter's video image number to vehicle periphery
According to carrying out processing 360 degree of panorama top views of acquisition vehicle, " the data process " being previously mentioned also is to calculate image coordinate system and generation
The mapping relations of boundary's coordinate system are i.e. " demarcation ".Photographic head is carried out parameter calibration, not only needs professional to operate, and
Need to use some visual reference things (general is black and white scaling board).Parameter has once been demarcated, and photographic head must be consolidated
Fixed immutable position, otherwise the mapping relations of image coordinate system and world coordinate system will appear from mistake.These need shooting
Head carries out the method demarcated, and has the defects such as maintenance cost is high, Initialize installation is more complicated.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of deviation based on intelligent back vision mirror pre-
Alarm system, intelligent back vision mirror is embedded with Android software system and abundant sensor, it is not necessary to demarcate, and maintenance cost is low, initialization
Arrange simple.
For realizing object above, the present invention provides a kind of Lane Departure Warning System based on intelligent back vision mirror, including:
OBD (onboard diagnostic system) vehicle speed measuring module and integrated intelligence rearview mirror；
Described OBD vehicle speed measuring module, is arranged on the special OBD interface of vehicle, the velocity information of vehicle is transmitted
To integrated intelligence rearview mirror；Described Lane Departure Warning System opens or closes integrated intelligence according to the speed of Current vehicle
Video processing module in rearview mirror is to save limited calculating resource；
Described integrated intelligence rearview mirror is integrated with Android software system and hardware sensor, described Android software system
For installing video acquisition module, video processing module, user's Visual Intelligent Interface Model module, voice and graphic early warning module；
Described hardware sensor includes photographic head, LCDs, buzzer, CPU, bluetooth；Wherein:
Described photographic head for providing the real time imaging gathered for described video acquisition module；
Described LCD Panel and described buzzer are for described user's Visual Intelligent Interface Model module, described voice
Screen is provided to show and voice warning with graphic early warning module；
Described CPU supports for providing to calculate to described video processing module；
Described bluetooth is for receiving the vehicle speed information that described OBD vehicle speed measuring module gathers；
Described video acquisition module is used for reading photographic head real time imaging, and the vehicle front road arrived by camera collection
Raw video image data be transferred to video processing module；
The raw video image data that video acquisition module is transmitted by described video processing module carry out pretreatment, and use
Lane markings detection algorithm based on space-time diagram, to detect the lane position of vehicle current driving, thus judges track and car
Relative position, and then judge vehicle whether exist deviation traveling lane trend；
Described user's Visual Intelligent Interface Model module, for the man-machine friendship of driver Yu described Lane Departure Warning System
Mutually, driver arranges threshold value of warning, warning level by user's Visual Intelligent Interface Model module；
Described voice and graphic early warning module, according to the testing result of video processing module, if vehicle deviate from currently
Track, is presented in buzzer and LCD Panel in the way of voice, eye-catching figure, plays the purpose of warning driver.
Preferably, described video acquisition module, use and be positioned at integrated intelligence rearview mirror back (with LCDs mirror
Face is front) photographic head, photographic head is just to road ahead, for the vedio data of Real-time Collection road ahead.
Preferably, described video processing module, use lane markings detection algorithm based on space-time diagram to identify currently
The track travelled；Described lane markings detection algorithm based on space-time diagram is generated by Image semantic classification, space-time diagram, space-time diagram pair
Accurate, the method for lane detection completes perception task.
Preferably, when the current vehicle speed that described OBD vehicle speed measuring module records is more than setting threshold value, described deviation
Early warning system is opened；When the current vehicle speed that described OBD vehicle speed measuring module records is less than when setting threshold value, and described deviation is pre-
Alarm system is closed, and to save limited calculating resource, also ensures the accuracy rate of lane mark identification.
Preferably, described user's Visual Intelligent Interface Model module, it is provided that multiple hommization arranges and selects for driver；Bag
Include:
Alarm mode, selects voice and the combination in any mode of eye-catching figure；
Warning level, is set to high, medium and low three kinds of ranks, when being set to high-grade, in driver's once run-off-road
Heart line position, i.e. triggers early warning.
Preferably, described voice and graphic early warning module, by being arranged on rear, integrated intelligence rear view mirror reflecting face
Buzzer and the LCDs of intelligent back vision mirror reflective surface, vehicle deviation current driving lane dangerous situation occur
Time, with the combination in any mode alerting drivers of voice and eye-catching figure.
Preferably, described Lane Departure Warning System realizes platform is Android device.
Compared with prior art, the present invention has a following beneficial effect:
1, the present invention develops, in conjunction with existing image procossing skill based on Android software platform and intelligent back vision mirror hardware platform
Art, it is achieved Lane Departure Warning System；
2, the present invention is based on Android software platform, and expansibility is strong, can increase other senior on the basis of the present invention
Drive assistance function；
3, Highgrade integration of the present invention, light be easily installed, the frame for movement of car body need not be revised, it is only necessary to by intelligent back vision
Mirror is arranged on former position of rear view mirror (buckle installation)；
4, the present invention acquires, by bluetooth wireless OBD module, the running condition information that vehicle is real-time, with speed as threshold value,
Open or close early warning system, it is achieved thereby that save the purpose calculating resource；
5, the present invention is not strict with for the installation of photographic head, it is not necessary to fixed position, it is not required that carry out it
Parameter calibration.
System of the present invention based on Android platform, have without demarcating, being easily installed, expansion is strong, with low cost, high
Spending integrated advantage, wherein the advantage without demarcating is determined by lane markings detection algorithm based on space-time diagram.
Accompanying drawing explanation
By the detailed description non-limiting example made with reference to the following drawings of reading, the further feature of the present invention,
Purpose and advantage will become more apparent upon:
Fig. 1 is the system architecture schematic diagram of one embodiment of the invention；
Fig. 2 is integrated intelligence rearview mirror scheme of installation in car of one embodiment of the invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in the technology of this area
Personnel are further appreciated by the present invention, but limit the present invention the most in any form.It should be pointed out that, the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into the present invention
Protection domain.
As it is shown in figure 1, a kind of Lane Departure Warning System based on intelligent back vision mirror, including OBD vehicle speed measuring module and
Intelligent back vision mirror module；
Described OBD vehicle speed measuring module, is arranged on the special OBD interface of vehicle, by the side of Bluetooth wireless transmission
The velocity information of vehicle is transferred to intelligent back vision mirror module by method；Described Lane Departure Warning System is according to the speed of Current vehicle
Open or close the video processing module in integrated intelligence rearview mirror to save limited calculating resource；
Described intelligent back vision mirror module is integrated with Android software system and hardware sensor, and described Android software system is used
In installing video acquisition module, video processing module, user's Visual Intelligent Interface Model module, voice and graphic early warning module；Institute
State hardware sensor and include photographic head, LCDs, buzzer, CPU, bluetooth；Wherein:
Described photographic head for providing the real time imaging gathered for described video acquisition module；
Described LCD Panel and described buzzer are for described user's Visual Intelligent Interface Model module, described voice
Screen is provided to show and voice warning with graphic early warning module；
Described CPU supports for providing to calculate to described video processing module；
Described bluetooth is for receiving the vehicle speed information that described OBD vehicle speed measuring module gathers；
Described video acquisition module is used for reading photographic head real time imaging, and the vehicle front road arrived by camera collection
Raw video image data be transferred to video processing module；
The raw video image data that video acquisition module is transmitted by described video processing module carry out pretreatment, and use
Lane markings detection algorithm based on space-time diagram, to detect the lane position of vehicle current driving, thus judges track and car
Relative position, and then judge vehicle whether exist deviation traveling lane trend；
Described user's Visual Intelligent Interface Model module, for the man-machine friendship of driver Yu described Lane Departure Warning System
Mutually, driver arranges threshold value of warning, warning level by user's Visual Intelligent Interface Model module；
Described voice and graphic early warning module, according to the testing result of video processing module, if vehicle deviate from currently
Track, is presented in buzzer and LCD Panel in the way of voice, eye-catching figure, plays the purpose of warning driver.
In the present embodiment, described Android device is arranged in described intelligent back vision mirror module, as in figure 2 it is shown, intelligent back vision
The display screen of mirror module is anti-dazzle material, when Android device closes screen, can play the effect of minute surface.
In the present embodiment, described video acquisition module uses and is positioned at intelligent back vision mirror module back (with minute surface for just
Face) monocular cam, the resolution of its highest support is 1920 × 1080, is set as 640 × 480, is adopted in the present embodiment
The video frame rate of collection is 30 frames/second.By Android software platform, the road video of the vehicle front that monocular cam is collected
View data is transferred to video processing module.
In the present embodiment, described video processing module obtains the vedio data transmitted by video acquisition module, passes through
Lane markings detection algorithm based on space-time diagram, obtains current lane position information and determines whether deviate from the car of traveling
Road；Concrete:
Set no less than 4 horizontal scan lines firstly, for image base, be 7 horizontal scan lines in the present embodiment,
Being spacedly distributed of the interval corresponding ground coordinate system of scan line.For a scan line, set up corresponding to this scan line
Space-time diagram；Space-time diagram has merged the feature of current image frame and continuous multiple frames image before, the scan line of each two field picture (as
Vegetarian refreshments) longitudinal superposition, it is the formation of a width space-time diagram；Based on vehicle will not occur to turn to suddenly it is assumed that according to graded
Space-time diagram is directed at by information so that in space-time diagram, two lane line Approximate revisions are straight line；Thus, at original space-time
On the basis of figure, each history scan line all can produce skew transversely, generates alignment space-time diagram；
Then, on the basis of alignment space-time diagram, the detection of lane line is carried out:
1, pretreatment alignment space-time diagram, carries out Gaussian Blur and binary conversion treatment, pixel high for brightness is converted into white
Point；
2, Hough transform detection of straight lines is used, two straight lines and the intersection point of top scan line (corresponding up-to-date frame of video), i.e.
For the left-lane line feature point in this scan line and right lane line feature point.
Above process is all done for every scan line, according to the testing result of 7 horizontal scan line alignment space-time diagrams,
7 pairs of lane line characteristic points in original image plane can be obtained；7 points to two lane lines in left and right, carry out many respectively
Item formula curve matching, obtains the result of lane detection.
Had lane detection result, according to historical frames as a result, it is possible to draw the cross directional variations trend that vehicle travels, from
And judge whether vehicle deviate from current lane.
In the present embodiment, described OBD vehicle speed measuring module is connected with the general purpose O BD interface of vehicle, and embedded with bluetooth is wireless
Transport module, for being transferred to Lane Departure Warning System by the velocity information of vehicle.If speed is more than the threshold value arranged, then
Open Lane Departure Warning System；If speed is less than the threshold value arranged, then close Lane Departure Warning System, limited to save
Calculating resource, and ensure the early warning accuracy rate of system.
In the present embodiment, described user's Visual Intelligent Interface Model module, it is provided that to the several basic setting options of driver:
1, advanced warning grade is high, medium and low: the driving habits of different drivers is different, therefore provides advanced warning grade for driving
The person of sailing is arranged；Advanced warning grade arranges the most high/low, then the judgement for deviation is the strictest/loose.
2, the eye-catching figure of alarm mode, buzzer: user can be in the way of selecting early warning, two kinds of prompting mode users
Double can select from main separation, but cannot not select.
3, threshold value of warning speed: manually arranging threshold speed, on the one hand OBD vehicle speed measuring module can be by velocity information
Being transferred to Lane Departure Warning System in the way of wireless blue tooth, the threshold speed on the other hand manually arranged according to user is (silent
Think 60km/s), both are compared, if current vehicle speed is more than the threshold value set, then can open lane departure warning system
System, carries out normal early warning；Otherwise, then Lane Departure Warning System can be closed.
In the present embodiment, described voice and graphic early warning module, according to the setting in user's Visual Intelligent Interface Model module,
If selecting eye-catching figure, then can open the graphic early warning module in voice and graphic early warning module, when early warning, full screen shows
Show the picture of the wrongly written or mispronounced character of the red end, select red because redness is best to the alarming effect of eye；If selection buzzer, then
The phonetic warning module in voice and graphic early warning module can be opened, when early warning from being arranged at intelligent back vision mirror module backside
The buzzer of (with minute surface as front) sends voice alarm sound.
Video processing module of the present invention, user's Visual Intelligent Interface Model module, voice and graphic early warning module collection
Become a software with visible user interface, install and operate in the Android system environment of integrated intelligence rearview mirror
In.
The installation site of integrated intelligence rearview mirror of the present invention does not has hard requirement, it is not necessary to mark photographic head
Fixed operation, described Lane Departure Warning System can be properly functioning.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims, this not shadow
Ring the flesh and blood of the present invention.
Claims (10)
1. a Lane Departure Warning System based on intelligent back vision mirror, it is characterised in that including: OBD vehicle speed measuring module and
Integrated intelligence rearview mirror；
Described OBD vehicle speed measuring module, is arranged on the special OBD interface of vehicle, and the velocity information of vehicle is transferred to collection
One-tenthization intelligent back vision mirror；Described Lane Departure Warning System opens or closes integrated intelligence backsight according to the speed of Current vehicle
Video processing module in mirror is to save limited calculating resource；
Described integrated intelligence rearview mirror, is integrated with Android software system and hardware sensor, and described Android software system is used
In installing video acquisition module, video processing module, user's Visual Intelligent Interface Model module, voice and graphic early warning module；Institute
State hardware sensor and include photographic head, LCDs, buzzer, CPU, bluetooth；Wherein:
Described photographic head for providing the real time imaging gathered for described video acquisition module；
Described LCD Panel and described buzzer are for described user's Visual Intelligent Interface Model module, described voice and figure
Shape warning module provides screen to show and voice warning；
Described CPU supports for providing to calculate to described video processing module；
Described bluetooth is for receiving the vehicle speed information that described OBD vehicle speed measuring module gathers；
Described video acquisition module is used for reading photographic head real time imaging, and the vehicle front road arrived by camera collection is former
Beginning vedio data is transferred to video processing module；
The raw video image data that video acquisition module is transmitted by described video processing module carry out pretreatment, and use based on
The lane markings detection algorithm of space-time diagram, to detect the lane position of vehicle current driving, thus judges track and vehicle
Position relatively, and then judge whether vehicle exists the trend of deviation traveling lane；
Described user's Visual Intelligent Interface Model module, for the man-machine interaction of driver Yu described Lane Departure Warning System, drives
The person of sailing arranges threshold value of warning, warning level by user's Visual Intelligent Interface Model module；
Described voice and graphic early warning module, according to the testing result of video processing module, if vehicle deviate from current lane,
In the way of voice, eye-catching figure, it is presented in buzzer and LCD Panel, plays the purpose of warning driver.
A kind of Lane Departure Warning System based on intelligent back vision mirror the most according to claim 1, it is characterised in that described
Video acquisition module, use and be positioned at the photographic head at integrated intelligence rearview mirror back, photographic head is just to road ahead, for real
Time gather road ahead vedio data.
A kind of Lane Departure Warning System based on intelligent back vision mirror the most according to claim 1, it is characterised in that described
Video processing module, use lane markings detection algorithm based on space-time diagram to identify the track of current driving, described based on
The lane markings detection algorithm of space-time diagram is generated by space-time diagram, space-time diagram is directed at, the method for lane detection completes perception and appoints
Business.
A kind of Lane Departure Warning System based on intelligent back vision mirror the most according to claim 3, it is characterised in that described
Lane markings detection algorithm based on space-time diagram is generated by space-time diagram, space-time diagram is directed at, the method for lane detection completes sense
Know task, refer to:
Image base was set no less than 4 horizontal scan lines, dividing at equal intervals of the interval corresponding ground coordinate system of scan line
Cloth, for a scan line, sets up the space-time diagram corresponding to this scan line；Space-time diagram has merged current image frame and before
The feature of continuous multiple frames image, the scan line longitudinal direction superposition of each two field picture, it is the formation of a width space-time diagram；Will not based on vehicle
Occur turn to suddenly it is assumed that space-time diagram is directed at according to graded information so that in space-time diagram, two lane lines are near
Seemingly it is modified to straight line；Thus, on the basis of original space-time diagram, it is inclined that each history scan line all can produce transversely
Move, generate alignment space-time diagram；
Then, on the basis of alignment space-time diagram, the detection of lane line is carried out:
Pretreatment alignment space-time diagram, carries out Gaussian Blur and binary conversion treatment, pixel high for brightness is converted into the point of white；
Use Hough transform detection of straight lines, two straight lines and the intersection point of top scan line, be the left-lane in this scan line
Line feature point and right lane line feature point；
Above process is all done for every scan line, according to the testing result of horizontal scan line alignment space-time diagram, obtains
Lane line characteristic point in original image plane, the respectively corresponding point to two lane lines in left and right, carry out polynomial curve fitting,
Obtain the result of lane detection；
There is lane detection result, according to the result of historical frames, drawn the cross directional variations trend that vehicle travels, thus judge car
Whether deviate from current lane.
A kind of Lane Departure Warning System based on intelligent back vision mirror the most according to claim 1, it is characterised in that work as institute
Stating current vehicle speed that OBD vehicle speed measuring module records more than when setting threshold value, described Lane Departure Warning System is opened；When described
The current vehicle speed that OBD vehicle speed measuring module records is less than when setting threshold value, and described Lane Departure Warning System is closed, and has to save
The calculating resource of limit, also ensures the accuracy rate of lane mark identification.
6. according to a kind of based on intelligent back vision mirror the Lane Departure Warning System described in any one of claim 1-5, its feature
It is, described user's Visual Intelligent Interface Model module, it is provided that multiple hommization arranges and selects for driver；Including:
Alarm mode, selects voice and the combination in any mode of eye-catching figure；
Warning level, is set to high, medium and low three kinds of ranks, when being set to high-grade, driver's once run-off-road centrage
Position, i.e. triggers early warning.
7. according to a kind of based on intelligent back vision mirror the Lane Departure Warning System described in any one of claim 1-5, its feature
Be, described voice and graphic early warning module, by be arranged on the buzzer at rear, integrated intelligence rear view mirror reflecting face with
And the LCDs of intelligent back vision mirror reflective surface, when the dangerous situation of vehicle deviation current driving lane occurs, with voice
Combination in any mode alerting drivers with eye-catching figure.
8. according to a kind of based on intelligent back vision mirror the Lane Departure Warning System described in any one of claim 1-5, its feature
Being, described video processing module, user's Visual Intelligent Interface Model module, voice and graphic early warning module are integrated into a tool
There is the software of visible user interface, install and operate in the Android system environment of integrated intelligence rearview mirror.
9. according to a kind of based on intelligent back vision mirror the Lane Departure Warning System described in any one of claim 1-5, its feature
Being, the installation site of described integrated intelligence rearview mirror does not has hard requirement, it is not necessary to photographic head carries out proving operation, institute
Stating Lane Departure Warning System can be properly functioning.
10. according to a kind of based on intelligent back vision mirror the Lane Departure Warning System described in any one of claim 1-5, its feature
It is, it is characterised in that it is Android device that described Lane Departure Warning System realizes platform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610566271.2A CN106143308B (en) | 2016-07-18 | 2016-07-18 | Lane Departure Warning System based on intelligent back vision mirror |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610566271.2A CN106143308B (en) | 2016-07-18 | 2016-07-18 | Lane Departure Warning System based on intelligent back vision mirror |
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| CN106143308A true CN106143308A (en) | 2016-11-23 |
| CN106143308B CN106143308B (en) | 2018-10-23 |
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| CN201610566271.2A Active CN106143308B (en) | 2016-07-18 | 2016-07-18 | Lane Departure Warning System based on intelligent back vision mirror |
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| CN108482367A (en) * | 2018-03-13 | 2018-09-04 | 京东方科技集团股份有限公司 | A kind of method, apparatus and system driven based on intelligent back vision mirror auxiliary |
| CN109204319A (en) * | 2018-08-27 | 2019-01-15 | 广东星舆科技有限公司 | High precision position data collection system, rearview mirror, the method for judging driving condition |
| CN112926548A (en) * | 2021-04-14 | 2021-06-08 | 北京车和家信息技术有限公司 | Lane line detection method and device, electronic equipment and storage medium |
| CN113276768A (en) * | 2021-04-21 | 2021-08-20 | 上海阅瞳科技有限公司 | Parking assist apparatus and method |
| CN114267067A (en) * | 2021-12-24 | 2022-04-01 | 北京的卢深视科技有限公司 | Face recognition method based on continuous frame images, electronic equipment and storage medium |
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| CN113276768A (en) * | 2021-04-21 | 2021-08-20 | 上海阅瞳科技有限公司 | Parking assist apparatus and method |
| CN114267067A (en) * | 2021-12-24 | 2022-04-01 | 北京的卢深视科技有限公司 | Face recognition method based on continuous frame images, electronic equipment and storage medium |
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