CN106143308B - 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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- 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
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- 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
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- 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
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- 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)
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- 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 measurings module, user's Visual Intelligent Interface Model module, voice and graphic early warning module, intelligent back vision mirror module provide sensor information, and as operation carrier；Video acquisition module acquires the raw image data of intelligent back vision mirror module；Video processing module carries out lane mark identification to raw image data, determines whether to deviate current lane；OBD vehicle speed measuring modules obtain the real-time speed of vehicle, are opened and are closed with control system；User's Visual Intelligent Interface Model module is used for basic setup of the driver to system；Voice and graphic early warning module are according to video processing module as a result, choosing whether to carry out voice to driver and eye-catching figure warns.The present invention is based on the exploitations of the Android platform of low cost, have the advantages that at low cost, Highgrade integration, installation maintenance are simple, easy to use.
Description
Technical field
The present invention relates to Digital Image Processing, advanced driving assistance system fields, and in particular, to one kind is based on after intelligence
The Lane Departure Warning System of visor.
Background technology
Since 18th century, people have deep love for just never stopping to automobile this walking-replacing tool.So far, automobile at
For the essential part of city life.With the development of science and technology, the quantity of automobile is on the increase, incident is each
The kind problem related to automobile, such as traffic accident takes place frequently, road is crowded, motor vehicle exhaust emission pollution.Wherein have very one big
Point problem is because caused by human factor, such as fatigue driving, drunk driving lead to traffic accident etc..It is led for these human factors
The concept of the problem of cause, pilotless automobile are given birth to because of fortune.
In recent years, advanced driving assistance 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 advanced driving assistance system needs one pacifies on automobile
One or more computer is filled, computer obtains the real-time status of vehicle by way of wired, wireless connection, then is aided with camera shooting
The sensor perception information of the complexity such as head, GPS, inertial navigation, laser radar is carried by the processing of central control system to driver
It is assisted for driving.
Lane departure warning is a very important part in advanced driving assistance system.Lane Departure Warning System, can
Effectively to avoid driver's traffic accident caused by the reasons such as fatigue driving.Typically by way of vision-based detection, identification is worked as
The position in preceding track judges whether driver run-off-road and makes necessary early warning with this.
With the rapid development of hardware, many current years can not be already broken by the bottleneck that software is broken through.Bulky meter
Calculation machine adds the mode of wire transmission, is nowadays replaced by intelligent movable equipment and ubiquitous wireless communication.Intelligent movable
The calculated performance of equipment is no less than the computer of some current year mainstreams, has the advantages that small, easy to carry, multiple functional.
By taking the Android operation system of mainstream as an example, Android system increases income, opens, compatibility is strong, and therefore, more and more research staff open
Begin advanced driving assistance system of the research based on mobile device.
Through the literature search of existing technologies, Chinese invention patent application number：201510283690.0 disclosing one
Kind lane departure warning method and system；Chinese invention patent application number：201410314210.8 disclosing a kind of panorama track
Deviate method for early warning and system.In above-mentioned patent, the former obtains track line chart by the backup camera mounted on automobile tail
Lane line as in, determines the mapping relations of image coordinate system and world coordinate system；Video image number of the latter to vehicle periphery
According to 360 degree of panorama vertical views for carrying out processing acquisition vehicle, " data processing " being previously mentioned is also to calculate image coordinate system and generation
The mapping relations of boundary's coordinate system " are demarcated ".Parameter calibration is carried out to camera, not only professional is needed to operate, but also
It needs using some vision objects of reference (generally be black and white scaling board).Parameter once demarcates completion, and camera must be consolidated
Determine immutable position, otherwise mistake will occur in the mapping relations of image coordinate system and world coordinate system.These are needed to camera shooting
The method that head is demarcated has the defects of maintenance cost is high, Initialize installation is more complex.
Invention content
For the defects in the prior art, the object of the present invention is to provide a kind of deviation based on intelligent back vision mirror is pre-
Alert system, intelligent back vision mirror are embedded with Android software systems and abundant sensor, and without calibration, maintenance cost is low, initializes
Setting is simple.
In order to achieve the above object, 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 modules and integrated intelligent back vision mirror；
The OBD vehicle speed measuring modules are mounted on the special OBD interfaces of vehicle, and the velocity information of vehicle is transmitted
Give integrated intelligence rearview mirror；The 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 computing resource；
The integrated intelligence rearview mirror is integrated with Android software systems and hardware sensor, the Android software systems
For installing video acquisition module, video processing module, user's Visual Intelligent Interface Model module, voice and graphic early warning module；
The hardware sensor includes camera, liquid crystal display, buzzer, CPU, bluetooth；Wherein：
The camera is used to provide the realtime graphic of acquisition for the video acquisition module；
The LCD Panel and the buzzer are used for user's Visual Intelligent Interface Model module, the voice
Screen display and voice warning are provided with graphic early warning module；
The CPU is used to provide to calculate to the video processing module and support；
The bluetooth is used to receive the vehicle speed information of the OBD vehicle speed measurings module acquisition；
The video acquisition module is for reading camera realtime graphic, and by the collected vehicle front road of camera
Raw video image data transmission to video processing module；
The video processing module pre-processes the raw video image data that video acquisition module is transmitted, and uses
Lane markings detection algorithm based on space-time diagram, to detect the lane position of vehicle current driving, to judge track and vehicle
Relative position, and then judge vehicle with the presence or absence of deviate traveling lane trend；
User's Visual Intelligent Interface Model module is used for the man-machine friendship of driver and the Lane Departure Warning System
Mutually, threshold value of warning, warning level is arranged by user's Visual Intelligent Interface Model module in driver；
The voice and graphic early warning module, according to the testing result of video processing module, if vehicle deviates from currently
Track is presented in buzzer and LCD Panel in a manner of voice, eye-catching figure, plays the purpose of warning driver.
Preferably, the video acquisition module is used positioned at integrated intelligence rearview mirror back (with liquid crystal display mirror
Face be front) camera, camera face road ahead, in real time acquire road ahead vedio data.
Preferably, the video processing module is identified current using the lane markings detection algorithm based on space-time diagram
The track of traveling；The lane markings detection algorithm based on space-time diagram passes through image preprocessing, space-time diagram generation, space-time diagram pair
Accurate, lane detection method completes perception task.
Preferably, when the current vehicle speed that the OBD vehicle speed measurings module measures is more than given threshold, the deviation
Early warning system is opened；When the current vehicle speed that the OBD vehicle speed measurings module measures is less than given threshold, the deviation is pre-
Alert system is closed, and to save limited computing resource, also ensures the accuracy rate of lane mark identification.
Preferably, user's Visual Intelligent Interface Model module provides a variety of hommization settings and is selected for driver；Packet
It includes：
Alarm mode selects the arbitrary combination of both voice and eye-catching figure；
Warning level is set as high, medium and low three kinds of ranks, when being set as high-grade, once in driver's run-off-road
Heart line position, that is, trigger early warning.
Preferably, the voice and graphic early warning module, by being mounted on integrated intelligence rear view mirror reflecting face rear
Buzzer and intelligent back vision mirror reflective surface liquid crystal display, vehicle deviate current driving lane dangerous situation occur
When, with the arbitrary combination alerting drivers of both voice and eye-catching figure.
Preferably, the Lane Departure Warning System realizes that platform is Android device.
Compared with prior art, the present invention has following advantageous effect：
1, the present invention is based on Android software platforms and intelligent back vision mirror hardware platform to develop, in conjunction with existing image procossing skill
Art realizes Lane Departure Warning System；
2, the present invention is based on Android software platform, expansibility is strong, and it is advanced can to increase other on the basis of the present invention
Drive assistance function；
3, Highgrade integration of the present invention, it is light be easily installed, without modification car body mechanical structure, it is only necessary to by intelligent back vision
Mirror is mounted on former position of rear view mirror (buckle installation)；
4, the present invention acquires the real-time running condition information of vehicle by the wireless OBD modules of bluetooth, using speed as threshold value,
Early warning system is opened or closed, to realize the purpose for saving computing resource；
5, the present invention is not strict with the installation of camera, does not need fixed position, need not also be carried out to it
Parameter calibration.
System of the present invention is based on Android platform, has without demarcating, being easily installed, expansion is strong, of low cost, high
The integrated advantage of degree, wherein being determined by the lane markings detection algorithm based on space-time diagram without the advantages of demarcating.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the system architecture schematic diagram of one embodiment of the invention；
Fig. 2 is the integrated intelligence rearview mirror scheme of installation in the car of one embodiment of the invention.
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
As shown in Figure 1, a kind of Lane Departure Warning System based on intelligent back vision mirror, including OBD vehicle speed measurings module and
Intelligent back vision mirror module；
The OBD vehicle speed measuring modules are mounted on the special OBD interfaces of vehicle, pass through the side of Bluetooth wireless transmission
The velocity information of vehicle is transferred to intelligent back vision mirror module by method；The Lane Departure Warning System is according to the speed of current vehicle
The video processing module in integrated intelligence rearview mirror is opened or closed to save limited computing resource；
The intelligent back vision mirror module is integrated with Android software systems and hardware sensor, and the Android software systems are used
In installation video acquisition module, video processing module, user's Visual Intelligent Interface Model module, voice and graphic early warning module；Institute
It includes camera, liquid crystal display, buzzer, CPU, bluetooth to state hardware sensor；Wherein：
The camera is used to provide the realtime graphic of acquisition for the video acquisition module；
The LCD Panel and the buzzer are used for user's Visual Intelligent Interface Model module, the voice
Screen display and voice warning are provided with graphic early warning module；
The CPU is used to provide to calculate to the video processing module and support；
The bluetooth is used to receive the vehicle speed information of the OBD vehicle speed measurings module acquisition；
The video acquisition module is for reading camera realtime graphic, and by the collected vehicle front road of camera
Raw video image data transmission to video processing module；
The video processing module pre-processes the raw video image data that video acquisition module is transmitted, and uses
Lane markings detection algorithm based on space-time diagram, to detect the lane position of vehicle current driving, to judge track and vehicle
Relative position, and then judge vehicle with the presence or absence of deviate traveling lane trend；
User's Visual Intelligent Interface Model module is used for the man-machine friendship of driver and the Lane Departure Warning System
Mutually, threshold value of warning, warning level is arranged by user's Visual Intelligent Interface Model module in driver；
The voice and graphic early warning module, according to the testing result of video processing module, if vehicle deviates from currently
Track is presented in buzzer and LCD Panel in a manner of voice, eye-catching figure, plays the purpose of warning driver.
In the present embodiment, the Android device is mounted in the intelligent back vision mirror module, as shown in Fig. 2, 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, it (is just with minute surface that the video acquisition module, which is used positioned at intelligent back vision mirror module back,
Face) monocular cam, the resolution ratio that highest is supported is 1920 × 1080, is set as 640 × 480 in the present embodiment, is adopted
The video frame rate of collection is 30 frames/second.By Android software platform, by the road video of the collected vehicle front of monocular cam
Image data is transferred to video processing module.
In the present embodiment, the 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 to deviate from the vehicle of traveling
Road；Specifically：
4 horizontal scan lines are no less than firstly, for image base setting, are in the present embodiment 7 horizontal scan lines,
The interval corresponding ground coordinate system of scan line is spacedly distributed.For a scan line, establishes and correspond to the scan line
Space-time diagram；Space-time diagram has merged current image frame and the before feature of continuous multiple frames image, the scan line of each frame image (as
Vegetarian refreshments) longitudinal direction superposition, it is formed a width space-time diagram；Based on vehicle will not occur to turn to suddenly it is assumed that according to graded
Information is directed at space-time diagram so that two lane line Approximate revisions are straight line in space-time diagram；As a result, in original space-time
On the basis of figure, each history scan line can all generate the offset in transverse direction, generate alignment space-time diagram；
Then, into the detection of driveway line on the basis of being directed at space-time diagram：
1, pretreatment alignment space-time diagram, carries out Gaussian Blur and binary conversion treatment, the high pixel of brightness is converted into white
Point；
2, straight line is detected using Hough transform, the intersection point of two straight lines and top scan line (corresponding newest video frame), i.e.,
For the left-lane line characteristic point and right-lane line characteristic point in this scan line.
The above processing is done for every scan line, according to the testing result of 7 horizontal scan line alignment space-time diagrams,
It can obtain 7 pairs of track line feature points in original image plane；Respectively to 7 points of two lane lines in left and right, carry out more
Item formula curve matching, obtains the result of lane detection.
There is lane detection as a result, according to the result of historical frames, it can be deduced that the cross directional variations trend of vehicle traveling, from
And judge whether vehicle deviates from current lane.
In the present embodiment, the general purpose O BD interfaces of the OBD vehicle speed measurings module and vehicle connect, and embedded with bluetooth is wireless
Transmission module, for the velocity information of vehicle to be transferred to Lane Departure Warning System.If speed is more than the threshold value of setting,
Open Lane Departure Warning System；If speed closes Lane Departure Warning System less than the threshold value of setting, limited to save
Computing resource, and ensure the early warning accuracy rate of system.
In the present embodiment, user's Visual Intelligent Interface Model module is supplied to the several basic setting options of driver：
1, warning grade --- it is high, medium and low：The driving habit of different drivers is different, therefore provides warning grade for driving
The person of sailing is arranged；Warning grade is arranged more high/low, then stringenter/loose for the judgement of deviation.
2, alarm mode --- eye-catching figure, buzzer：User can select the mode of early warning, two kinds of prompting mode users
It can independently select, double can select, but cannot not select.
3, threshold value of warning --- speed：Manual setting threshold speed, one side OBD vehicle speed measurings module can be by velocity information
Lane Departure Warning System is transferred in a manner of wireless blue tooth, it is on the other hand (silent according to the threshold speed of user's manual setting
Think 60km/s), the two is compared, if current vehicle speed is more than the threshold value of setting, lane departure warning system can be opened
System, carries out normal early warning；Conversely, can then close Lane Departure Warning System.
In the present embodiment, the voice and graphic early warning module, according to the setting in the block of user's Visual Intelligent Interface Model mould,
If selecting eye-catching figure, voice and graphic early warning mould graphic early warning module in the block can be opened, full screen is aobvious in early warning
Show that the picture of a red bottom wrongly written or mispronounced character, selection are red because red best to the warning effect of human eye；If selecting buzzer,
Voice and graphic early warning mould phonetic warning module in the block can be opened, in early warning from being set to intelligent back vision mirror module backside
The buzzer of (being front with minute surface) sends out voice alarm sound.
Video processing module, user's Visual Intelligent Interface Model module, voice and graphic early warning module collection of the present invention
As the software with visible user interface, the Android system environment of integrated intelligence rearview mirror is installed and operated in
In.
The installation site of integrated intelligence rearview mirror of the present invention does not have rigid requirement, without to camera into rower
Fixed operation, the Lane Departure Warning System can normal operation.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (8)
1. a kind of Lane Departure Warning System based on intelligent back vision mirror, which is characterized in that including：OBD vehicle speed measurings module and
Integrated intelligence rearview mirror；
The OBD vehicle speed measuring modules are mounted on the special OBD interfaces of vehicle, the velocity information of vehicle are transferred to collection
At change intelligent back vision mirror；The 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 computing resource；
The integrated intelligence rearview mirror, is integrated with Android software systems and hardware sensor, and the Android software systems are used
In installation video acquisition module, video processing module, user's Visual Intelligent Interface Model module, voice and graphic early warning module；Institute
It includes camera, liquid crystal display, buzzer, CPU, bluetooth to state hardware sensor；Wherein：
The camera is used to provide the realtime graphic of acquisition for the video acquisition module；
The LCD Panel and the buzzer are used for user's Visual Intelligent Interface Model module, the voice and figure
Shape warning module provides screen display and voice warning；
The CPU is used to provide to calculate to the video processing module and support；
The bluetooth is used to receive the vehicle speed information of the OBD vehicle speed measurings module acquisition；
The video acquisition module is for reading camera realtime graphic, and by the original of the collected vehicle front road of camera
Beginning vedio data is transferred to video processing module；
The video processing module pre-processes the raw video image data that video acquisition module is transmitted, and uses and be based on
The lane markings detection algorithm of space-time diagram, to detect the lane position of vehicle current driving, to judge track and vehicle
Relative position, and then judge vehicle with the presence or absence of the trend for deviateing traveling lane；
User's Visual Intelligent Interface Model module is used for the human-computer interaction of driver and the Lane Departure Warning System, drives
Threshold value of warning, warning level is arranged by user's Visual Intelligent Interface Model module in the person of sailing；
The voice and graphic early warning module, according to the testing result of video processing module, if vehicle deviates from current lane,
It is presented in buzzer and LCD Panel in a manner of voice, eye-catching figure, plays the purpose of warning driver；
The video processing module identifies the track of current driving using the lane markings detection algorithm based on space-time diagram,
The lane markings detection algorithm based on space-time diagram is generated by space-time diagram, space-time diagram is aligned, the method for lane detection is complete
At perception task；
The lane markings detection algorithm based on space-time diagram is generated by space-time diagram, space-time diagram is aligned, the side of lane detection
Method completes perception task, refers to：
4 horizontal scan lines are no less than for image base setting, the interval corresponding ground coordinate system of scan line divides at equal intervals
Cloth establishes the space-time diagram corresponding to the scan line for a scan line；Space-time diagram has merged current image frame and before
The scan line of the feature of continuous multiple frames image, each frame image is longitudinally superimposed, and is formed a width space-time diagram；It will not based on vehicle
Occur turn to suddenly it is assumed that being aligned to space-time diagram according to graded information so that two lane lines are close in space-time diagram
Seemingly it is modified to straight line；As a result, on the basis of original space-time diagram, each history scan line can all generate inclined in transverse direction
It moves, generates alignment space-time diagram；
Then, into the detection of driveway line on the basis of being directed at space-time diagram：
Pretreatment alignment space-time diagram, carries out Gaussian Blur and binary conversion treatment, the high pixel of brightness is converted into the point of white；
Straight line, the intersection point of two straight lines and top scan line, the as left-lane in this scan line are detected using Hough transform
Line feature point and right-lane line characteristic point；
The above processing is done for every scan line, according to the testing result of horizontal scan line alignment space-time diagram, is obtained
Track line feature point in original image plane carries out polynomial curve fitting respectively to the corresponding points of two lane lines in left and right,
Obtain the result of lane detection；
There is lane detection as a result, according to historical frames as a result, the cross directional variations trend of vehicle traveling is obtained, to judge vehicle
Whether deviate from current lane.
2. a kind of Lane Departure Warning System based on intelligent back vision mirror according to claim 1, which is characterized in that described
Video acquisition module, using the camera positioned at integrated intelligence rearview mirror back, camera face road ahead, for real
When acquire road ahead vedio data.
3. a kind of Lane Departure Warning System based on intelligent back vision mirror according to claim 1, which is characterized in that work as institute
When stating current vehicle speed that OBD vehicle speed measuring modules measure and being more than given threshold, the Lane Departure Warning System is opened；When described
When the current vehicle speed that OBD vehicle speed measuring modules measure is less than given threshold, the Lane Departure Warning System is closed, and is had to save
The computing resource of limit also ensures the accuracy rate of lane mark identification.
4. according to a kind of Lane Departure Warning System based on intelligent back vision mirror of claim 1-3 any one of them, feature
It is, user's Visual Intelligent Interface Model module, a variety of hommization settings is provided and are selected for driver；Including：
Alarm mode selects the arbitrary combination of both voice and eye-catching figure；
Warning level is set as high, medium and low three kinds of ranks, when being set as high-grade, once driver's run-off-road center line
Early warning is triggered in position.
5. according to a kind of Lane Departure Warning System based on intelligent back vision mirror of claim 1-3 any one of them, feature
Be, the voice and graphic early warning module, by the buzzer mounted on integrated intelligence rear view mirror reflecting face rear with
And the liquid crystal display of intelligent back vision mirror reflective surface, when vehicle deviates the dangerous situation generation of current driving lane, with voice
With the arbitrary combination alerting drivers of both eye-catching figures.
6. according to a kind of Lane Departure Warning System based on intelligent back vision mirror of claim 1-3 any one of them, feature
It is, the video processing module, user's Visual Intelligent Interface Model module, voice and graphic early warning module are integrated into a tool
The software for having visible user interface is installed and is operated in the Android system environment of integrated intelligence rearview mirror.
7. according to a kind of Lane Departure Warning System based on intelligent back vision mirror of claim 1-3 any one of them, feature
It is, the installation of the integrated intelligence rearview mirror, without carrying out proving operation, the lane departure warning system to camera
System can normal operation.
8. according to a kind of Lane Departure Warning System based on intelligent back vision mirror of claim 1-3 any one of them, feature
It is, which is characterized in that the Lane Departure Warning System realizes that platform is Android device.
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