CN106331656B - License plate-assisted visible light communication car lamp positioning and tracking device - Google Patents
License plate-assisted visible light communication car lamp positioning and tracking device Download PDFInfo
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- CN106331656B CN106331656B CN201610942421.5A CN201610942421A CN106331656B CN 106331656 B CN106331656 B CN 106331656B CN 201610942421 A CN201610942421 A CN 201610942421A CN 106331656 B CN106331656 B CN 106331656B
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- 238000000034 method Methods 0.000 claims description 11
- 230000000977 initiatory effect Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
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- 238000012545 processing Methods 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 3
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
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Abstract
The invention discloses a license plate-assisted visible light communication car lamp positioning and tracking device. The apparatus includes a transceiver and a user interface; the transceiver includes: the device comprises an image collector, an image processor, a photoelectric receiver array, a decision device, a communication car lamp and a driver; the user interface comprises: the device comprises an input module, a transceiver controller and a display; the image collector is electrically connected with the image processor, the photoelectric receiver array is electrically connected with the judging device, the photoelectric receiver array is electrically connected with the image collector, the communication car lamp is electrically connected with the driver, and the receiving-transmitting controller is respectively electrically connected with the driver, the image processor, the judging device, the input module and the display. The device has simple structure, combines imaging and non-imaging technologies, acquires image information by the image collector, and the image processor identifies the position of a license plate and the number of the license plate in the image according to the image information; therefore, the position of the communication car lamp is positioned and tracked, and the stability and accuracy of visible light communication among vehicles are improved.
Description
Technical Field
The invention belongs to the technical field of visible light communication, and particularly relates to a license plate-assisted visible light communication car lamp positioning and tracking device.
Background
The visible light communication is a brand new wireless communication means, and the method is a method for communicating by utilizing high-speed modulated light of a visible light wave band, and can be used for communicating data, voice, video and the like. The information interaction between vehicles is realized by adopting the visible light communication technology, and a new solution is provided for establishing the Internet of vehicles. However, since there are many vehicles running on the road and the light is disordered, if the connection between the specified vehicles is to be established by the visible light communication on the road, how to select the correct vehicles for communication is a problem to be solved.
License plates are installed in obvious positions in front of and behind the vehicle according to the requirements of national relevant regulations. The license plate is used as the unique identity mark of the motor vehicle, the specification and the size of the existing motor vehicle license plate are fixed, the size of the license plate of the small-sized vehicle is 440mm multiplied by 140mm, the size of the front license plate of the large-sized vehicle is the same as that of the small-sized license plate, and the size of the rear license plate of the large-sized vehicle is 440mm multiplied by 220mm. It has been observed that motor vehicle headlamps and rear brake lamps are typically located 120 degrees to the left and right of the front and rear license plates, a fan-shaped area about 1 meter from the edges of the license plates. Meanwhile, the image collected by the camera shows that a lighting car light is a circular light spot, and the light spot has a jump relative to a peripheral area after AD conversion.
According to the problems and technical methods, the invention provides a license plate-assisted visible light communication car lamp positioning and tracking device. Through the license plate location to the communication that needs to establish, the car light that this car was used for the visible light communication is located in quick accurate tracking to more accurate, stable realization car is with the visible light communication between the car.
Disclosure of Invention
The invention aims to provide a license plate-assisted visible light communication car lamp positioning and tracking device.
The invention is realized in the following way: a license plate-assisted visible light communication car lamp positioning and tracking device comprises: a transceiver and a user interface; a transceiver, comprising: the device comprises an image collector, an image processor, a photoelectric receiver array, a decision device, a communication car lamp and a driver; a user interface, comprising: the device comprises an input module, a transceiver controller and a display; the image collector is electrically connected with the image processor, the photoelectric receiver array is electrically connected with the judging device, the photoelectric receiver array is electrically connected with the image collector, the communication car lamp is electrically connected with the driver, and the receiving-transmitting controller is respectively electrically connected with the driver, the image processor, the judging device, the input module and the display.
The image collector is used for collecting the real-time images to obtain the acquired image information and outputting the acquired image information to the image processor.
And the image processor is used for identifying the position of the license plate and the license plate number in the image according to the image information output by the image collector.
And each photoelectric receiver in the array corresponds to one pixel point of the image collector, is used for sensing a visible light signal emitted by the light at the position of the pixel point, and is converted into an analog electric signal to be output.
And the decision device is used for selecting the analog electric signal output of the corresponding photoelectric receiver in the photoelectric receiver array according to the instruction of the receiving and transmitting controller, converting the analog electric signal output into the corresponding digital signal and outputting the digital signal.
The communication car light is used for sending visible light signals, and the communication car light uses a head lamp, an outline marker lamp and a brake lamp of an automobile.
And the driver is used for driving the communication car lamp to emit visible light signals.
And the input module is used for inputting control instructions and license plate numbers needing to establish communication.
The display is used for displaying the graphic information required to be displayed by the device, and the graphic information comprises: license plate number, man-machine interaction information, and real-time image of image collector.
A transceiver controller for realizing: 1. processing the output of the input module, and identifying a control instruction, communication information and license plate information; 2. receiving the license plate number and the position of the license plate output by the image processor, and determining the license plate number of the vehicle to be connected and the position of the license plate; 3. searching and determining the position of a vehicle communication lamp of the license plate according to the position of the license plate; 4. according to the light position information of the communication car light, controlling the judging device to select a photoelectric receiver corresponding to a pixel point on the image collector, and receiving the digital signal output of the judging device; 5. analyzing the digital signal output of the decision device to obtain corresponding control instructions and communication information; 6. a license plate database is stored; 7. and generating a data frame of visible light communication according to the output of the input module, sending a signal to the driver according to the data frame, and driving the communication car lamp to send a visible light signal by the driver.
The visible light signal is transmitted in the form of a data frame comprising: the method comprises the steps of synchronizing codes, target license plates, source license plates, data types, data length, data and verification information, wherein 7 fields are provided.
And the synchronous code is used for keeping the data receiving and transmitting clocks of the two devices of the two parties of the session synchronous and representing the start of one data frame.
And the target license plate is used for indicating the license plate number of the opposite vehicle needing to conduct conversation.
The source license plate is used for representing license plate numbers of own vehicles for conversation; for police cars and ambulances, the field can be license plate number information of the vehicle itself or special digital combination.
The data type is used for representing the type of the data frame, and the type of the data frame comprises: a session request, session data, a session request response acknowledgement, wherein a session request data frame is sent by a session initiating terminal and used for indicating a request for sending session establishment to a session responding terminal; the session request response data frame is sent by the session response end and used for indicating that a request response for session establishment is sent to the session initiation end; the session request response confirmation data frame is sent by the session initiating terminal and used for indicating that the session request response data frame is received and confirming that the connection is established; and the session data frame is used for carrying the information of the session to be sent.
The data length is used to represent the length of the data field in one data frame.
And the data is used for placing control instructions and communication information of the session.
And the check information is used for checking whether the data frame has errors or not and correcting the errors in the transmission process.
The license plate-assisted visible light communication car lamp positioning and tracking device is simple in structure, comprehensively adopts a visible light communication technology and an image acquisition and recognition technology, realizes recognition and positioning of the license plate, combines the positioning of the license plate, rapidly positions the position of the car communication car lamp, combines an imaging technology and a non-imaging technology, and therefore improves the stability and accuracy of visible light communication, and enables the conversation between vehicles to be possible by using the visible light communication technology in a complex traffic environment.
Drawings
Fig. 1 is a system configuration diagram of a license plate-assisted visible light communication car lamp positioning and tracking device in an embodiment of the invention.
The marks in the figure: 1-a user interface; a 2-transceiver; 10-a transceiver controller; 11-an input module; 12-a display; 16-a touch screen; 20-an image collector; a 21-image processor; 22-an array of photo-receivers; a 23-decision device; 24-communication car lights; 25-drives.
Detailed Description
Examples:
a license plate-assisted visible light communication car lamp positioning and tracking device comprises: a transceiver 2, a user interface 1; a transceiver 2 comprising: an image collector 20, an image processor 21, a photoelectric receiver array 22, a decision device 23, a communication car lamp 24 and a driver 25; a user interface 1 comprising: an input module 11, a transceiver controller 10, a display 12; the image collector 20 is electrically connected with the image processor 21, the photoelectric receiver array 22 is electrically connected with the judging device 23, the photoelectric receiver array 22 is electrically connected with the image collector 20, the communication car light 24 is electrically connected with the driver 25, and the transceiver controller 10 is respectively electrically connected with the driver 25, the image processor 21, the judging device 23, the input module 11 and the display 12.
The image collector 20 is used for collecting real-time images to obtain acquired image information, and outputs the acquired image information to the image processor 21.
The image processor 21 is used for identifying the position of the license plate in the image and the license plate number according to the image information output by the image collector 20.
The photo-electric receiver array 22, each photo-electric receiver in the array corresponds to a pixel of the image collector 20, is used for sensing the visible light signal emitted by the light at the position of the pixel, and is converted into an analog electric signal to be output.
And the decision device 23 is used for selecting the analog electric signal output of the corresponding photoelectric receiver in the photoelectric receiver array 22 according to the instruction of the transceiver controller, converting the analog electric signal output into a corresponding digital signal and outputting the digital signal.
The communication lamp 24 is used for transmitting visible light signals, and the communication lamp uses a headlight, a marker lamp and a brake lamp of an automobile.
And the driver 25 is used for driving the communication car lamp 24 to emit visible light signals.
The input module 11 is used for inputting control instructions and license plate numbers needing to establish communication.
A display 12 for displaying graphics and text information to be displayed by the device, the graphics and text information comprising: license plate number, human-machine interaction information, and real-time images of the image collector 20.
A transceiver controller 10 for implementing: 1. processing the output of the input module 11, and identifying a control instruction, communication information and license plate information; 2. the license plate number and the position of the license plate are received and the license plate number of the vehicle to be connected and the position of the license plate are determined, wherein the license plate number and the position of the license plate are output by the image processor 21; 3. searching and determining the position of the vehicle communication lamp 24 of the license plate according to the position of the license plate; 4. according to the light position information of the communication car light 24, the control decision device 23 selects the photoelectric receiver corresponding to the pixel point on the image collector 20 and receives the digital signal output of the decision device 23; 5. the digital signal output of the decision device 23 is analyzed to obtain corresponding control instructions and communication information; 6. a license plate database is stored; 7. according to the output of the input module, a data frame of visible light communication is generated, signals are sent to the driver 25 according to the data frame, and then the driver 25 drives the communication car lamp 24 to send visible light signals.
The visible light signal is transmitted in the form of a data frame comprising: the method comprises the steps of synchronizing codes, target license plates, source license plates, data types, data length, data and verification information, wherein 7 fields are provided.
And the synchronous code is used for keeping the data receiving and transmitting clocks of the two devices of the two parties of the session synchronous and representing the start of one data frame.
And the target license plate is used for indicating the license plate number of the opposite vehicle needing to conduct conversation.
The source license plate is used for representing license plate numbers of own vehicles for conversation; for police cars and ambulances, the field can be license plate number information of the vehicle itself or special digital combination.
The data type is used for representing the type of the data frame, and the type of the data frame comprises: a session request, session data, a session request response acknowledgement, wherein a session request data frame is sent by a session initiating terminal and used for indicating a request for sending session establishment to a session responding terminal; the session request response data frame is sent by the session response end and used for indicating that a request response for session establishment is sent to the session initiation end; the session request response confirmation data frame is sent by the session initiating terminal and used for indicating that the session request response data frame is received and confirming that the connection is established; and the session data frame is used for carrying the information of the session to be sent.
The data length is used to represent the length of the data field in one data frame.
And the data is used for placing control instructions and communication information of the session.
And the check information is used for checking whether the data frame has errors or not and correcting the errors in the transmission process.
When the vehicle A equipped with the device in the embodiment is to establish communication with another vehicle B equipped with the same device and having the license plate of Beijing BBBBBB, the communication is kept uninterrupted, and the communication vehicle lamp of the opposite side is required to be tracked according to the movement of the license plate of the opposite side vehicle at any time; for example: the vehicle A needs to search and locate the license plate of the vehicle B and the position of the communication lamp in communication so as to ensure that the vehicle A can continuously receive the visible light signal sent by the communication lamp of the vehicle B, and the tracking process and method are as follows:
the image collector of the vehicle A collects real-time images to obtain image information and outputs the image information to the image processor; the image processor identifies the position of the license plate and the license plate number of the B vehicle in the image according to the image information output by the image collector; and then the device determines the position of the communication car lamp of the B vehicle according to the position of the license plate of the B vehicle and the license plate number Beijing BBBBBBBB.
After searching and determining the position of the license plate of the B-vehicle, the position of the communication lamp 24 of the B-vehicle is located, and the process of locating and tracking is as follows:
and D1, determining the position of a license plate with the license plate number of Beijing BBBBBBBB, and the number a of pixels occupied by the long side of the license plate and the number b of pixels occupied by the wide side of the license plate in the image acquired by the image acquisition device.
D2, constructing a coordinate system: taking the intersection point of two diagonal lines of the license plate as an origin of a coordinate system, taking a straight line passing through the origin and parallel to a long side as a transverse axis, and taking the right side as the positive direction of the transverse axis; the vertical axis is vertical to the long side, the vertical axis positive direction is arranged above the long side, and one pixel point is a coordinate system length unit; constructing a coordinate system: taking the center of the lower bottom edge of the license plate as the origin of a coordinate system, taking the extension line of the long edge as the transverse axis, and taking the right side as the positive direction of the transverse axis; the vertical axis is vertical to the long side, the vertical axis positive direction is arranged above the long side, and one pixel point is a coordinate system length unit.
D3, constructing a 120-degree isosceles triangle: the vertex angle of the isosceles triangle is the origin of the coordinate system, the two waists respectively form-60 degrees and +60 degrees with the positive half axis of the transverse axis of the coordinate system, and the length b of the license plate is 2 times as high as the origin of the coordinate system.
D4, in the isosceles triangle area constructed by D3, scanning and searching the car lights on the right side of the license plate of the car from left to right, wherein the sub-process of D4 is as follows:
and D4.1, searching from left to right, and using a horizontal axis as a starting point, respectively searching upwards and downwards column by column, and predicting the area where the lamplight is located when the pixel points with rising jump of the brightness value on the right side are searched.
And D4.2, taking the origin of the coordinate system as the origin of rays, and continuing to search for descending hops along the direction of the rays by the rays of the ascending hops until the descending hops are searched for or the boundary of the image is searched for.
Constructing a line segment: the pixel point of the rising jump in the ray is taken as one end, and the pixel point of the falling jump or the boundary of the image is taken as the other end.
And D4.3, controlling the discriminator by the transceiver controller to select the output of the photoelectric receiver corresponding to the pixel point where the line segment center is positioned in the photoelectric receiver array.
And D4.4, the transceiver controller tries to analyze the data frame according to the output of the decision device, and if the data frame can be analyzed, the data frame is verified: if the source license plate field in the data frame is Beijing BBBBBBBB, determining that the lamplight is sent by a communication car light of the B car, receiving the visible light signal, and entering D5; if the data frame cannot be parsed, D4.5 will be entered.
D4.5, starting the pixel points with the rising jump of the brightness value searched above, continuously searching the pixel points with the rising jump of the second brightness value of the column along the original searching direction in the isosceles triangle area constructed in the D3, and entering into D4.2 if the pixel points can be searched; otherwise enter D4.6.
D4.6, starting with the next column of the column searched for by D4.5, continues to execute D4.1.
And D5, searching for the car lamp on the left side of the license plate after determining the light on the right side, and constructing an isosceles triangle firstly: constructing an isosceles triangle of 120 degrees: the vertex angle of the isosceles triangle is the origin of the coordinate system, the two waists respectively form-60 degrees and +60 degrees with the negative half axis of the transverse axis of the coordinate system, and the license plate length y 2 times away from the origin of the coordinate system is high.
D6, in the isosceles triangle area constructed in the step D5, scanning and searching the car lamp on the left side of the license plate of the car from right to left; d6 sub-process is as follows:
and D6.1, searching from right to left, and using a horizontal axis as a starting point, respectively searching upwards and downwards column by column, and predicting the area where the lamplight is located when the pixel points with rising jump of the brightness value at the left side are searched.
And D6.2, taking the origin of the coordinate system as the origin of the ray, and continuing to search for the descending jump along the direction of the ray by the ray of the ascending jump pixel point until the descending jump pixel point is searched or the boundary of the image is searched.
Constructing a line segment: the pixel point of the rising jump in the ray is taken as one end, and the pixel point of the falling jump or the boundary of the image is taken as the other end.
And D6.3, controlling the discriminator by the transceiver controller to select the output of the photoelectric receiver corresponding to the pixel point where the line segment center is positioned in the photoelectric receiver array.
And D6.4, the transceiver controller tries to analyze the data frame according to the output of the decision device, and if the data frame can be analyzed, the data frame is verified: if the source license plate field in the data frame is Beijing BBBBBBBB, determining that the lamplight is sent by a communication car light of the B car, receiving the visible light signal, and entering D7; if the data frame cannot be parsed, D6.5 will be entered.
D6.5, starting the pixel points with the rising jump of the brightness value searched above, continuously searching the pixel points with the rising jump of the second brightness value of the column along the original searching direction in the isosceles triangle area constructed in the D5, and entering into D6.2 if the pixel points can be searched; otherwise enter D6.6.
D6.6, starting with the next column of the column searched for by D6.5, continues to execute D6.1.
D7, locking the two positions of the bilateral lamplight after the positions of the bilateral lamplight in the image collector are determined; searching for the two positions and the adjacent pixel points at the image acquisition time of the next image acquisition device, determining whether the brightness value is close to the last acquisition time or not to determine the light position, analyzing a data frame by a transceiver controller according to the output of a judgment device, verifying the data frame, and determining that the light is emitted by a communication vehicle lamp of the license plate and receiving the visible light signal if a source license plate field in the data frame is Beijing BBBBBBBB; if this step cannot be performed due to occlusion or other reasons, jump to D1 and reposition the communication vehicle lamp.
Claims (1)
1. The utility model provides a supplementary visible light communication car light positioning and tracking device of license plate, its characterized in that this supplementary visible light communication car light positioning and tracking device of license plate includes: a transceiver and a user interface; a transceiver, comprising: the device comprises an image collector, an image processor, a photoelectric receiver array, a decision device, a communication car lamp and a driver; a user interface, comprising: the device comprises an input module, a transceiver controller and a display; the image acquisition device is electrically connected with the image processor, the photoelectric receiver array is electrically connected with the judging device, the photoelectric receiver array is electrically connected with the image acquisition device, and the communication car lamp is electrically connected with the driver;
the image collector is used for collecting real-time images to obtain acquired image information and outputting the acquired image information to the image processor;
the image processor is used for identifying the position of the license plate in the image and the license plate number according to the image information output by the image collector;
each photoelectric receiver in the photoelectric receiver array corresponds to one pixel point of the image collector and is used for sensing a visible light signal emitted by the light at the position of the pixel point and converting the visible light signal into an analog electric signal to be output;
the decision device is used for selecting the analog electric signal output of the corresponding photoelectric receiver in the photoelectric receiver array according to the instruction of the receiving and transmitting controller, converting the analog electric signal output into the corresponding digital signal and outputting the digital signal;
the communication car lamp is used for sending visible light signals, and the communication car lamp uses a front lamp, an outline marker lamp and a brake lamp of an automobile;
the driver is used for driving the communication car lamp to emit visible light signals;
the input module is used for inputting control instructions and license plate numbers needing to be communicated;
the display is used for displaying the graphic information required to be displayed by the device, and the graphic information comprises: license plate number, man-machine interaction information and real-time images of the image collector;
a transceiver controller for realizing: 1. processing the output of the input module, and identifying a control instruction, communication information and license plate information; 2. receiving the license plate number and the position of the license plate output by the image processor, and determining the license plate number of the vehicle to be connected and the position of the license plate; 3. searching and determining the position of a vehicle communication lamp of the license plate according to the position of the license plate; 4. according to the light position information of the communication car light, controlling the judging device to select a photoelectric receiver corresponding to a pixel point on the image collector, and receiving the digital signal output of the judging device; 5. analyzing the digital signal output of the decision device to obtain corresponding control instructions and communication information; 6. a license plate database is stored; 7. generating a data frame of visible light communication according to the output of the input module, sending a signal to a driver according to the data frame, and driving a communication car lamp to send a visible light signal by the driver;
the visible light signal is transmitted in the form of a data frame comprising: the method comprises the steps of synchronizing codes, target license plates, source license plates, data types, data length, data and verification information, wherein 7 fields are provided;
a synchronization code for synchronizing data transmission and reception clocks of two devices of both parties of a session and indicating the start of one data frame;
the target license plate is used for representing the license plate number of the opposite vehicle needing to carry out the conversation;
the source license plate is used for representing license plate numbers of own vehicles for conversation; for police cars and ambulances, the field can be license plate number information of the vehicle, or can be a special digital combination;
the data type is used for representing the type of the data frame, and the type of the data frame comprises: a session request, session data, a session request response acknowledgement, wherein a session request data frame is sent by a session initiating terminal and used for indicating a request for sending session establishment to a session responding terminal; the session request response data frame is sent by the session response end and used for indicating that a request response for session establishment is sent to the session initiation end; the session request response confirmation data frame is sent by the session initiating terminal and used for indicating that the session request response data frame is received and confirming that the connection is established; a session data frame, configured to carry information about a session to be sent;
a data length for representing the length of the data field in one data frame;
data used for placing control instructions and communication information of session;
and the check information is used for checking whether the data frame has errors or not and correcting the errors in the transmission process.
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Application publication date: 20170111 Assignee: GUILIN JINYIXING TECHNOLOGY DEVELOPMENT Co.,Ltd. Assignor: GUILIN University OF TECHNOLOGY Contract record no.: X2023980044509 Denomination of invention: A visible light communication vehicle lamp positioning and tracking device assisted by license plate Granted publication date: 20230815 License type: Common License Record date: 20231030 |
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