CN106657926B - The pilotless automobile of self-navigation - Google Patents
The pilotless automobile of self-navigation Download PDFInfo
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- CN106657926B CN106657926B CN201710049065.9A CN201710049065A CN106657926B CN 106657926 B CN106657926 B CN 106657926B CN 201710049065 A CN201710049065 A CN 201710049065A CN 106657926 B CN106657926 B CN 106657926B
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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
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
Abstract
The present invention relates to a kind of pilotless automobile of the installation based on the intelligent terminal information transmission system,It is described that information gathering subsystem is included based on the intelligent terminal information transmission system,Cell-phone customer terminal receiving subsystem and WCDMA wireless transmitting systems,Described information acquisition subsystem is connected with cell-phone customer terminal receiving subsystem by WCDMA wireless transmitting systems,Described information acquisition subsystem is by acquisition module,Coding module,Broadband control module and transport module composition,The transport module is connected with WCDMA wireless transmitting systems,The transport module is sequentially connected broadband control module,Coding module and acquisition module,The cell-phone customer terminal receiving subsystem is by display module,Decoder module and receiving module composition,The receiving module is connected with WCDMA wireless transmitting systems,The receiving module connects decoder module,The decoder module connects display module,The WCDMA wireless transmitting systems are controlled by TMS320DM3730 development boards.The pilotless automobile includes navigator.
Description
Technical field
The present invention relates to message area, more particularly to a kind of pilotless automobile of self-navigation.
Background technology
With the appearance and popularization of 4G wireless communication technologys, the radio communication using traditional GPRS as representative is revolutionized
The big bottleneck of middle bandwidth low delay so that wireless network transmissions real-time video becomes possible WCDMA networks with its technology maturation
Height, wide coverage, end product is abundant to cause WCDMA wireless network Video transmission systems to be widely used, such as nothing
Line video monitoring, wireless videophone, video request program, mobile phone television living broadcast, mobile video session etc..
Now with the development of artificial intelligence technology, most ripe direction is exactly the development of pilotless automobile.By
In unpiloted attribute, the transmission tool for external information there are certain requirements.Therefore it is considered as desirable by the inventor to be based on intelligence by described in
Energy terminal information transmission system is arranged in pilotless automobile to receive external command.Meanwhile the present inventor also introduces one kind
Pilotless automobile virtual environment is set for this platform, and transforms pilotless automobile electric control platform of the prior art, by introducing three
Dimension environmental structure equipment carries out virtualization to motor vehicle surrounding environment and built, emphasis add detection to neighbouring pedestrian's distance and
Judge, and be that automobile driver is shown or played back by display device, also by introducing emergency reaction equipment with attached
Urgent danger prevention is carried out during nearly pedestrian's fast approaching, the generation to avoid traffic accident.
The content of the invention
In order to solve the above problems, the invention provides based on the intelligent terminal information transmission system, including information gathering
System, cell-phone customer terminal receiving subsystem and WCDMA wireless transmitting systems, described information acquisition subsystem terminate with cell phone customer
Receive subsystem by WCDMA wireless transmitting systems to be connected, described information acquisition subsystem is by acquisition module, coding module, broadband
Control module and transport module composition, the transport module are connected with WCDMA wireless transmitting systems, and the transport module connects successively
Broadband control module, coding module and acquisition module are connect, the cell-phone customer terminal receiving subsystem is by display module, decoder module
Being formed with receiving module, the receiving module is connected with WCDMA wireless transmitting systems, and the receiving module connects decoder module,
The decoder module connects display module, and the WCDMA wireless transmitting systems are controlled by TMS320DM3730 development boards.
Preferably, described information acquisition subsystem uses the linear cameras of CCD.
Preferably, the WCDMA wireless transmitting systems are connected by IP agreement with transport module, receiving module.
The present invention to detect the quality of radio network information channel transmission H.264 video flowing in real time, by intelligent decision, adaptively
The code stream of various granularity bandwidth is controlled, greatlys save 4G network traffics, the index such as the packet loss of video data, delay obtains
Larger lifting, also saves 4G broadband network flows for user.
Embodiment
The invention provides terminated based on the intelligent terminal information transmission system, including information gathering subsystem, cell phone customer
Subsystem and WCDMA wireless transmitting systems are received, described information acquisition subsystem passes through WCDMA with cell-phone customer terminal receiving subsystem
Wireless transmitting system is connected, and described information acquisition subsystem is by acquisition module, coding module, broadband control module and transport module
Composition, the transport module are connected with WCDMA wireless transmitting systems, and the transport module is sequentially connected broadband control module, compiled
Code module and acquisition module, the cell-phone customer terminal receiving subsystem are made up of display module, decoder module and receiving module, institute
State receiving module with WCDMA wireless transmitting systems to be connected, the receiving module connects decoder module, and the decoder module connection is aobvious
Show module, the WCDMA wireless transmitting systems are controlled by TMS320DM3730 development boards.
Preferably, described information acquisition subsystem uses the linear cameras of CCD.
Preferably, the WCDMA wireless transmitting systems are connected by IP agreement with transport module, receiving module.
The present invention also provides a kind of pilotless automobile of self-navigation, including based on the intelligent terminal information transmission system,
It is described based on the intelligent terminal information transmission system include information gathering subsystem, cell-phone customer terminal receiving subsystem and WCDMA without
Line Transmission system, described information acquisition subsystem are connected with cell-phone customer terminal receiving subsystem by WCDMA wireless transmitting systems,
Described information acquisition subsystem is made up of acquisition module, coding module, broadband control module and transport module, the transport module
It is connected with WCDMA wireless transmitting systems, the transport module is sequentially connected broadband control module, coding module and acquisition module,
The cell-phone customer terminal receiving subsystem is made up of display module, decoder module and receiving module, the receiving module and WCDMA
Wireless transmitting system is connected, and the receiving module connects decoder module, and the decoder module connects display module, the WCDMA
Wireless transmitting system is controlled by TMS320DM3730 development boards.
In a first aspect, the pilotless automobile includes navigator.
In second aspect, described information acquisition subsystem uses the linear cameras of CCD.
In the third aspect, the WCDMA wireless transmitting systems are connected by IP agreement with transport module, receiving module.
In fourth aspect, the pilotless automobile is also set for this platform including a kind of pilotless automobile virtual environment, institute
State platform and build equipment and pedestrian target detection device including three-dimensional environment, three-dimensional environment, which builds equipment, includes multiple high-definition cameras
Machine, for building the three-dimensional virtual environment around pilotless automobile car body, pedestrian target detection device is built with three-dimensional environment
Equipment connects, for neighbouring pedestrian's target range to be detected and exported based on the three-dimensional virtual environment around pilotless automobile car body
The real-time range of pilotless automobile.
At the 5th aspect, the platform includes Realtime Alerts equipment, and pedestrian target detection device, for receiving adjacent row
The real-time range of people's target range pilotless automobile, and it is small in the real-time range of neighbouring pedestrian's target range pilotless automobile
When equal to pre-determined distance threshold value, Realtime Alerts operation is carried out.
At the 6th aspect, Realtime Alerts equipment is arranged on the vehicle body of pilotless automobile, including two-way speaker.
At the 7th aspect, the platform also includes：
Stand-by power supply, be connected respectively with flameout state detection device, vibrating sensing equipment and Wireless Telecom Equipment, for for
Flameout state detection device, vibrating sensing equipment and Wireless Telecom Equipment provide supply of electric power；
Flameout state detection device, currently whether flameout state is in for detecting pilotless automobile, and detected
During in flameout state, send non-driving condition signal, detect be not in flameout state when, send driving condition signal；
Vibrating sensing equipment, be arranged on the inside of pilotless automobile vehicle body, be connected with flameout state detection device, for
When receiving non-driving condition signal, start the detection to the vibration amplitude of vehicle body, and it is big in the vibration amplitude for detecting vehicle body
When predetermined amplitude threshold value, vehicle alert signal is sent, is less than or equal to predetermined amplitude threshold value in the vibration amplitude for detecting vehicle body
And when being more than the half of predetermined amplitude threshold value, vehicle early warning signal is sent, it is less than or equal in the vibration amplitude for detecting vehicle body pre-
If during the half of amplitude threshold, send vehicle normal signal；Vibrating sensing equipment is additionally operable to when receiving driving condition signal,
Stop the detection to the vibration amplitude of vehicle body；
GPRS communication apparatus, it is arranged on the inside of pilotless automobile vehicle body, is connected with vibrating sensing equipment, for receiving
And wireless forwarding vehicle alert signal or vehicle early warning signal are on the hand-held communication terminal of pilotless automobile driver；
Travel direction control device, is arranged in the instrument board of pilotless automobile, the steering wheel with pilotless automobile
Control device connects, and is controlled in real time for the travel direction to pilotless automobile；
Urgent equipment of dodging, is arranged in the instrument board of pilotless automobile, respectively with travel direction control device and car
Connected away from monitoring device, for when target range is less than or equal to default spacing, control travel direction control device is to realize pair
The real-time control of the travel direction of pilotless automobile, ensure that pilotless automobile is carried out to the direction away from neighbouring pedestrian target
Dodge；
Spacing monitoring equipment, is arranged in the instrument board of pilotless automobile, is connected with scene fusion device, for receiving
Fused images frame, in fused images frame, unmanned vapour in movement position and virtual scene based on neighbouring pedestrian target
Car position determines the real-time range of neighbouring pedestrian's target range pilotless automobile to be exported as target range；
Mode control device, it is arranged in the instrument board of pilotless automobile, is connected with urgent equipment of dodging, in nothing
Enabled urgent equipment of dodging is determined whether under the operation of people driving driver；
Multiple high-definition cameras, the diverse location of pilotless automobile vehicle body is separately positioned on, each high-definition camera
Including intensity compensation devices, CMOS sensing equipments, histogram equalization equipment, edge enhancing equipment, wavelet filtering equipment, distortion class
Type detection device, distortion processing equipment, with reference to point selection equipment, distortion coordinate mapped device, distortion grey scale mapping equipment, target
Identification equipment and coordinates of targets extraction equipment；
Camera calibration marking device, it is connected with each high-definition camera, for obtaining the internal reference of each high-definition camera
The outer parameter of number and each high-definition camera, focal length of the intrinsic parameter including high-definition camera of each high-definition camera,
CMOS sensing equipments size, the pick-up lens distortion factor, the outer parameter of each high-definition camera include high-definition camera at nobody
Drive a car the position of vehicle body and the shooting direction of high-definition camera；
Coordinate mapped device, be connected with camera calibration marking device, for receive each high-definition camera intrinsic parameter and
The outer parameter of each high-definition camera, and the intrinsic parameter based on each high-definition camera and each high-definition camera is outer
Parameter determines the mapping relations between pixel point coordinates and three-dimensional world coordinate in the image space of each high-definition camera；
Three-dimensional coordinate is fitted equipment, is connected, is used for for the coordinates of targets extraction equipment respectively with multiple high-definition cameras
Multiple plane coordinates parameters are received, are also connected with camera calibration marking device, for receiving the image space of multiple high-definition cameras
The mapping relations between three-dimensional world coordinate, three-dimensional coordinate fitting equipment are based on above-mentioned multiple planes to middle pixel point coordinates respectively
Mapping relations corresponding to coordinate parameters and above-mentioned multiple high-definition cameras fit neighbouring pedestrian target in three-dimensional world coordinate
Three-dimensional coordinate and the coordinate output of conduct objective in system；
Environment rebuilt equipment, it is connected with each high-definition camera, for receiving respectively from multiple high-definition cameras
Multiple geometric calibration images, based on multiple geometric calibration images to carrying out environment rebuilt around pilotless automobile vehicle body, to obtain
Obtain and export the virtual scene around pilotless automobile vehicle body；
Scene fusion device, it is connected respectively with environment rebuilt equipment and three-dimensional coordinate fitting equipment, for based on three-dimensional mesh
The movement position of neighbouring pedestrian target is fused in virtual scene to obtain and export fused images frame by mark coordinate；
Video playback apparatus, it is connected with scene fusion device to receive and play back fused images frame, video playback apparatus bag
Include liquid crystal display, display driver and display caching.
At the 7th aspect, wherein, in each high-definition camera, intensity compensation devices are connected with CMOS sensing equipments,
For receiving the high-definition image of CMOS sensing equipments collection, the gray value based on each pixel in high-definition image determines high-definition image
Mean flow rate, and by the mean flow rate of high-definition image compared with predetermined luminance, when the mean flow rate of high-definition image is more than
During equal to predetermined luminance, luminance-reduction adjustment is carried out to high-definition image to obtain brightness adjustment image, when being averaged for high-definition image
Brightness is less than predetermined luminance, and luminance raising adjustment is carried out to high-definition image to obtain brightness adjustment image；CMOS sensing equipments are used
Gathered in carrying out high-definition data around pilotless automobile vehicle body to export high-definition image；Histogram equalization equipment is mended with brightness
Equipment connection is repaid, for receiving brightness adjustment image, and histogram equalization processing is carried out to brightness adjustment image to obtain equilibrium
Image；Enhancing equipment in edge is connected with histogram equalization equipment, and edge increasing is carried out for receiving equilibrium figures picture, and to equilibrium figures picture
Manage to obtain enhancing image strength；Wavelet filtering equipment is connected with edge enhancing equipment, strengthens image for receiving, and to enhancing
Image carries out wavelet filtering processing to obtain filtering image.
In eighth aspect, wherein, in each high-definition camera, distortion type detection device connects with wavelet filtering equipment
Connect, for the image that accepts filter, determine the appearance and size of filtering image, the appearance and size based on filtering image and reference figure
The appearance and size of picture determines the distortion type of filtering image, and distortion type includes distortion distortion, radial distortion distortion, affine transformation
Distortion, the distortion of class affine transformation and projective transformation distortion, reference image are advance to be responsible for high-definition camera region progress
The distortionless high-definition image that high-definition data collection is exported；Distortion processing equipment is connected with distortion type detection device, when connecing
When the distortion type received is distortion distortion, radial distortion distorts, affine transformation distorts or class affine transformation distorts, based on difference
Distortion type different predetermined geometric transformation carried out to filtering image handled, to export geometric calibration image；With reference to point selection
Equipment is connected with distortion type detection device, for when the distortion type received is that projective transformation distorts, selecting nobody to drive
8 positions around body of a motor car are sailed as calibration reference point；Distort coordinate mapped device respectively with reference to point selection equipment and
Distortion type detection device connects, and for determining the coordinate of 8 positions in filtering image, determines 8 positions in reference image
The coordinate put, the coordinate based on 8 positions in the coordinate and reference image of 8 positions in filtering image determine that geometry is sat
Transformation matrix is marked, and geometric coordinate conversion is carried out to obtain to all pixels point of filtering image based on geometric coordinate transformation matrix
Corresponding multiple new pixels, the horizontal coordinate and vertical coordinate of all pixels point of filtering image are all integer, and new pixel
The horizontal coordinate or vertical coordinate of point, which differ, is set to integer；Distortion grey scale mapping equipment is connected with distortion coordinate mapped device, is used
In the multiple new pixels of reception, when the horizontal coordinate and vertical coordinate of new pixel are all integer, the gray value of new pixel
For the gray value of the pixel of same coordinate position in filtering image, when the horizontal coordinate or vertical coordinate of new pixel are non-whole
During number, the gray value based on multiple pixels around same coordinate position in filtering image calculates the gray value of new pixel,
Gray value output geometric calibration image based on multiple new pixels.
The 9th aspect, wherein, in each high-definition camera, target identification equipment respectively with distortion processing equipment and
The grey scale mapping that distorts equipment connection, for receiving geometric calibration image, and based on preset reference human body contour outline in geometric calibration figure
Neighbouring pedestrian target is identified as in；Coordinates of targets extraction equipment is connected with target identification equipment, for based on the neighbour identified
Nearly relative position of the pedestrian target in whole geometric calibration image, it is determined that the plane coordinates parameter of neighbouring pedestrian target；
Wherein, flameout state detection device is arranged near the blast pipe of pilotless automobile rear end, including tail gas is dense
Sensor is spent, for detecting whether the concentration near blast pipe is more than preset concentration threshold value, is more than preset concentration threshold detecting
During value, determine that pilotless automobile is not presently within flameout state, detect be less than or equal to preset concentration threshold value when, it is determined that nothing
People's driving is currently at flameout state；
Wherein, predetermined amplitude threshold value and preset concentration threshold value are all input to static storage by press key equipment by driver and set
In standby, static storage device is connected with tail gas concentration sensor and vibrating sensing equipment respectively；
Wherein, equipment of promptly dodging controls travel direction control device to realize to the travel direction of pilotless automobile
Control in real time, ensure that pilotless automobile dodge specifically including to the direction away from neighbouring pedestrian target：Target range is got over
Small, amplitude of dodging is bigger；
Wherein, display driver is also connected with equipment of promptly dodging, in urgent equipment control travel direction control of dodging
Control equipment ensures pilotless automobile to away from neighbouring pedestrian to realize the real-time control to the travel direction of pilotless automobile
When the direction of target is dodged, target range is pushed in display caching in order to which liquid crystal display is accordingly shown.
At the tenth aspect, camera calibration marking device is arranged in the instrument board of pilotless automobile.
The tenth on the one hand, coordinate mapped device is arranged in the instrument board of pilotless automobile.
At the 12nd aspect, three-dimensional coordinate fitting equipment is arranged in the instrument board of pilotless automobile.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (3)
1. the pilotless automobile based on the intelligent terminal information transmission system is installed, it is described to be based on the intelligent terminal information transmission system
Including information gathering subsystem, cell-phone customer terminal receiving subsystem and WCDMA wireless transmitting systems, described information acquisition subsystem
Be connected with cell-phone customer terminal receiving subsystem by WCDMA wireless transmitting systems, described information acquisition subsystem by acquisition module,
Coding module, broadband control module and transport module composition, the transport module is connected with WCDMA wireless transmitting systems, described
Transport module is sequentially connected broadband control module, coding module and acquisition module, and the cell-phone customer terminal receiving subsystem is by showing
Show that module, decoder module and receiving module composition, the receiving module are connected with WCDMA wireless transmitting systems, the reception mould
Block connects decoder module, and the decoder module connects display module, and the WCDMA wireless transmitting systems pass through TMS320DM3730
Development board controls；
The pilotless automobile includes navigator；
Described information acquisition subsystem uses the linear cameras of CCD；
The WCDMA wireless transmitting systems are connected by IP agreement with transport module, receiving module；
The pilotless automobile is also set for this platform including pilotless automobile virtual environment, and the platform is taken including three-dimensional environment
Standby and pedestrian target detection device is built, three-dimensional environment, which builds equipment, includes multiple high-definition cameras, unmanned for building
Three-dimensional virtual environment around car body, pedestrian target detection device is built equipment with three-dimensional environment and is connected, for based on nothing
Three-dimensional virtual environment around people's driving car body detects and exports the real-time of neighbouring pedestrian's target range pilotless automobile
Distance；
The platform includes Realtime Alerts equipment, and pedestrian target detection device, for receive neighbouring pedestrian's target range nobody
The real-time range of driving, and it is less than or equal to pre-determined distance in the real-time range of neighbouring pedestrian's target range pilotless automobile
During threshold value, Realtime Alerts operation is carried out；
Realtime Alerts equipment is arranged on the vehicle body of pilotless automobile, including two-way speaker；
It is characterized in that：The platform also includes：
Stand-by power supply, it is connected respectively with flameout state detection device, vibrating sensing equipment and Wireless Telecom Equipment, for be flame-out
Condition detecting device, vibrating sensing equipment and Wireless Telecom Equipment provide supply of electric power；
Flameout state detection device, currently whether flameout state is in for detecting pilotless automobile, and is in detecting
During flameout state, send non-driving condition signal, detect be not in flameout state when, send driving condition signal；
Vibrating sensing equipment, it is arranged on the inside of pilotless automobile vehicle body, is connected with flameout state detection device, for receiving
During to non-driving condition signal, start the detection to the vibration amplitude of vehicle body, and be more than in advance in the vibration amplitude for detecting vehicle body
If during amplitude threshold, sending vehicle alert signal, it is less than or equal to predetermined amplitude threshold value and big in the vibration amplitude for detecting vehicle body
When the half of predetermined amplitude threshold value, vehicle early warning signal is sent, is less than or equal to default width in the vibration amplitude for detecting vehicle body
When spending the half of threshold value, vehicle normal signal is sent；Vibrating sensing equipment is additionally operable to when receiving driving condition signal, is stopped
Detection to the vibration amplitude of vehicle body；
GPRS communication apparatus, it is arranged on the inside of pilotless automobile vehicle body, is connected with vibrating sensing equipment, for being had no in reception
Line forwards vehicle alert signal or vehicle early warning signal to the hand-held communication terminal of pilotless automobile driver；
Travel direction control device, is arranged in the instrument board of pilotless automobile, is controlled with the steering wheel of pilotless automobile
Equipment connects, and is controlled in real time for the travel direction to pilotless automobile；
Urgent equipment of dodging, is arranged in the instrument board of pilotless automobile, is supervised respectively with travel direction control device and spacing
Measurement equipment connects, for when target range is less than or equal to default spacing, controlling travel direction control device to realize to nobody
The real-time control of the travel direction of driving, ensure that pilotless automobile is hided to the direction away from neighbouring pedestrian target
Dodge；
Spacing monitoring equipment, is arranged in the instrument board of pilotless automobile, is connected with scene fusion device, is merged for receiving
Picture frame, in fused images frame, pilotless automobile institute in movement position and virtual scene based on neighbouring pedestrian target
Determine the real-time range of neighbouring pedestrian's target range pilotless automobile to be exported as target range in position；
Mode control device, it is arranged in the instrument board of pilotless automobile, is connected with urgent equipment of dodging, for being driven at nobody
Sail and enabled urgent equipment of dodging is determined whether under the operation of driver；
Multiple high-definition cameras, the diverse location of pilotless automobile vehicle body is separately positioned on, each high-definition camera includes
Intensity compensation devices, CMOS sensing equipments, histogram equalization equipment, edge enhancing equipment, wavelet filtering equipment, distortion type inspection
Measurement equipment, distortion processing equipment, with reference to point selection equipment, distortion coordinate mapped device, distortion grey scale mapping equipment, target identification
Equipment and coordinates of targets extraction equipment；
Camera calibration marking device, be connected with each high-definition camera, for obtain each high-definition camera intrinsic parameter and
The outer parameter of each high-definition camera, the intrinsic parameter of each high-definition camera include the focal length of high-definition camera, CMOS biographies
Feel equipment size, the pick-up lens distortion factor, the outer parameter of each high-definition camera includes high-definition camera in unmanned vapour
The position of car vehicle body and the shooting direction of high-definition camera；
Coordinate mapped device, it is connected with camera calibration marking device, for receiving the intrinsic parameter of each high-definition camera and each
The outer parameter of individual high-definition camera, and the outer parameter of the intrinsic parameter based on each high-definition camera and each high-definition camera
Determine the mapping relations between pixel point coordinates and three-dimensional world coordinate in the image space of each high-definition camera；
Three-dimensional coordinate is fitted equipment, is connected for the coordinates of targets extraction equipment respectively with multiple high-definition cameras, for receiving
Multiple plane coordinates parameters, are also connected with camera calibration marking device, picture in the image space for receiving multiple high-definition cameras
The mapping relations between three-dimensional world coordinate, three-dimensional coordinate fitting equipment are based on above-mentioned multiple plane coordinates to vegetarian refreshments coordinate respectively
Mapping relations corresponding to parameter and above-mentioned multiple high-definition cameras fit neighbouring pedestrian target in three-dimensional world coordinate system
Three-dimensional coordinate and as the output of objective coordinate；
Environment rebuilt equipment, it is connected with each high-definition camera, for receiving respectively from the multiple of multiple high-definition cameras
Geometric calibration image, based on multiple geometric calibration images to carrying out environment rebuilt around pilotless automobile vehicle body, to obtain simultaneously
Export the virtual scene around pilotless automobile vehicle body；
Scene fusion device, it is connected respectively with environment rebuilt equipment and three-dimensional coordinate fitting equipment, for being sat based on objective
The movement position of neighbouring pedestrian target is fused in virtual scene to obtain and export fused images frame by mark；
Video playback apparatus, it is connected with scene fusion device to receive and play back fused images frame, video playback apparatus includes liquid
Crystal display, display driver and display caching.
2. pilotless automobile according to claim 1, it is characterised in that：
Wherein, in each high-definition camera, intensity compensation devices are connected with CMOS sensing equipments, for receiving CMOS sensings
The high-definition image of equipment collection, the gray value based on each pixel in high-definition image determine the mean flow rate of high-definition image, and will
The mean flow rate of high-definition image is compared with predetermined luminance, when the mean flow rate of high-definition image is more than or equal to predetermined luminance,
Luminance-reduction adjustment is carried out to high-definition image to obtain brightness adjustment image, when the mean flow rate of high-definition image is bright less than default
Degree, luminance raising adjustment is carried out to high-definition image to obtain brightness adjustment image；CMOS sensing equipments are used for unmanned vapour
High-definition data collection is carried out around car vehicle body to export high-definition image；Histogram equalization equipment is connected with intensity compensation devices, is used
In reception brightness adjustment image, and histogram equalization processing is carried out to brightness adjustment image to obtain equilibrium figures picture；Edge strengthens
Equipment is connected with histogram equalization equipment, for receiving equilibrium figures picture, and edge enhancing processing is carried out to equilibrium figures picture to obtain
Strengthen image；Wavelet filtering equipment is connected with edge enhancing equipment, strengthens image for receiving, and carry out small echo to enhancing image
Filtering process is to obtain filtering image.
3. pilotless automobile according to claim 2, it is characterised in that：
Wherein, in each high-definition camera, distortion type detection device is connected with wavelet filtering equipment, for accepting filter
Image, the appearance and size of filtering image is determined, it is true based on the appearance and size of filtering image and the appearance and size of reference image
Determine the distortion type of filtering image, distortion type includes distortion distortion, radial distortion distortion, affine transformation distortion, the affine change of class
Distortion and projective transformation distortion are changed, reference image carries out advance high-definition data collection institute to be responsible for high-definition camera region
The distortionless high-definition image of output；Distortion processing equipment is connected with distortion type detection device, when the distortion type received
When being distorted for distortion distortion, radial distortion distortion, affine transformation distortion or class affine transformation, based on different distortion types to filter
Ripple image carries out different predetermined geometric transformation processing, to export geometric calibration image；With reference to point selection equipment and distortion type
Detection device connects, for when the distortion type received is that projective transformation distorts, selecting around pilotless automobile vehicle body
8 positions as calibration reference point；Distortion coordinate mapped device with reference to point selection equipment and distortion type detection respectively with setting
Standby connection, for determining the coordinate of 8 positions in filtering image, determines the coordinate of 8 positions in reference image, based on filter
The coordinate of 8 positions determines geometric coordinate transformation matrix, and base in the coordinate and reference image of 8 positions in ripple image
Geometric coordinate conversion is carried out to all pixels point of filtering image to obtain corresponding multiple new pictures in geometric coordinate transformation matrix
Vegetarian refreshments, the horizontal coordinate and vertical coordinate of all pixels point of filtering image are all integer, and the horizontal coordinate of new pixel or
Vertical coordinate, which differs, is set to integer；Distortion grey scale mapping equipment is connected with distortion coordinate mapped device, for receiving multiple new pictures
Vegetarian refreshments, when the horizontal coordinate and vertical coordinate of new pixel are all integer, the gray value of new pixel is phase in filtering image
With the gray value of the pixel of coordinate position, when the horizontal coordinate or vertical coordinate of new pixel are non-integer, based on filtering
The gray value of multiple pixels in image around same coordinate position calculates the gray value of new pixel, based on multiple new pixels
The gray value output geometric calibration image of point.
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| CN108875640B (en) * | 2018-06-20 | 2022-04-05 | 长安大学 | Method for testing cognitive ability of passable area in end-to-end unsupervised scene |
| CN109491380A (en) * | 2018-10-26 | 2019-03-19 | 黄鑫 | A kind of intelligent automobile Unmanned Systems and application method |
| CN112188018A (en) * | 2020-09-25 | 2021-01-05 | 中徽建技术有限公司 | Intelligent community fire fighting channel blockage alarming method and device |
| CN112104841B (en) * | 2020-11-05 | 2021-12-07 | 乐荣时代智能安防技术(深圳)有限公司 | Multi-camera intelligent monitoring method for monitoring moving target |
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