CN106864351A - A kind of vehicle at night traveling auxiliary lighting system based on computer vision - Google Patents
A kind of vehicle at night traveling auxiliary lighting system based on computer vision Download PDFInfo
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- CN106864351A CN106864351A CN201710030571.3A CN201710030571A CN106864351A CN 106864351 A CN106864351 A CN 106864351A CN 201710030571 A CN201710030571 A CN 201710030571A CN 106864351 A CN106864351 A CN 106864351A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
Auxiliary lighting system is travelled the present invention relates to a kind of vehicle at night based on computer vision, including information acquisition module, raspberry sends control module and auxiliary lamp Dynamic control module, three's order is connected, the information of road surface that described information acquisition module will be collected sends raspberry to and sends control module, raspberry sends control module by realizing the dynamic control to GPIO after inter-process, complete the Based Intelligent Control to auxiliary lamp Dynamic control module, it is integrated by the efficient communication for setting modules, make the information phase mutual feedback between modules, it is mutually shared, efficiently solve the problems, such as driving at night, reduce potential safety hazard, realize real Based Intelligent Control light, visual degree can be greatly improved, reduce potential safety hazard.
Description
Technical field
Auxiliary lighting system is travelled the present invention relates to a kind of vehicle at night based on computer vision, belongs to computer vision
And intelligent control method technical field.
Background technology
With the progress and the continuous improvement of people's living standard of society, China has entered automobile and has popularized the epoch substantially,
The quantity of private car gradually increases, and purchase car is also more and more popular, relevant data display, and China's sale of automobile total amount reaches within 2015
24600000, while sale of automobile amount is improved and brings economic benefit, the traveling of the big quantity of vehicle also increases more traffic
The generation of accident, the quantity of China's traffic accident over the years can be in any more always, and wherein because the dead number of traffic accident also has
Rise steadily trend, although vehicle safety has been increasingly becoming the problem that each buying car person necessarily considers, but believes more
The problems such as people is only concerned such as EPS, ABS, tire antiknock, collision prevention girders, full encirclement air bag, often has ignored to have fallen another and has weighed very much
The part wanted --- car light.
Car light can be illuminated in night just as the eyes of people before road, be that pedestrian is given for driver provides the clearly visual field
Warning, vehicle club of Cera of Southern California of the U.S.（AAA）To halogen on the market, xenon, LED automobile headlamp night
Between lighting safety done investigation, as a result amazing, test shows, either dipped headlight or high beam, compares existing
Capable National Highway and the car light safety guide for transporting association, existing vehicle travel at night is on the road without street lamp
When, the irradiation distance of all types of headlights be not reaching to allow car owner find target then react in time and stopping of braking safety away from
From.
The night road test result of AAA shows that the maximum Halogen lamp LED of current usage quantity is under dipped headlight pattern when speed reaches
To about 60 kilometers/when emergency lighting distance cannot be just provided, even if open distance light after speed rise to 77 kilometers/when more than when
Also quite dangerous, traffic also once did statistics, and most of traffic accident accident occurred at night, and quantity is almost accounted for entirely
The sixty percent of portion's traffic accident, thus the illumination distances that car light is covered are not up to standard, are also to cause driving at night danger larger, or even
There is one of major reason of traffic accident.
According to《People's Republic of China's law on road traffic safety implementing regulations》, dazzle light is strong due to light, typically
Being suitable to motor vehicle night travels on without street lamp or underlit road and uses, and urban district is good due to illumination, it is necessary to use
Dipped headlight, especially when two cars cross, even if also must be mutual in addition away from 150 meters of opposite car on the road without street lamp
High beam is closed, dipped headlight is used instead, using high beam, light dazzle bright is dazzling, allows people to see road above clearly in seconds
Condition, be easy to occur traffic accident, thus how rationally intelligence the suitable car light of selection, allow driver have abundance time and
Reagency tackles various road-surface problems, and to ensure the enforcement environment and condition of safety and stability, this into automobile designers, is just
To whole automobile industry and national focus of attention problem.
The content of the invention
The present invention is just being directed to the technical problem for existing in the prior art, there is provided a kind of night car based on computer vision
Traveling auxiliary lighting system, including information acquisition module, raspberry send control module and auxiliary lamp Dynamic control module, by setting
The efficient communication for putting modules is integrated, makes the information phase mutual feedback between modules, mutually shared, efficiently solves night
Driving problem, reduces potential safety hazard, realizes real Based Intelligent Control light, can greatly improve visual degree, reduces peace
Full hidden danger.
In order to solve the above-mentioned technical problem, the technical solution adopted in the present invention is as follows：It is a kind of based on computer vision
Vehicle at night travels auxiliary lighting system, including information acquisition module, raspberry send control module and auxiliary lamp Dynamic control module,
Three's order is connected, it is characterised in that：The information of road surface that described information acquisition module will be collected sends raspberry group control mould to
Block, raspberry sends control module by realizing the dynamic control to GPIO after inter-process, completes to auxiliary lamp Dynamic control module
Based Intelligent Control.
Further, the raspberry is provided with computer vision module, information of vehicles detection module and image in sending control module
Identification module, three's communication is integrated；The computer vision module is processed the information of road surface for collecting using OpenCV,
Detected and recognized in the incoming information of vehicles detection module of information after treatment, by picture recognition module, with Python
Language realizes accurate information of vehicles output.
Further, the grader in the computer vision module, is trained by positive this ︰ of Yang negative sample=1 ︰ 2, is found out
Sample general character；The reduction that can try one's best of this kind of method replaces human eye to be identified to target, tracked and measures with video camera and computer
Etc. the error produced by machine vision, and graphics process is further done, collect the sample of a large amount of night running automobiles, one can be entered
Step ensures accuracy, reduces error, facilitates the later stage to be quoted in Python.
Further, the identification model in described image identification module uses prototype Matching Model；Common template matches mould
Type must have the memory pattern of this image in past experience, and this model emphasizes that image must be complete with the template in brain
Meeting can just be recognized, prototype Matching Model is from nerve and remembers in the process sought, and all compares Template matching model
It is preferably, and can also illustrate irregular to some, but some aspects image similar to prototype identification, thus can know
It is other more.
Further, described information acquisition module is drive recorder or external camera, efficiently directly obtains effectively letter
Breath, operation difficulty is also low, more meets actual demand.
Further, it is provided with auxiliary lamp in the auxiliary lamp Dynamic control module, the quantity of auxiliary lamp, type and arrangement are not only
One.The range of exposures of each auxiliary lamp can artificially be divided, and different vehicle is also each different to the demand of car light, thus can be with
According to actual needs, the car light of certain amount, certain type or particular arrangement layout is installed, it is more extensive using scope.
Further improved as of the invention, a kind of vehicle at night traveling auxiliary illuminator based on computer vision,
Including camera, raspberry group and auxiliary lamp, three's order is connected, it is characterised in that：The camera is used to gather information of road surface,
The information transmission that will be collected is sent to raspberry, and raspberry factions system is exported by realizing the dynamic control to GPIO after inter-process
Signal is accessed in auxiliary lamp, completes the Based Intelligent Control to auxiliary lamp.
Further, computer vision module, information of vehicles monitoring modular and picture recognition module are provided with the raspberry group,
Three's communication is integrated；The computer vision module is processed the information of road surface for collecting using OpenCV, after treatment
Detected and recognized in the incoming information of vehicles monitoring modular of information, by picture recognition module, realized with Python
Accurate information of vehicles output.
Beneficial effects of the present invention：It is integrated by the efficient communication for setting modules, make the information between modules
Phase mutual feedback, it is mutually shared, driving at night is efficiently solved the problems, such as, potential safety hazard is reduced, realize real Based Intelligent Control lamp
Light, can greatly improve visual degree, reduce potential safety hazard；Grader and image recognition in simultaneous computer vision module
The special setting of identification model in module, also causes that whole system is more accurate, and security performance is higher；Drive recorder and outer
Plus the method for camera improves the definition of image information, while ensureing that driving is experienced, also improve and vehicle vision is known
Other degree of accuracy；Whole system sends platform to complete in raspberry, without manual operation, has reached the intelligent and efficient of height
Change, it is time saving and energy saving to save worry, operating efficiency and degree of safety are substantially increased, it is truly realized the effective and safe behaviour of manual intelligent
Make.
Brief description of the drawings
Fig. 1 is that a kind of system architecture of vehicle at night traveling auxiliary lighting system based on computer vision of the invention is illustrated
Figure；
Fig. 2 is the structural representation that a kind of vehicle at night based on computer vision of the invention travels auxiliary illuminator；
Fig. 3 is that a kind of workflow of vehicle at night traveling auxiliary lighting system based on computer vision of the invention is illustrated
Figure；
Fig. 4 is the test schematic diagram one that a kind of vehicle at night based on computer vision of the invention travels auxiliary lighting system；
Fig. 5 is the test schematic diagram two that a kind of vehicle at night based on computer vision of the invention travels auxiliary lighting system.
Specific embodiment
Below with reference to embodiment, the present invention is described in detail.
Embodiment one
As shown in figure 1, a kind of vehicle at night traveling auxiliary lighting system based on computer vision, including information acquisition module,
Raspberry sends control module and auxiliary lamp Dynamic control module, and three's order is connected, information acquisition module herein we using outer
Camera is connect, because the resolution ratio of part drive recorder is relatively low, therefore selection external camera is preferably, can not only improve driving
Impression, moreover it is possible to improve the visual identity degree of vehicle, and raspberry is provided with computer vision module, information of vehicles prison in sending control module
Module and picture recognition module are surveyed, three's communication is integrated, when external camera captures opposite or road surface ahead has stop,
The information of road surface that will be collected sends raspberry to and sends control module, and now, the computer vision module in module utilizes OpenCV
Information of road surface to collecting is processed, so that the visual identity to vehicle is realized, the incoming information of vehicles of the information after treatment
Detected in monitoring modular and recognized, by picture recognition module, realized that accurate information of vehicles is defeated with Python
Go out, send platform to be realized to the dynamic control of GPIO by raspberry, in finally feeding back to auxiliary lamp Dynamic control module, so as to complete
To the Based Intelligent Control of auxiliary lamp；Fig. 3 is simply clearly to describe above-mentioned workflow, by setting modules, and will be each
Individual module is integrated, and makes the information phase mutual feedback between modules, mutually shared, efficiently solves the problems, such as driving at night,
Potential safety hazard is reduced, real Based Intelligent Control light is realized, visual degree can be greatly improved, reduce potential safety hazard, on
The treatment of all information is stated, sends platform to complete in raspberry, without manual operation, reach the effect of Based Intelligent Control auxiliary lamp.
Raspberry group is a microcomputer mainboard based on ARM, with SD/MicroSD cards as memory hard disk, card mainboard week
It is with 1/2/4 USB interface and 10/100 Ethernet interface（A types do not have network interface）, keyboard, mouse and netting twine can be connected,
Possess the TV output interface and HDMI HD video output interfaces of video analog signal simultaneously, one is all incorporated into upper-part
Open on mainboard only more slightly larger than credit card, the basic function for possessing all PC need to only connect television set and keyboard, can just perform such as
The various functions such as electrical form, word processing, object for appreciation game, broadcasting HD video.
Embodiment two
The present embodiment is with the difference of embodiment one：In above computer vision module, main Land use models identification
Technology, i.e., according to the statistical property or structural information extracted from image, divide the image into predetermined classification, is regarded in this computer
, it is necessary to train grader in feel module, the sample of a large amount of night running automobiles, including positive sample and negative sample are collected, passed through
After multiple repetition experiment and inspection, it is believed that the ratio for use positive sample and negative sample is 1:2 train grader, essence
Exactness is higher, more extensive using scope, by training grader, finds out the general character of sample, and the text of .xml is in generation one
Part, is then quoted in Python, so as to preferably realize the treatment of information of vehicles.
Meanwhile, mainly be monitored for the figure in information acquisition module by the information of vehicles monitoring modular in above-described embodiment
And identification, realize that accurate information of vehicles is processed with Python, reach vehicle monitoring purpose.
And image recognition is a key areas of artificial intelligence, in order to work out the calculating of simulation mankind's image recognition activity
Machine program, there has been proposed different image recognition models, such as Template matching model, this model is thought, recognizes certain figure
Picture, it is necessary to have the memory pattern of this image in past experience, be called template, if it is current stimulate can with brain in
Template matches, and this image is also just identified, for example, have a letter A, if there is individual A templates in brain, alphabetical A's is big
Small, orientation, shape are all completely the same with this A template, and alphabetical A is just identified, and this model is simple and clear, is also readily obtained
Practical application, but this model emphasizes that image must be complied fully with the template in brain and can just be recognized, and in fact people is not
The completely the same image of template in identification and brain is only capable of, the image not quite identical with template can be also recognized, for example, people are not
Be only capable of some specific letter A of identification, can also recognize block letter, handwritten form, poor direction, various words of different sizes
Female A, meanwhile, the image that people can recognize is substantial amounts of, if each image for being recognized has a corresponding mould in brain
Plate, is also impossible, and in order to solve the problems, such as Template matching model, Gestalt psychology scholar has also been proposed a prototype
Matching Model, this model thinks that what is stored in long-term memory is not the numerous template to be recognized, but image
Some " similitudes ", " similitude " abstracted from image can carry out inspection institute's image to be recognized as prototype by it,
If a similar prototype can be found, this image is also just identified, and this model is from nerve and the mistake sought of memory
It is all more preferably than Template matching model from the point of view of in journey, and can also illustrate irregular to some, but some aspects and prototype phase
As image identification, our system use prototype Matching Model, be subject to by the positive sample and negative sample to a large amount of vehicles
Training, finds " similitude " such that it is able to realize the identification to numerous vehicles, more extensive using scope.
Embodiment three
As shown in Fig. 2 it is a kind of based on computer vision vehicle at night traveling auxiliary illuminator, including camera, raspberry group and
Auxiliary lamp, three's order is connected, and camera is used to gather information of road surface, and the information transmission that will be collected is sent to raspberry, raspberry group
By realizing the dynamic control to GPIO after inter-process, output signal is accessed in auxiliary lamp system, completes the intelligence to auxiliary lamp
Can control；Computer vision module, information of vehicles monitoring modular and picture recognition module, three's communication are wherein provided with raspberry group
It is integrated；Computer vision module is processed the information of road surface for collecting using OpenCV, the incoming vehicle of the information after treatment
Detected and recognized in information monitoring module, by picture recognition module, realized that accurate vehicle is believed with Python
Breath output.
For convenience of explanation and explanation, spy adds display screen to the present embodiment, camera can by vehicle front road information and
When be transferred to raspberry factions system in, vision-based detection then is carried out to vehicle, can by display screen watch vehicle identification information, fortune
Realize that raspberry sends the dynamic control of GPIO with Python, so as to realize the Based Intelligent Control of auxiliary lamp, Figure 4 and 5 are in testing
Test chart, a, b, c in Fig. 4 be respectively three kinds of radiation modalities of raspberry group control auxiliary lamp, and Fig. 5 come from drive recorder
Video interception, because the collection of information has two schemes, herein selection drive recorder as information input module, and
The information of road surface that will be collected is transferred to raspberry sends computer vision module in control module, picture recognition module and vehicle to be believed
Breath monitoring modular, visual identity is carried out to vehicle, and the content of square frame institute frame is both the visual identity to vehicle in figure.
Example IV
The present embodiment is with the difference of embodiment one, embodiment two and embodiment three：In auxiliary lamp Dynamic control module
It is provided with auxiliary lamp, the quantity of auxiliary lamp, type and arrangement be not unique, and the range of exposures of each auxiliary lamp can artificially be divided,
Different vehicle is also each different to the demand of car light, thus can install certain amount, certain type or spy according to actual needs
Determine the car light of alignment placement, it is more extensive using scope.
It should be noted that, the explanation of above-mentioned implementation example not limits the application of this creation, only the illustrative present invention
Principle and effect, not for limiting the scope of the invention, the scope of the present invention should be such as claims
Described in；For those skilled in the art, on the premise of patent principle of the present invention is not departed from, can be with
Some improvements and modifications are made, these improvements and modifications also should be regarded as the protection domain of patent of the present invention.
Claims (8)
1. a kind of vehicle at night based on computer vision travels auxiliary lighting system, including information acquisition module, the control of raspberry group
Molding block and auxiliary lamp Dynamic control module, three's order are connected, it is characterised in that：Described information acquisition module will be collected
Information of road surface sends raspberry to and sends control module, and raspberry sends control module by realizing the dynamic control to GPIO after inter-process
System, completes the Based Intelligent Control to auxiliary lamp Dynamic control module.
2. a kind of vehicle at night based on computer vision according to claim 1 travels auxiliary lighting system, its feature
It is：The raspberry is provided with computer vision module, information of vehicles monitoring modular and picture recognition module, three in sending control module
Person's communication is integrated；The computer vision module is processed the information of road surface for collecting using OpenCV, the letter after treatment
Cease and detected in incoming information of vehicles monitoring modular and recognized, by picture recognition module, realized with Python accurate
True information of vehicles output.
3. a kind of vehicle at night based on computer vision according to claim 2 travels auxiliary lighting system, its feature
It is：Grader in the computer vision module, is trained by positive this ︰ of Yang negative sample=1 ︰ 2, finds out sample general character.
4. a kind of vehicle at night based on computer vision according to Claims 2 or 3 travels auxiliary lighting system, and it is special
Levy and be：Identification model in described image identification module uses prototype Matching Model.
5. a kind of vehicle at night based on computer vision according to claim 4 travels auxiliary lighting system, its feature
It is：Described information acquisition module is drive recorder or external camera.
6. a kind of vehicle at night based on computer vision according to claim 3 or 5 travels auxiliary lighting system, and it is special
Levy and be：It is provided with auxiliary lamp in the auxiliary lamp Dynamic control module, the quantity of auxiliary lamp, type and arranges not unique.
7. a kind of vehicle at night based on computer vision travels auxiliary illuminator, including camera, raspberry group and auxiliary lamp, three
Person's order is connected, it is characterised in that：The camera is used to gather information of road surface, and the information transmission that will be collected is sent to raspberry,
By realizing the dynamic control to GPIO after inter-process, output signal is accessed in auxiliary lamp raspberry factions system, is completed to auxiliary
The Based Intelligent Control of lamp.
8. a kind of vehicle at night based on computer vision according to claim 7 travels auxiliary illuminator, and its feature exists
In：Computer vision module, information of vehicles monitoring modular and picture recognition module, three's Communication Set are provided with the raspberry group
Into；The computer vision module is processed the information of road surface for collecting using OpenCV, the incoming car of the information after treatment
Detected and recognized in information monitoring module, by picture recognition module, accurate vehicle is realized with Python
Information output.
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| CN109941184A (en) * | 2019-04-16 | 2019-06-28 | 河海大学常州校区 | A kind of car light intelligence control system |
| CN112558581A (en) * | 2019-09-26 | 2021-03-26 | 上海汽车集团股份有限公司 | Test method and test device for advanced driving assistance system function |
| CN115035313A (en) * | 2022-06-15 | 2022-09-09 | 云南这里信息技术有限公司 | Black-neck crane identification method, device, equipment and storage medium |
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Application publication date: 20170620 |