CN106960587A - A kind of identification of traffic lights and zebra stripes and control system based on camera device - Google Patents
A kind of identification of traffic lights and zebra stripes and control system based on camera device Download PDFInfo
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- CN106960587A CN106960587A CN201710367308.3A CN201710367308A CN106960587A CN 106960587 A CN106960587 A CN 106960587A CN 201710367308 A CN201710367308 A CN 201710367308A CN 106960587 A CN106960587 A CN 106960587A
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- 241000283070 Equus zebra Species 0.000 title claims abstract description 59
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000004458 analytical method Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 239000002689 soil Substances 0.000 description 7
- 238000007726 management method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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Abstract
The invention discloses a kind of traffic lights based on camera device and zebra stripes identification and control system, including main frame, and the video identification device being connected with main frame, video identification device is used to shoot vehicle front road picture, differentiate front and whether there is traffic lights and zebra stripes, if the state that traffic lights are recognized in the presence of if, simultaneously according to the real-time space length of the calculated for pixel values vehicle distances traffic lights and zebra stripes of traffic lights in video pictures and zebra stripes, and the space length value that both continuously shorten is sent to main frame；The status information of main frame combination upcoming traffic signal lamp, makes a dash across the red light apart from critical value according to what is pre-seted, contrasts the space length value continuously shortened between vehicle and zebra stripes, judge whether vehicle can make a dash across the red light；The present invention calculates the real-time space length between vehicle distances traffic lights and zebra stripes according to picture pixel value, the behavior of driver in red light running can be prevented and be prevented, be conducive to safeguarding traffic order.
Description
Technical field
The invention belongs to engineering car administrative skill field, it is related to a kind of traffic lights based on camera device and zebra stripes is known
Not and control system.
Background technology
Currently, domestic many cities are all being built or are planning to build subway transportation facility, in order to solve subway shield tunnel construction
Middle mining machinery is with this contradiction of Transport Machinery un-coordinated development, it is necessary to the car of substantial amounts of transport dregs, mud and other debris
.Slag-soil truck night running, overload and oversize, blow-by transport and illegal running are nationwide common faults, also as city management
One of persistent ailment, this phenomenon cannot be solved for a long time, severe contamination urban environment, destroyed traffic order, upset residence
The life of the people.
At present to the supervision of city slag vehicles based on artificial supervise, i.e., by the personal consciousness of driver, when produce hypervelocity,
When overload, deviation route, strange land unloading, weight change over range, existing monitoring device can not be by the real-time condition of slag-soil truck
It is transferred to supervision center；Administrative department can not also carry out effective management and monitoring to slag-soil truck；As occurred slag-soil truck violation
Situation, it is impossible to provide scientific and effective basis for estimation, such as using artificial law enforcement, cost is too high, is unfavorable for promoting；Only utilize section
Skill means, could realize the long-acting management of city slag vehicles.
Largely there is situations such as slag-soil truck violates the traffic regulations, made a dash across the red light at present, in order to enter to the slag-soil truck behavior of making a dash across the red light
Row identification and control are, it is necessary to propose practical, effective method.Now retrieve a kind of patent document " control of preventing cars from running red light
Device "（CN201110455329.3）, the patent is mainly used in the research in terms of pilotless automobile, which disclose including
Picture pick-up device, vehicle speed sensor, brake actuating mechanism, automobile controller, with automobile controller, the video identification unit being connected,
Video identification unit is used to extract the video image information in picture pick-up device and the video image information is identified, and is confirming
Red green state, count down time are recognized during for traffic lights and the distance between this headstock and zebra stripes are calculated, automobile controller is used
In the speed for above-mentioned red green state, the information of count down time and the vehicle speed sensor conveying for receiving video identification unit transportation
Information simultaneously carries out whether comprehensive descision controls brake actuating mechanism to be braked.In the patent, by calculating headstock and zebra stripes
The distance between judge whether to make a dash across the red light, while directly control brake performs brake to forbid running red light for vehicle to vehicle.But
It is that, in slag-soil truck field, vehicle weight is very big, up to 40 to 50 tons, it is impossible to directly brake, and need judging behavior of making a dash across the red light
After carry out Control for Speed Limitation, or ACC close after the car locking control that can not start again.Meanwhile, many rural roads of dregs transportation
Zebra stripes are not obvious or without zebra stripes, and identification zebra stripes are difficult.
The content of the invention
The technical problems to be solved by the invention are to overcome the shortcoming of prior art there is provided a kind of based on camera device
Traffic lights and zebra stripes identification and control system, present system shoot road ahead and drawn by installing camera device in headstock
Face, and the traffic lights in picture and zebra stripes are recognized, the real-time of vehicle distances zebra stripes is calculated according to picture pixel value
Space length, can be prevented and be prevented to the behavior of driver in red light running, be conducive to safeguarding traffic order.
In order to solve the above technical problems, the present invention provide it is a kind of based on camera device traffic lights and zebra stripes identification with
Control system, including main frame, and the video identification device being connected with main frame, video identification device are used to shoot vehicle front road
Road picture, differentiates front and whether there is traffic lights and zebra stripes, if the state that traffic lights are recognized in the presence of if, while root
According to the real-time space length of the calculated for pixel values vehicle distances zebra stripes of zebra stripes in video pictures, and will continuously it contract between the two
Short space length value is sent to main frame；The status information of main frame combination upcoming traffic signal lamp, according to making a dash across the red light for pre-seting
The space length value continuously shortened between critical value, contrast vehicle and zebra stripes, judges whether vehicle can make a dash across the red light.
The technical scheme that further limits of the present invention is：
Foregoing main frame is also connected with ECU, if main frame judges that vehicle will make a dash across the red light, vehicle is controlled by ECU.
Foregoing main frame is also connected with cloud platform, and main frame can whether the judged result that can be made a dash across the red light be sent to cloud platform by vehicle,
Cloud platform can be instructed to main frame feedback command, and connect ECU by main frame is controlled to vehicle.
Aforementioned video identifying device includes video acquiring module and video identification module, and video acquiring module is used to shoot car
Road ahead picture, video identification module is used to carry out analysis calculating to the picture of acquisition.
Aforementioned video identification module includes traffic lights identification module and zebra stripes identification module, and traffic lights identification module is used for
To the traffic signal light condition in the picture of acquisition；Zebra stripes identification module is used for the zebra stripes in the picture of acquisition apart from car
Space length carry out analysis calculating.
Foregoing main frame includes data processing module, wireless communication module and control module, and wireless communication module is used to receive
With transmission data message, data processing module is used to analyze and process the data message received, and control module is used to connect
ECU is met to be controlled vehicle.
Further,
Foregoing main frame can carry out speed limit or car locking by ECU to vehicle.
Aforementioned video identifying device is carried out data transmission with main frame by the way of wired or wireless；Main frame passes through with ECU
Wired mode carries out data transmission.
When traffic signal light condition is red light, and space length value between vehicle and zebra stripes is changed into negative from positive number
During number, then judge vehicle to make a dash across the red light.
Foregoing main frame and cloud platform wirelessly carry out data transmission.
The beneficial effects of the invention are as follows：
Present system shoots the traffic lights in road ahead picture, identification picture by installing camera device in headstock
And zebra stripes, the real-time space length for calculating zebra stripes in front of vehicle distances, and identification are analyzed according to picture pixel value
Go out the state of traffic lights, and the status information of space length value and traffic lights is sent to main frame；With vehicle not
Disconnected to move forward, zebra stripes distance is also increasingly nearer in front of the vehicle distances, and main frame constantly obtains the real-time space of consecutive variations
Distance value, while judging whether vehicle can make a dash across the red light, if can make a dash across the red light, speed limit or lock are carried out by ECU to vehicle
Car, the behavior to driver in red light running is prevented and prevented, and is conducive to safeguarding traffic order.
Brief description of the drawings
Fig. 1 is principle schematic one of the invention；
Fig. 2 is principle schematic two of the invention.
Embodiment
Embodiment 1
The present embodiment provides a kind of traffic lights and zebra stripes identification based on camera device and control system, as shown in figure 1, including
Main frame, and the video identification device being connected with main frame, video identification device are used to shoot vehicle front road picture, before resolution
Side whether there is traffic lights and zebra stripes, if the state that traffic lights are recognized in the presence of if, while according in video pictures
The real-time space length of the calculated for pixel values vehicle distances zebra stripes of zebra stripes, and by the space length continuously shortened between the two
Value is sent to main frame；The status information of main frame combination upcoming traffic signal lamp, makes a dash across the red light apart from critical value according to what is pre-seted, right
Than the space length value continuously shortened between vehicle and zebra stripes, judge whether vehicle can make a dash across the red light.
As shown in Fig. 2 foregoing main frame is also connected with ECU, if main frame judges that vehicle will make a dash across the red light, by ECU to car
It is controlled.Foregoing main frame is also connected with cloud platform, and main frame can whether the judged result that can be made a dash across the red light be sent to cloud puts down by vehicle
Platform, cloud platform can be instructed to main frame feedback command, and connect ECU by main frame is controlled to vehicle.Aforementioned video identifying device
Including video acquiring module and video identification module, video acquiring module is used for the road ahead picture for shooting vehicle, and video is known
Other module is used to carry out analysis calculating to the picture of acquisition.
Aforementioned video identification module includes traffic lights identification module and zebra stripes identification module, and traffic lights identification module is used for
To the traffic signal light condition in the picture of acquisition；Zebra stripes identification module is used for the zebra stripes in the picture of acquisition apart from car
Space length carry out analysis calculating.Foregoing main frame includes data processing module, wireless communication module and control module, wirelessly
Communication module is used to receiving and sending data message, and data processing module is used to carry out at analysis the data message received
Reason, control module is controlled for connecting ECU to vehicle.
Foregoing main frame can carry out speed limit or car locking by ECU to vehicle.Aforementioned video identifying device is with main frame using wired
Or wirelessly carry out data transmission；Main frame is carried out data transmission with ECU by wired mode.Foregoing main frame and cloud platform
Wirelessly carry out data transmission.When traffic signal light condition is red light, and the sky between vehicle and zebra stripes
Between distance value when being changed into negative from positive number, then judge vehicle to make a dash across the red light.
The present embodiment system shoots the traffic in road ahead picture, identification picture by installing camera device in headstock
Signal lamp and zebra stripes, the real-time space length for calculating zebra stripes in front of vehicle distances is analyzed according to picture pixel value, with
And the state of traffic lights is identified, and the status information of space length value and traffic lights is sent to main frame；With
Vehicle constantly moves forward, and zebra stripes distance is also increasingly nearer in front of the vehicle distances, and main frame constantly obtains the reality of consecutive variations
Time space distance value, while judging whether vehicle can make a dash across the red light, if can make a dash across the red light, is limited vehicle by ECU
Speed or car locking, the behavior to driver in red light running are prevented and prevented, is conducive to safeguarding traffic order.
The technological thought of above example only to illustrate the invention, it is impossible to which protection scope of the present invention is limited with this, it is every
According to technological thought proposed by the present invention, any change done on the basis of technical scheme each falls within the scope of the present invention
Within.
Claims (10)
1. a kind of identification of traffic lights and zebra stripes and control system based on camera device, including main frame, and be connected with main frame
Video identification device, it is characterised in that：
The video identification device is used to shoot vehicle front road picture, differentiates front and whether there is traffic lights and zebra
Line, if the state that traffic lights are recognized in the presence of if, while according to the calculated for pixel values vehicle distances of zebra stripes in video pictures
The real-time space length of zebra stripes, and the space length value continuously shortened between the two is sent to main frame；
The status information of the main frame combination upcoming traffic signal lamp, makes a dash across the red light apart from critical value according to what is pre-seted, contrasts car
The space length value continuously shortened between zebra stripes, judges whether vehicle can make a dash across the red light.
2. the identification of traffic lights and zebra stripes and control system according to claim 1 based on camera device, its feature exist
In the main frame is also connected with ECU, if the main frame judges that vehicle will make a dash across the red light, vehicle is controlled by ECU.
3. the identification of traffic lights and zebra stripes and control system according to claim 2 based on camera device, its feature exist
In the main frame is also connected with cloud platform, and the main frame can whether the judged result that can be made a dash across the red light be sent to cloud platform, institute by vehicle
Stating cloud platform can instruct to main frame feedback command, and connect ECU by main frame is controlled to vehicle.
4. traffic lights based on camera device and zebra stripes identification and control according to any claim in claim 1-3
System processed, it is characterised in that the video identification device includes video acquiring module and video identification module, the video acquisition
Module is used for the road ahead picture for shooting vehicle, and the video identification module is used to carry out analysis calculating to the picture of acquisition.
5. the identification of traffic lights and zebra stripes and control system according to claim 4 based on camera device, its feature exist
In the video identification module includes traffic lights identification module and zebra stripes identification module, and the traffic lights identification module is used for
To the traffic signal light condition in the picture of acquisition；The zebra stripes identification module be used for the zebra stripes in the picture of acquisition away from
Space length from vehicle carries out analysis calculating.
6. traffic lights based on camera device and zebra stripes identification and control according to any claim in claim 1-3
System processed, it is characterised in that the main frame includes data processing module, wireless communication module and control module, the channel radio
News module is used to receiving and sending data message, and the data processing module is used to carry out at analysis the data message received
Reason, the control module is controlled for connecting ECU to vehicle.
7. traffic lights based on camera device and zebra stripes identification and control system according to Claims 2 or 3, its feature
It is that the main frame can carry out speed limit or car locking by ECU to vehicle.
8. traffic lights based on camera device and zebra stripes identification and control system according to Claims 2 or 3, its feature
It is that the video identification device is carried out data transmission with main frame by the way of wired or wireless；The main frame passes through with ECU
Wired mode carries out data transmission.
9. the identification of traffic lights and zebra stripes and control system according to claim 3 based on camera device, its feature exist
In the main frame and cloud platform wirelessly carry out data transmission.
10. traffic lights based on camera device and zebra stripes identification according to any claim in claim 1-3 with
Control system, it is characterised in that when traffic signal light condition is red light, and the space length value between vehicle and zebra stripes
When being changed into negative from positive number, then judge vehicle to make a dash across the red light.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710367308.3A CN106960587A (en) | 2017-05-23 | 2017-05-23 | A kind of identification of traffic lights and zebra stripes and control system based on camera device |
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| CN201710367308.3A CN106960587A (en) | 2017-05-23 | 2017-05-23 | A kind of identification of traffic lights and zebra stripes and control system based on camera device |
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| CN201710367308.3A Pending CN106960587A (en) | 2017-05-23 | 2017-05-23 | A kind of identification of traffic lights and zebra stripes and control system based on camera device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108765762A (en) * | 2018-07-25 | 2018-11-06 | 智慧式控股有限公司 | The unmanned passenger carrying vehicle of wisdom formula, shared system and business model |
| CN108765773A (en) * | 2018-07-26 | 2018-11-06 | 智慧式控股有限公司 | The unmanned small plant of wisdom formula, pet fortune sell vehicle and business model |
| CN108765766A (en) * | 2018-07-25 | 2018-11-06 | 智慧式控股有限公司 | A kind of unmanned fruit and vegetable food fortune of wisdom formula sells vehicle and shared system and business model |
| CN108765763A (en) * | 2018-07-25 | 2018-11-06 | 智慧式控股有限公司 | The unmanned mobile culture equipment of wisdom formula, shared system and business model |
| CN108805740A (en) * | 2018-07-25 | 2018-11-13 | 智慧式控股有限公司 | A kind of unmanned aquaculture of wisdom formula and Vehicular system and business model |
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| CN112489466A (en) * | 2020-11-27 | 2021-03-12 | 恒大新能源汽车投资控股集团有限公司 | Traffic signal lamp identification method and device |
| CN113468911A (en) * | 2020-03-30 | 2021-10-01 | 上海高德威智能交通系统有限公司 | Vehicle-mounted red light running detection method and device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109064094A (en) * | 2018-07-25 | 2018-12-21 | 智慧式控股有限公司 | A kind of unmanned intelligent file data fortune of wisdom formula sells vehicle, shared system and business model |
| CN109146361A (en) * | 2018-07-25 | 2019-01-04 | 智慧式控股有限公司 | A kind of unmanned goods stock of wisdom formula, shared system and business model |
| CN108765766A (en) * | 2018-07-25 | 2018-11-06 | 智慧式控股有限公司 | A kind of unmanned fruit and vegetable food fortune of wisdom formula sells vehicle and shared system and business model |
| CN108765763A (en) * | 2018-07-25 | 2018-11-06 | 智慧式控股有限公司 | The unmanned mobile culture equipment of wisdom formula, shared system and business model |
| CN108765762A (en) * | 2018-07-25 | 2018-11-06 | 智慧式控股有限公司 | The unmanned passenger carrying vehicle of wisdom formula, shared system and business model |
| CN109101016B (en) * | 2018-07-25 | 2024-06-21 | 智慧式控股有限公司 | Intelligent automatic vending vehicle, sharing system and business model |
| CN110766346A (en) * | 2018-07-25 | 2020-02-07 | 智慧式控股有限公司 | Intelligent automatic vehicle path planning and avoiding system |
| CN109101016A (en) * | 2018-07-25 | 2018-12-28 | 智慧式控股有限公司 | Wisdom formula transports automatically and sells vehicle and shared system and business model |
| CN108805740A (en) * | 2018-07-25 | 2018-11-13 | 智慧式控股有限公司 | A kind of unmanned aquaculture of wisdom formula and Vehicular system and business model |
| CN108958223A (en) * | 2018-07-26 | 2018-12-07 | 智慧式控股有限公司 | A kind of wisdom formula shares computer and office equipment and its shared system and business model |
| CN109034702A (en) * | 2018-07-26 | 2018-12-18 | 智慧式控股有限公司 | A kind of unmanned hardware building materials fortune of wisdom formula sells vehicle, shared system and business model |
| CN108765773A (en) * | 2018-07-26 | 2018-11-06 | 智慧式控股有限公司 | The unmanned small plant of wisdom formula, pet fortune sell vehicle and business model |
| CN108846620A (en) * | 2018-07-26 | 2018-11-20 | 智慧式控股有限公司 | The unmanned drug medicinal material of wisdom formula, medical equipment fortune sell vehicle and business model |
| CN113468911A (en) * | 2020-03-30 | 2021-10-01 | 上海高德威智能交通系统有限公司 | Vehicle-mounted red light running detection method and device, electronic equipment and storage medium |
| CN113468911B (en) * | 2020-03-30 | 2022-12-23 | 上海高德威智能交通系统有限公司 | Vehicle-mounted red light running detection method and device, electronic equipment and storage medium |
| CN112489466A (en) * | 2020-11-27 | 2021-03-12 | 恒大新能源汽车投资控股集团有限公司 | Traffic signal lamp identification method and device |
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