CN106961583A - Dual camera outdoor scene intelligent travelling crane method and system - Google Patents
Dual camera outdoor scene intelligent travelling crane method and system Download PDFInfo
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- CN106961583A CN106961583A CN201710192482.9A CN201710192482A CN106961583A CN 106961583 A CN106961583 A CN 106961583A CN 201710192482 A CN201710192482 A CN 201710192482A CN 106961583 A CN106961583 A CN 106961583A
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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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The present invention discloses a kind of dual camera outdoor scene intelligent travelling crane method and system, and the system includes：Preceding camera, rear camera, image processing module, anti-collision warning module and output module, preceding camera is to gather the first view data；Camera is to gather the second view data afterwards；Image processing module merges to form initial birds-eye view to enter view data row buffering, and to the first view data, the second view data and buffered data；And the object being located in the first view data and the second view data in this car planning driving path is identified processing, and by the object marker after identification on driving birds-eye view；Anti-collision warning module is used to object information progress anti-collision early warning processing in running information and driving birds-eye view according to this car and obtains anti-collision warning information and blind spot warning message；Output module is to export anti-collision warning information.The present invention can carry out anti-collision early warning to environment before and after vehicle simultaneously, can realize intelligentized auxiliary security assisting automobile driver.
Description
Technical field
The present invention relates to a kind of technical field of vehicle control, more particularly to a kind of dual camera outdoor scene intelligent travelling crane method and
System.
Background technology
With continuing to develop and the improvement of people's living standards for vehicle technology, automobile product has become most popular
One of popular consumer goods.With increasing for automobile quantity, all kinds of traffic problems also come one after another.For the ease of convenient to driving
Environment is recorded, and a kind of scheme is：Drive recorder is installed on vehicle, but does not have panorama visible function, it is also not blind
Point warning function；Another scheme is：Camera, which is respectively mounted, in four corners of vehicle or side constitutes 360 ° of panorama visibles
System, the system only has visual function, it is impossible to realize that intelligentized auxiliary security is reminded, and cost of implementation is high, it is difficult to suitable
Answer the requirement of consumer.
In view of this, it is necessary to propose that current outdoor scene driving technology is further improved.
The content of the invention
To solve an above-mentioned at least technical problem, the main object of the present invention is to provide a kind of intelligent row of dual camera outdoor scene
Car system.
To achieve the above object, one aspect of the present invention is：There is provided a kind of dual camera outdoor scene intelligent row
Car system, including：
Preceding camera and rear camera, first view data of the preceding camera to gather driving front environment；Institute
State second view data of the rear camera to gather driving rear environment；
Image processing module, described image processing module is electrically connected with preceding camera and rear camera respectively, to
One view data and the second view data enter row buffering, and the first view data, the second view data and buffered data are merged
Form initial birds-eye view；And to the first view data and the second view data and it is data cached in be located at this car planning driving path
On object be identified processing, and by the object marker after identification on driving birds-eye view；
Anti-collision warning module, the anti-collision warning module is electrically connected with image processing module, to the driving according to this car
Object information carries out anti-collision early warning processing and obtains anti-collision warning information and blind spot warning message in information and driving birds-eye view；
Output module, the output module is electrically connected with anti-collision warning module, to export anti-collision warning information and blind spot
Warning message.
In a specific embodiment, described image processing module includes graphics processing unit, image identification unit and figure
As mark unit；
Described image processing unit, is obtained initially for merging processing to the first view data and the second view data
Birds-eye view；
Described image recognition unit, for being barred from this car planning driving path in the first view data and the second view data
On position, distance, type and the size of object processing is identified, and
Described image identifies unit, for the object space after identification to be identified in driving birds-eye view.
In a specific embodiment, the anti-collision warning module, specifically for：According to the running information of this car and driving
Object information calculates relative position and relative velocity in birds-eye view, and predicts collision using relative position and relative velocity
Time, and anti-collision warning information and blind spot warning message are generated, the running information includes this truck position, speed and size.
In a specific embodiment, the dual camera outdoor scene intelligent travelling crane system also includes and anti-collision warning module electricity
The anticollision module of connection, the anticollision module is electrically connected with the OBD equipment of vehicle, to brake hard vehicle.
In a specific embodiment, the dual camera outdoor scene intelligent travelling crane system also includes and image processing module electricity
The memory module of connection, to store the first view data and the second view data.
In a specific embodiment, the output module is at least one of display screen, alarm, indicator lamp.
In a specific embodiment, the installation direction of the preceding camera is consistent with direction of traffic, the rear camera
Installation direction it is consistent with rear car direction.
To achieve the above object, another technical solution used in the present invention is：A kind of dual camera outdoor scene intelligence is provided
Travelling-crane method, comprises the following steps：
First view data of collection vehicle driving front environment and the second view data of rear environment of driving a vehicle；
Enter row buffering to the first view data and the second view data, and to the first view data, the second view data and
Buffered data merges to form initial birds-eye view；And to the first view data and the second view data and it is data cached in be located at
Processing is identified in object in this car planning driving path, and by the object marker after identification on driving birds-eye view；
Anti-collision early warning processing is carried out according to object information in the running information of this car and driving birds-eye view and obtains anti-collision warning
Information and blind spot warning message, and；
Export anti-collision warning information and blind spot warning message.
In a specific embodiment, object information is prevented in the running information and driving birds-eye view according to this car
The step of early warning processing obtains anti-collision warning information is hit, is specifically included：
Relative position and relative velocity are calculated according to object information in the running information of this car and driving birds-eye view；
Collision time is predicted using relative position and relative velocity；And
Collision time is divided into early warning stage and deboost phase, and correspondence generates anti-collision warning information and braking information.
Technical scheme mainly include preceding camera, rear camera, image processing module, anti-collision warning module and
Output module, the first picture number of collection vehicle front end and rear end environment can be distinguished using preceding camera and rear camera
According to and the second view data, the image processing module enters row buffering to the first view data and the second view data, and to first
View data, the second view data and buffered data merge to form initial birds-eye view, and by the first view data and second
The object of view data is identified and identified, and obtains birds-eye view of driving a vehicle；Then the driving of anti-collision warning module combination vehicle is believed
Breath and driving birds-eye view, obtain anti-collision warning information, data cached by analyzing, and obtain blind spot warning message, and finally output is touched
Early warning information and blind spot warning message are hit, before and after so, it is possible to solve vehicle, the intelligent auxiliary of surrounding objects anticollision drives
Prompting function.In addition, the present invention also have it is simple in construction, be easily installed, the advantage of low cost.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Structure according to these accompanying drawings obtains other accompanying drawings.
Fig. 1 is the block diagram of one embodiment of the invention dual camera outdoor scene intelligent travelling crane system；
Fig. 2 is the block diagram of one embodiment of the invention dual camera outdoor scene intelligent travelling crane system；
Fig. 3 a are preceding camera in the present invention and the schematic diagram of rear camera image collection；
Fig. 3 b are driving birds-eye view of the invention；
Fig. 4 is the method flow diagram of one embodiment of the invention dual camera outdoor scene intelligent travelling crane method.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
It is to be appreciated that the description for being related to " first ", " second " etc. in the present invention be only used for describe purpose, and it is not intended that
Indicate or imply its relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ",
At least one this feature can be expressed or be implicitly included to the feature of " second ".In addition, the technical side between each embodiment
Case can be combined with each other, but must can be implemented as basis with those of ordinary skill in the art, when the combination of technical scheme
It will be understood that the combination of this technical scheme is not present, also not in the guarantor of application claims when appearance is conflicting or can not realize
Within the scope of shield.
Fig. 1 is refer to, in embodiments of the present invention, the dual camera outdoor scene intelligent travelling crane system, including：
Preceding camera 10 and rear camera 20, the installation direction of the preceding camera 10 are consistent with direction of traffic, to adopt
Collect the first view data of environment in front of vehicle driving；The installation direction of the rear camera 20 is consistent with rear car direction, is used to
Second view data of collection driving rear environment；
Image processing module 30, described image processing module 30 is electrically connected with preceding camera 10 and rear camera 20 respectively,
To enter row buffering to the first view data and the second view data, and to the first view data, the second view data and buffering
Data merge to form initial birds-eye view；And to being located in the first view data and the second view data in this car planning driving path
Processing is identified in object, and by the object marker after identification on driving birds-eye view；
Anti-collision warning module 40, the anti-collision warning module 40 is electrically connected with image processing module 30, to according to this car
Running information and driving birds-eye view in object information carry out anti-collision early warning processing obtain anti-collision warning information and blind spot alarm signal
Breath；
Output module 50, the output module 50 is electrically connected with anti-collision warning module 40, to export anti-collision warning information
With blind spot warning message.
Refer in Fig. 3 a and Fig. 3 b, the present embodiment, preceding camera 10 can be installed on the front center of vehicle, it is described after
Camera 20 can be installed on vehicle rear end center, can so realize to vehicle front, rear end and vehicle front and after
The both sides at end carry out IMAQ, farthest to detect the barrier in planning driving path.Image processing module 30 can be right
Image, which merges and barrier is identified, obtains birds-eye view of driving a vehicle, and anti-collision warning module 40 can combine vehicle driving
Information obtains anti-collision warning information with driving birds-eye view, to realize intelligentized auxiliary assisting automobile driver.The output module 50 can be with
For at least one of display screen, alarm, indicator lamp, to play the purpose for reminding driver.It should be understood that the system may be used also
Realize data exchange with external service platforms or monitor supervision platform by wireless communication connection mode, to realize.
Technical scheme mainly includes preceding camera 10, rear camera 20, image processing module 30, anti-collision warning
Module 40 and output module 50, collection vehicle front end and rear end driving ring can be distinguished using preceding camera 10 and rear camera 20
First view data and the second view data in border, 30 pair of first view data of the image processing module and the second view data are entered
Row buffering, and the first view data, the second view data and buffered data are merged to form initial birds-eye view, and by first
The object of view data and the second view data is identified and identified, and obtains birds-eye view of driving a vehicle；Then anti-collision warning module 40
With reference to the running information and driving birds-eye view of vehicle, anti-collision warning information is obtained, it is data cached by analyzing, obtain blind spot alarm
Information, finally exports anti-collision warning information and blind spot warning message, before and after so, it is possible to solve vehicle, surrounding objects anticollision
Intelligent auxiliary assisting automobile driver function.In addition, the present invention also have it is simple in construction, be easily installed, the advantage of low cost.
Fig. 1 is refer to, in a specific embodiment, described image processing module 30 includes graphics processing unit 31, figure
As recognition unit 32 and image identification unit 33；
Described image processing unit 31, for entering row buffering to the first view data and the second view data, and to first
View data, the second view data and buffered data merge to form initial birds-eye view；
It is described, the figure for the object to being barred from the first view data and the second view data in this car planning driving path
As processing is identified in the position of recognition unit 32, distance, type and size, and
Described image identifies unit 33, for the object space after identification to be identified in driving birds-eye view.
In the present embodiment, first view data and the second view data can be delayed by image processing module 30
Punching, and the first view data, the second view data and buffered data are merged to form initial birds-eye view；The buffered data can be by
Buffering to the first view data and the second view data is obtained, and the buffer time of buffered data can be set as 1S or 2S, tool
The time of body can specifically set according to the actual requirement of client.To the object in the first view data and the second view data
Information is identified, position, distance, type and size of the object information including object etc., the object can be front truck, after
Car, barrier, pedestrian etc.；Finally the object space after identification is labeled on initial birds-eye view, driving birds-eye view is formed.
In a specific embodiment, the anti-collision warning module 40, specifically for：According to the running information and row of this car
Object information calculates relative position and relative velocity in car birds-eye view, and is predicted and touch using relative position and relative velocity
Hit the time, and generate anti-collision warning information and blind spot warning message, the running information includes this truck position, speed and size.
In the present embodiment, anti-collision warning module 40 can be according to the running information of vehicle in itself, including road speed, position
And vehicle size etc., relative position, relative velocity are calculated with reference to the object information in birds-eye view, and further calculate and touch
Hit the time, accordingly generate anti-collision warning information.It should be understood that the collision time is segmented into early warning stage and deboost phase,
Anti-collision warning module 40 can generate corresponding early warning information and braking information.
Fig. 2 is refer to, in a specific embodiment, the dual camera outdoor scene intelligent travelling crane system also includes and collision
The anticollision module 60 that warning module 40 is electrically connected, the anticollision module 60 is electrically connected with the OBD equipment of vehicle, to brake hard
Vehicle.
, can be with brake hard vehicle, to avoid or mitigate the row of vehicle collision by the anticollision module 60 in the present embodiment
Sail accident.
Fig. 2 is refer to, in a specific embodiment, the dual camera outdoor scene intelligent travelling crane system also includes and image
The memory module that processing module 30 is electrically connected, to store the first view data and the second view data.
In the present embodiment, first view data and the second view data can be stored by the memory module 70,
And video file can be saved as, it is easy to user to check.
Fig. 4 is refer to, a kind of dual camera outdoor scene intelligent travelling crane method of the invention comprises the following steps：
Step S10, the first view data of collection vehicle driving front environment and rear environment of driving a vehicle the second picture number
According to；
Step S20, enter row buffering to the first view data and the second view data, and to the first view data, the second figure
Initial birds-eye view is formed as data and buffered data merge；And to being located at this car in the first view data and the second view data
Processing is identified in object in planning driving path, and by the object marker after identification on driving birds-eye view；
Object information progress anti-collision early warning processing is obtained in step S30, the running information according to this car and driving birds-eye view
Anti-collision warning information and blind spot warning message, and；
Step S40, output anti-collision warning information and blind spot warning message.
In the present embodiment, the dual camera outdoor scene intelligent travelling crane method applies above-mentioned dual camera outdoor scene intelligent travelling crane system
Unite to realize, be acquired by the view data to vehicle front and rear end, driving, the anti-collision warning of reversing can be realized,
Driven with intelligently auxiliary prompting, can further improve the security of driving.It should be understood that the merging treatment can be adopted
The first view data and the second view data memory geometric correction are handled with flake geometric correction algorithm, normal condition is obtained
Image.
In a specific embodiment, object information is prevented in the running information and driving birds-eye view according to this car
The step S30 that early warning processing obtains anti-collision warning information is hit, is specifically included：
Relative position and relative velocity are calculated according to object information in the running information of this car and driving birds-eye view；
Collision time is predicted using relative position and relative velocity；And
Collision time is divided into early warning stage and deboost phase, and correspondence generates anti-collision warning information and braking information.
In the present embodiment, this step can further be divided to collision time, early warning stage and deboost phase, place
Anti-collision warning information can be generated when the early warning stage, and braking information can be generated in the deboost phase, thus, to realize height
Intelligentized auxiliary drives function.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, it is every at this
Under the inventive concept of invention, the equivalent structure transformation made using description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical fields in the scope of patent protection of the present invention.
Claims (9)
1. a kind of dual camera outdoor scene intelligent travelling crane system, it is characterised in that the outdoor scene intelligent travelling crane system of the dual camera
Including：
Preceding camera and rear camera, first view data of the preceding camera to gather driving front environment；After described
Second view data of the camera to gather driving rear environment；
Image processing module, described image processing module is electrically connected with preceding camera and rear camera respectively, to the first figure
As data and the second view data enter row buffering, and the first view data, the second view data and buffered data are merged to be formed
Initial birds-eye view；And be identified to being located at the object in this car planning driving path in the first view data and the second view data
Processing, and by the object marker after identification on driving birds-eye view；
Anti-collision warning module, the anti-collision warning module is electrically connected with image processing module, to the running information according to this car
And object information progress anti-collision early warning processing obtains anti-collision warning information and blind spot warning message in driving birds-eye view；
Output module, the output module is electrically connected with anti-collision warning module, to export anti-collision warning information and blind spot alarm
Information.
2. dual camera outdoor scene intelligent travelling crane system as claimed in claim 1, it is characterised in that described image processing module bag
Include graphics processing unit, image identification unit and image identification unit；
Described image processing unit, is initially got a bird's eye view for merging processing to the first view data and the second view data
Figure；
Described image recognition unit, for being barred from the first view data and the second view data in this car planning driving path
Processing is identified in position, distance, type and the size of object, and
Described image identifies unit, for the object space after identification to be identified in driving birds-eye view.
3. dual camera outdoor scene intelligent travelling crane system as claimed in claim 2, it is characterised in that the anti-collision warning module,
Specifically for：Relative position and relative velocity are calculated according to object information in the running information of this car and driving birds-eye view, with
And collision time is predicted using relative position and relative velocity, and anti-collision warning information and blind spot warning message are generated, it is described
Running information includes this truck position, speed and size.
4. dual camera outdoor scene intelligent travelling crane system as claimed in claim 3, it is characterised in that the dual camera outdoor scene intelligence
Energy driving system also includes the OBD equipment electricity of the anticollision module electrically connected with anti-collision warning module, the anticollision module and vehicle
Connection, to brake hard vehicle.
5. the dual camera outdoor scene intelligent travelling crane system as described in any one of Claims 1-4, it is characterised in that described pair is taken the photograph
As head outdoor scene intelligent travelling crane system is also including the memory module electrically connected with image processing module, to store the first view data
And second view data.
6. dual camera outdoor scene intelligent travelling crane system as claimed in claim 5, it is characterised in that the output module is display
At least one of screen, alarm, indicator lamp.
7. dual camera outdoor scene intelligent travelling crane system as claimed in claim 5, it is characterised in that the installation of the preceding camera
Direction is consistent with direction of traffic, and the installation direction of the rear camera is consistent with rear car direction.
8. a kind of dual camera outdoor scene intelligent travelling crane method, it is characterised in that the dual camera outdoor scene intelligent travelling crane method bag
Include following steps：
First view data of collection vehicle driving front environment and the second view data of rear environment of driving a vehicle；
Enter row buffering to the first view data and the second view data, and to the first view data, the second view data and buffering
Data merge to form initial birds-eye view；And to the first view data and the second view data and it is data cached in be located at this car
Processing is identified in object in planning driving path, and by the object marker after identification on driving birds-eye view；
Anti-collision early warning processing is carried out according to object information in the running information of this car and driving birds-eye view and obtains anti-collision warning information
With blind spot warning message, and；
Export anti-collision warning information and blind spot warning message.
9. dual camera outdoor scene intelligent travelling crane method as claimed in claim 8, it is characterised in that the driving according to this car
Object information carries out the step of anti-collision early warning processing obtains anti-collision warning information in information and driving birds-eye view, specifically includes：
Relative position and relative velocity are calculated according to object information in the running information of this car and driving birds-eye view；
Collision time is predicted using relative position and relative velocity；And
Collision time is divided into early warning stage and deboost phase, and correspondence generates anti-collision warning information and braking information.
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| CN110827197A (en) * | 2019-10-08 | 2020-02-21 | 武汉极目智能技术有限公司 | Method and device for detecting and identifying vehicle all-round looking target based on deep learning |
| CN113370993A (en) * | 2021-06-11 | 2021-09-10 | 北京汽车研究总院有限公司 | Control method and control system for automatic driving of vehicle |
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Application publication date: 20170718 |