CN107331181B - Intelligent reminding method and system for vehicle following - Google Patents
Intelligent reminding method and system for vehicle following Download PDFInfo
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- CN107331181B CN107331181B CN201611248025.9A CN201611248025A CN107331181B CN 107331181 B CN107331181 B CN 107331181B CN 201611248025 A CN201611248025 A CN 201611248025A CN 107331181 B CN107331181 B CN 107331181B
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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
- G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
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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
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/08—Detecting or categorising vehicles
Abstract
The invention discloses an intelligent reminding method and system for vehicle following, wherein the method comprises the following steps: A. acquiring and storing an image in front of the vehicle through a camera; B. c, processing the image in front of the vehicle, extracting the continuous image characteristics of the left edge part and the right edge part in the image, comparing the continuous image characteristics of the current image and the continuous image characteristics of the previous image in front of the vehicle, and executing the step C if the continuous image characteristics are consistent; C. extracting the front vehicle outline image characteristics in the front vehicle image, respectively calculating and comparing the image areas occupied by the front vehicle outline image characteristics in the current front vehicle image and the front vehicle outline image characteristics in the previous front vehicle image, and executing the step D if the current front vehicle outline image characteristic area is smaller than the previous front vehicle outline image characteristic area; D. and starting a reminding device to remind the driver. The system can automatically judge the current vehicle condition according to the state of the front vehicle in the stop state of the vehicle, intelligently remind the driver, make the driver prepare in advance, avoid the situation of hasty starting caused by forgetting to observe the vehicle by the driver, and improve the driving experience of the driver.
Description
Technical Field
The invention relates to the technical field of intelligent vehicles, in particular to an intelligent vehicle following reminding method and system.
Background
At present, many automobile drivers like to check the mobile phone when waiting for a traffic light or running into a traffic jam and stopping for a short time, so that the situation that the drivers forget to pay attention to the traffic light or the front vehicle because of looking at the mobile phone and start the vehicle only in a busy and disorderly manner until the rear vehicle horn urges is often caused, the situation not only influences the normal forward running of the whole traffic flow, but also easily causes the misoperation of the vehicle when the drivers urge to start in a warehouse, and even causes accidents.
Thus, the prior art has yet to be improved and enhanced.
Disclosure of Invention
The invention provides an intelligent reminding method and system for vehicle following aiming at the defects of the prior art, and aims to solve the problem that the prior vehicle cannot intelligently remind a driver in a waiting state.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an intelligent reminding method for vehicle following is provided, wherein the method comprises the following steps:
A. periodically acquiring and storing images in front of the vehicle through a camera arranged on the vehicle;
B. processing the collected image in front of the vehicle, extracting the continuous image characteristics of the left edge part and the right edge part in the image in front of the vehicle, comparing the collected current image in front of the vehicle with the stored continuous image characteristics of the image in front of the previous vehicle, and executing the step C if the comparison is consistent;
C. extracting the feature of the front vehicle outline image in the front vehicle image, respectively calculating the image area occupied by the feature of the front vehicle outline image in the front vehicle image and the stored front vehicle image, and comparing the image area occupied by the feature of the front vehicle outline image in the front vehicle image with the image area occupied by the feature of the front vehicle outline image in the stored front vehicle image, if the feature area of the front vehicle outline image in the front vehicle image is smaller than the feature area of the front vehicle outline image in the front vehicle image, executing the step D;
D. and starting a reminding device to remind a driver of the vehicle.
The intelligent reminding method for the vehicle following is characterized in that the camera is arranged in the middle of a front windshield of the vehicle.
The intelligent reminding method for the vehicle following is characterized in that when the characteristics of the continuous images of the acquired current image in front of the vehicle and the stored previous image in front of the vehicle are not consistent, the step A is returned.
The intelligent reminding method for the vehicle following comprises the following steps of extracting continuous image characteristics of left and right edge parts in an image in front of the vehicle: 5 grid areas with 100 pixels by 100 pixels are respectively divided along the left edge and the right edge of the image in front of the vehicle, and the image features in each grid area are extracted by using an image recognition technology to form continuous image features.
The intelligent reminding method for vehicle following comprises the following steps of comparing the collected current image in front of the vehicle with the stored continuous image characteristics of the previous image in front of the vehicle: and C, comparing the image characteristics of the left and right 5 grid areas corresponding to the current vehicle front image and the previous vehicle front image, and executing the step C if the number of the grid areas which are consistent in comparison is not less than 5.
The intelligent reminding method for the vehicle following comprises the following steps that the image area occupied by the front vehicle outline image features in the vehicle front image is specifically as follows: identifying the characteristic edge of the front vehicle outline image in the front vehicle image, and setting and acquiring the area size of the minimum rectangle sleeved on the characteristic edge of the front vehicle outline image.
In the step C, if the feature area of the front vehicle contour image of the current front vehicle image is equal to the feature area of the front vehicle contour image in the previous front vehicle image, the step a is returned.
The intelligent reminding method for the vehicle following is characterized in that the reminding device comprises a buzzer and a voice reminding device.
A vehicle is with car intelligence warning system, wherein, the system includes:
the acquisition and storage module: the system comprises a camera, a camera and a display, wherein the camera is used for periodically acquiring and storing images in front of a vehicle;
a processing module: the system comprises a front image acquisition unit, a front image acquisition unit and a front image acquisition unit, wherein the front image acquisition unit is used for acquiring a front image of a vehicle, extracting continuous image characteristics of left and right edge parts in the front image of the vehicle and extracting front vehicle contour image characteristics in the front image of the vehicle;
a comparison module: the system comprises a front image acquisition unit, a front image acquisition unit and a front image acquisition unit, wherein the front image acquisition unit is used for acquiring a front image of a current vehicle and a stored front image of the;
an execution module: and the reminding device is used for starting the reminding device to remind the driver of the vehicle according to the comparison result of the comparison module.
Has the advantages that: the invention provides an intelligent reminding method and system for vehicle following, which can automatically judge the current vehicle condition according to the front vehicle condition in the stop state of the vehicle and intelligently remind a driver so that the driver can make vehicle starting operation in advance, thereby avoiding the situation of hasty starting caused by forgetting to observe the vehicle by the driver and improving the driving experience of the driver.
Drawings
Fig. 1 is a front image of a vehicle captured by a camera in an embodiment of the present invention.
Fig. 2 is a schematic block diagram of an intelligent vehicle following reminding system in an embodiment of the invention.
Detailed Description
The invention provides an intelligent reminding method and system for vehicle following, which are further described in detail below by referring to the attached drawings and embodiments in order to make the purpose, technical scheme and effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides an intelligent reminding method for vehicle following, wherein the method comprises the following steps:
A. and periodically acquiring and storing images in front of the vehicle through a camera arranged on the vehicle.
Specifically, the camera is arranged in the middle of a front windshield of the vehicle. The range of images that can be captured by the camera includes images directly in front of the current vehicle and images in front of two sides of the current vehicle, as shown in fig. 1.
B. And C, processing the collected image in front of the vehicle, extracting the continuous image characteristics of the left edge part and the right edge part in the image in front of the vehicle, comparing the collected current image in front of the vehicle with the stored continuous image characteristics of the image in front of the previous vehicle, and executing the step C if the comparison is consistent.
In a preferred embodiment, the extracting the continuous image features of the left and right edge portions in the image in front of the vehicle specifically includes: 5 grid areas with 100 pixels by 100 pixels are respectively divided along the left edge and the right edge of the image in front of the vehicle, and the image features in each grid area are extracted by using an image recognition technology to form continuous image features. As shown in fig. 1, 5 grid regions 100 of a predetermined size are formed on both sides of the vehicle front image, and image feature data of each grid region is formed by recognizing the image features in each grid region.
The continuous image characteristics of the comparison between the collected current vehicle front image and the stored previous vehicle front image are specifically as follows: and C, comparing the image characteristics of the left and right 5 grid areas corresponding to the current vehicle front image and the previous vehicle front image, if the number of the grid areas which are compared to be consistent is more than or equal to 5, indicating that more than half of the images on the two sides of the vehicle are not changed, judging that the current vehicle is in a static state, and executing the step C.
On the other hand, when the characteristics of the continuous images of the collected current vehicle front image and the stored previous vehicle front image are not consistent, the step A is returned. Specifically, the above means may be stated as that if the number of the compared and consistent grid areas is less than 5, it is determined that the current vehicle is not in a stopped state, and the step a is returned to continue to acquire the image in front of the current vehicle for a new round of determination.
C. And D, extracting the feature of the front vehicle outline image in the front vehicle image, respectively calculating the image area occupied by the feature of the front vehicle outline image in the front vehicle image and the stored front vehicle image, and comparing the image area occupied by the feature of the front vehicle outline image in the front vehicle image and the stored front vehicle image, and if the feature area of the front vehicle outline image in the front vehicle image is smaller than the feature area of the front vehicle outline image in the front vehicle image, executing the step D.
The image area occupied by the front vehicle profile image features in the vehicle front image is specifically as follows: recognizing the characteristic edge of the front vehicle outline image in the vehicle front image, setting and acquiring the area size of the minimum rectangle sleeved on the characteristic edge of the front vehicle outline image, calculating the edge of the recognized front vehicle outline image characteristic as shown in fig. 1, thereby obtaining a rectangle inscribed in the front vehicle outline image, and calculating the area of the rectangle. And D, comparing the corresponding rectangular areas of the front images and the rear images of the vehicle to obtain the state change condition of the vehicle in front of the vehicle, and if the rectangular area calculated by the current image in front of the vehicle is smaller than the rectangular area of the image in front of the previous vehicle, indicating that the vehicle in front of the vehicle has moved, and executing the step D.
And if the characteristic area of the vehicle contour image in front of the current vehicle is equal to the characteristic area of the vehicle contour image in front of the previous vehicle, returning to the step A. That is, the area of the rectangle calculated from the current image in front of the vehicle is equal to the area of the rectangle in the previous image in front of the vehicle, which indicates that the vehicle in front of the vehicle does not move, and the method returns to step a to continue monitoring the vehicle in front of the vehicle.
D. And starting a reminding device to remind a driver of the vehicle.
The driver can timely know that the front vehicle moves through reminding and timely react, so that the situation that the driver is confused and operates after being whistled and urged is avoided, even accidents are caused, and the driving experience of the user is improved.
In a preferred embodiment, the reminding device comprises a buzzer and a voice prompt device.
The intelligent reminding system for vehicle following shown in fig. 2 is characterized in that the system comprises:
the acquisition and storage module 310: the system is used for periodically acquiring and storing images in front of the vehicle through a camera arranged on the vehicle. In detail, see step A
The processing module 320: the method is used for processing the collected image in front of the vehicle, extracting continuous image characteristics of the left edge part and the right edge part in the image in front of the vehicle and extracting front vehicle outline image characteristics in the image in front of the vehicle, and details are shown in step B.
The comparison module 330: and C, comparing the continuous image characteristics of the acquired current image in front of the vehicle with the stored image in front of the previous vehicle, and calculating and comparing the image area occupied by the front vehicle outline image characteristics in the current image in front of the vehicle and the stored image in front of the previous vehicle, wherein the detailed description is shown in the step C.
The execution module 340: and the reminding device is used for starting the reminding device to remind the driver of the vehicle according to the comparison result of the comparison module.
The invention provides an intelligent reminding method and system for vehicle following, which can automatically judge the current vehicle condition according to the front vehicle condition in the stop state of the vehicle and intelligently remind a driver so that the driver can make vehicle starting operation in advance, thereby avoiding the situation of hasty starting caused by forgetting to observe the vehicle by the driver and improving the driving experience of the driver.
It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the scope of the appended claims.
Claims (7)
1. The intelligent reminding method for vehicle following is characterized by comprising the following steps:
A. periodically acquiring and storing images in front of the vehicle through a camera arranged on the vehicle;
B. processing the collected image in front of the vehicle, extracting the continuous image characteristics of the left edge part and the right edge part in the image in front of the vehicle, comparing the collected current image in front of the vehicle with the stored continuous image characteristics of the image in front of the previous vehicle, and executing the step C if the comparison is consistent;
C. extracting the feature of the front vehicle outline image in the front vehicle image, respectively calculating the image area occupied by the feature of the front vehicle outline image in the front vehicle image and the stored front vehicle image, and comparing the image area occupied by the feature of the front vehicle outline image in the front vehicle image with the image area occupied by the feature of the front vehicle outline image in the stored front vehicle image, if the feature area of the front vehicle outline image in the front vehicle image is smaller than the feature area of the front vehicle outline image in the front vehicle image, executing the step D;
D. starting a reminding device to remind a driver of the vehicle;
the method for extracting the continuous image characteristics of the left edge part and the right edge part in the image in front of the vehicle specifically comprises the following steps: dividing 5 grid areas with 100 pixels by 100 pixels along the left edge and the right edge of an image in front of the vehicle respectively, and extracting image features in each grid area by using an image recognition technology to form continuous image features;
the comparison of the collected current vehicle front image and the stored continuous image characteristics of the previous vehicle front image is specifically as follows: and C, comparing the image characteristics of the left and right 5 grid areas corresponding to the current vehicle front image and the previous vehicle front image, and executing the step C if the number of the grid areas which are consistent in comparison is not less than 5.
2. The intelligent reminding method for vehicle following according to claim 1, wherein the camera is arranged in the middle of a front windshield of the vehicle.
3. The intelligent reminding method for vehicle following according to claim 1, wherein when the characteristics of the continuous images of the current image in front of the vehicle and the stored previous image in front of the vehicle are not consistent, the step A is returned.
4. The intelligent reminding method for vehicle following according to claim 1, wherein the image area occupied by the front vehicle outline image features in the vehicle front image is specifically as follows: identifying the characteristic edge of the front vehicle outline image in the front vehicle image, and setting and acquiring the area size of the minimum rectangle sleeved on the characteristic edge of the front vehicle outline image.
5. The intelligent reminding method for vehicle following according to claim 1, wherein in the step C, if the feature area of the front vehicle outline image of the current front vehicle image is equal to the feature area of the front vehicle outline image in the previous front vehicle image, the step a is returned.
6. The intelligent reminding method for vehicle following according to claim 1, wherein the reminding device comprises a buzzer and a voice reminding device.
7. The utility model provides a vehicle is with car intelligence warning system which characterized in that, the system includes:
the acquisition and storage module: the system comprises a camera, a camera and a display, wherein the camera is used for periodically acquiring and storing images in front of a vehicle;
a processing module: the system comprises a front image acquisition unit, a front image acquisition unit and a front image acquisition unit, wherein the front image acquisition unit is used for acquiring a front image of a vehicle, extracting continuous image characteristics of left and right edge parts in the front image of the vehicle and extracting front vehicle contour image characteristics in the front image of the vehicle;
a comparison module: the system comprises a front image acquisition unit, a front image acquisition unit and a front image acquisition unit, wherein the front image acquisition unit is used for acquiring a front image of a current vehicle and a stored front image of the;
an execution module: the reminding device is started to remind a driver of the vehicle according to the comparison result of the comparison module;
the intelligent vehicle following reminding system is used for executing the intelligent vehicle following reminding method of any one of claims 1 to 5.
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| CN110717361A (en) * | 2018-07-13 | 2020-01-21 | 长沙智能驾驶研究院有限公司 | Vehicle parking detection method, preceding vehicle start reminding method and storage medium |
| CN110415530A (en) * | 2019-06-10 | 2019-11-05 | 许超贤 | A kind of intelligent internet traffic control system method |
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| JP2002319091A (en) * | 2001-04-20 | 2002-10-31 | Fuji Heavy Ind Ltd | Device for recognizing following vehicle |
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| JP2011207426A (en) * | 2010-03-30 | 2011-10-20 | Fuji Heavy Ind Ltd | Driving support apparatus for vehicle |
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| CN104827968A (en) * | 2015-04-08 | 2015-08-12 | 上海交通大学 | Android-based low-cost waiting driving reminding system |
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