CN107521339A - A kind of image identification infrared emission judges the control method and its system of safe speed - Google Patents
A kind of image identification infrared emission judges the control method and its system of safe speed Download PDFInfo
- Publication number
- CN107521339A CN107521339A CN201710674143.4A CN201710674143A CN107521339A CN 107521339 A CN107521339 A CN 107521339A CN 201710674143 A CN201710674143 A CN 201710674143A CN 107521339 A CN107521339 A CN 107521339A
- Authority
- CN
- China
- Prior art keywords
- road surface
- instant
- safe speed
- value
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
Abstract
The present invention provides the control method that a kind of image identification infrared emission judges safe speed, it is characterised in that：Comprise the following steps S1：Briliancy critical parameter, infrared critical parameter are set inside ECU；Briliancy critical parameter includes rainy day road surface average luminance threshold value, snowy day road surface average luminance threshold value, frost road surface average luminance threshold value S2：Instant pavement image is obtained by camera, the average luminance value of instant pavement image is then obtained by ECU, ECU compares instant road surface average luminance value and each road surface average luminance threshold value, judges the affiliated weather on instant road surface；S3：The infrared ray average reflection value on instant road surface is obtained by infrared transceiver, is then stored in ECU；S4：ECU passes through safe speed budget formula：(0.6X+0.4Y) * β=K, obtain safe speedMAX；S5：According to the safe speed on instant road surfaceMAXAutomobile is controlled in corresponding safe speedMAXInterior traveling.
Description
Technical field
The present invention relates to limiting vehicle speed field, more particularly to a kind of image identification infrared emission to judge the control of safe speed
Method and its system
Background technology
Traffic accident, more than 30 the percent of population unusual death rate is all accounted for all the time.
Traffic accident ratio especially caused by road surface slippery situation caused by the weather reason such as rainy day, snowy day is even more prominent
Go out；Driver's driving vehicle in the range of the speed limit of road side notice plate prompting, also can cause to hand over because of road surface slippery situation factor
Interpreter's event.
How the instant surface conditions of vehicle traveling are directed to, and it has been in urgent problem to be solved to carry out vehicle safety speed limit.
The content of the invention
It is an object of the invention to overcome the shortcomings of the prior art, there is provided a kind of image identification infrared emission judges peace
The control method of full speed：Comprise the following steps
S1：Briliancy critical parameter, infrared critical parameter are set inside ECU；
The briliancy critical parameter includes rainy day road surface average luminance threshold value, snowy day road surface average luminance threshold value, frost road
Face average luminance threshold value
S2：Instant pavement image is obtained by camera, the average brightness of instant pavement image is then obtained by the ECU
Angle value, the ECU compare the road surface average luminance value immediately with each road surface average luminance threshold value, judge the instant road surface
Affiliated weather；
S3：The infrared ray average reflection value on instant road surface is obtained by infrared transceiver, is then stored in the ECU；
S4：The ECU passes through safe speed budget formula：(0.6X+0.4Y) * β=K, obtain safe speedMAX；
X represents the brightness value that the camera obtains；Y represents the reflection intensity values that the infrared transceiver obtains；β tables
Show safe speed conversion coefficient；K represents safe speedMAX；The span of the β changes with the different road surfaces of judgement, the β
The span is 0.05-0.07；The 0.6 and 0.4 expression brightness value and the reflected intensity account for the safety speed
The weight spent in budget formula.
S5：According to the safe speed on the road surface immediatelyMAXAutomobile is controlled in the corresponding safe speedMAXInterior traveling.
As a further improvement, the instant road surface average luminance value scope on the rainy day road surface is 60-80cd/m2；It is described
The instant road surface average luminance value scope on snowy day road surface is 200-240cd/m2；The instant road surface average luminance on the frost road surface
Value scope is 240-280cd/m2。
As a further improvement, when the instant road surface is determined as rainy day road surface, the value of the β is 0.07；Work as institute
When stating instant road surface and being determined as snowy day road surface, the value of the β is 0.06；When the instant road surface is determined as snowy day road surface,
The value of the β is 0.05.
As a further improvement, in step s 5, the affiliated weather control automobile in the instant road surface of basis is pacified accordingly
The step of being travelled in full speed limit includes：
S51：When safe speed of the Vehicle Speed higher than the road surface immediatelyMAXWhen, alarm sounds sound is sent,
The alarm sounds sound duration is 10S-15S.
As a further improvement, after step S51, further comprise：
S52, when the alarm sounds sound terminates, detect the car speed whether less than the road surface immediately safety limit
Speed, if it is not, adjusting the vehicle braking brake by the ECU, reducing the oil circuit output quantity of the automobile, by the automobile
Speed control is below the Maximum speed limit on the instant road surface.
As a further improvement, in step s 2：Described the step of obtaining instant pavement image by camera, includes：
S21, instant pavement image is obtained by the camera, then by effective field of view range estimation formula, rotated
The camera, effective field of view distance is adjusted, change the imaging of the pavement image immediately；
Wherein, D represents the effective field of view distance of the camera；H represents camera and the distance on instant road surface；δ is represented
The camera sight is in the orthographic projection line on road surface immediately and the angle of the camera sight；θ represents the shooting
Sight and the angle of the road surface vertical line immediately；
A represents blind area line of demarcation and the angle of the road surface vertical line immediately, and B represents that the blind area line of demarcation exists
Immediately the orthographic projection line on road surface and the angle in the blind area line of demarcation.
As a further improvement, the scope of the H is 30-200cm, the scope of the δ is 15 ° -35 °, the scope of the θ
For 55 ° -75 °；The span of the A is 0 ° -35 ° and the span of the B is 55 ° -75 °.
As a further improvement, the scope of the δ is 25 ° -30 °, the scope of the θ is 60 ° -70 °；The value of the A
Scope is 20 ° -30 ° and the span of the B is 60 ° -70 °.
As a further improvement, the infrared transceiver launches infrared ray towards road surface；The direction of the launch of the infrared ray
It is perpendicular with the road surface immediately.
A kind of traffic safety control system, the traffic safety control system are able to carry out any one of claim 1-9 institutes
The control method stated.
Compared to existing, beneficial effects of the present invention are：
Rainy day for being prestored in instant road surface brightness value and ECU that the present invention is obtained by camera, snowy day, frost road surface
Average luminance value contrasts, and obtains the safety speed-limit of instant road surface weather；With reference to far infrared transceiver obtain infrared ray with
Ground return intensity, is judged by image and the combination of infrared ray judgement more accurately obtains surface conditions information, so as to accurate
Obtain the safe speed MAX on instant road surface；Again by ECU carry out speed limit regulation, reduce vehicle under different surface conditions because
The accident rates caused by factor such as skidding.
In the present invention, shown by adjusting angle reduction instant pavement image caused by objective hardware factor of camera
Show unclear, reference value reduces the situation of error in judgement of causing；The brilliance is imaged to age with reference to effective field of view Distance Judgment formula
Degree is adjusted, and improves the precision that instant road surface judges.
Brief description of the drawings
Fig. 1 is the overview flow chart for the control method that a kind of image identification infrared emission of the present invention judges safe speed.
Fig. 2 is that a kind of image identification infrared emission of the present invention judges that the effective field of view distance of the control method of safe speed is sentenced
Determine parameters of formula schematic diagram.
Fig. 3 is that a kind of image identification infrared emission of the present invention judges that the effective field of view distance of the control method of safe speed is sentenced
Determine the schematic diagram of formula combination visual field error parameter.
Component symbol explanation
1 vehicle
2 cameras
3 blind areas line of demarcation
4 camera sights
5 instant road surfaces
6 instant road surface vertical lines
7 infrared transceivers
Embodiment
To make the purpose, technical scheme and advantage of embodiment of the present invention clearer, implement below in conjunction with the present invention
Accompanying drawing in mode, the technical scheme in embodiment of the present invention is clearly and completely described, it is clear that described reality
The mode of applying is a part of embodiment of the present invention, rather than whole embodiments.Embodiment in the present invention, this area are general
The every other embodiment that logical technical staff is obtained under the premise of creative work is not made, belongs to protection of the present invention
Scope.Therefore, the detailed description of the embodiments of the present invention to providing in the accompanying drawings is not intended to limit requirement guarantor below
The scope of the present invention of shield, but it is merely representative of the selected embodiment of the present invention.Embodiment in the present invention, this area are general
The every other embodiment that logical technical staff is obtained under the premise of creative work is not made, belongs to protection of the present invention
Scope.
In the description of the invention, it is to be understood that the orientation or position relationship of the instruction such as term " on ", " under " are attached
Orientation or position relationship shown in figure, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply and be signified
Equipment or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the present invention
Limitation.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
As shown in Figure 1-Figure 3, the present embodiment provides the control method that a kind of image identification infrared emission judges safe speed：
Comprise the following steps
S1：Briliancy critical parameter, infrared critical parameter are set inside ECU；
The briliancy critical parameter includes rainy day road surface average luminance threshold value, snowy day road surface average luminance threshold value, frost road
Face average luminance threshold value；
S2：Instant pavement image is obtained by camera, the average brightness of instant pavement image is then obtained by the ECU
Angle value, the ECU compare the road surface average luminance value immediately with each road surface average luminance threshold value, judge the instant road surface
Affiliated weather；
S3：The infrared ray average reflection value on instant road surface is obtained by infrared transceiver, is then stored in the ECU；
S4：The ECU passes through safe speed budget formula：(0.6X+0.4Y) * β=K, obtain safe speedMAX；
X represents the brightness value that the camera obtains；
Y represents the reflection intensity values that the infrared transceiver obtains, the reflected intensity of infrared ray and the pass of surface conditions
System is as follows：Can intuitively be observed in physical phenomenon, ponding (rainy day, snowy day) and frost road surface when, the reflection of infrared ray
The ratio returned is high, and the molecular structure of ice is more stable, and preferably infrared reflection can be returned compared to ponding road surface；
That is, the reflected intensity for freezing road surface is more than the reflected intensity on ponding road surface.
β represents safe speed conversion coefficient；
K represents safe speedMAX；The span of the β changes with the different road surfaces of judgement, span described in the β
For 0.05-0.07；
The power that the 0.6 and 0.4 expression brightness value and the reflected intensity are accounted in the safe speed budget formula
Weight；In camera in the acquisition of instant pavement image, the judgement of the briliancy average value of ECU road pavements, the calculating of average value is
The ponding area on road surface, and the distribution in each ponding face have been fully taken into account, despite the presence of error, but this average multi-parameter
Its referential of the error amount determined remains above the referential of the data only determined by reflected intensity, so in safety speed
The weight spent in budget formula：Brightness value accounts for 0.6, and reflected intensity accounts for 0.4.
S5：According to the safe speed on the road surface immediatelyMAXAutomobile is controlled in the corresponding safe speedMAXInterior traveling.
In the present embodiment, by setting the average luminance value of different weather, the average luminance as the road surface immediately
Threshold reference；Immediately the average luminance value of the road surface average luminance threshold value and the different weather of the ECU preset in advance is made
Compare, determine the weather on the road surface immediately；Safe speed conversion coefficient β is obtained, it is public combining safe speed budget
Formula obtains safe speedMAX, on the basis of the image obtained by camera is identified, set up infrared transceiver so
Second sense organ reference device, reduce the inaccuracy because judging when only obtaining information by instant pavement image.
Here the idea of setting up of the second sense organ reference device is illustrated：
E.g. people is perceived when certain things is perceived by tactile, the sense of hearing, vision, smell, can be to thing
Thing progress is more objective comprehensively to be understood；The idea of the present embodiment is exactly to set up infrared external reflection so on the basis of influenceing to recognize
Tactile, extraneous surface conditions immediately are more accurately judged with reference to multi-dimensional data, obtain accurate safe speedMAX。
To lift the operating efficiency of infrared transceiver, reducing infrared ray, infrared light beam can not be whole during collecting
There is the problem of error in the parameter that reclaiming causes to obtain, it is preferred that infrared transceiver is arranged on vehicle bottom, the infrared ray
The direction of the launch and the road surface immediately are perpendicular.
By being detected to the mass data on different weather road surface, the average value of different weather road surface briliancy is obtained；Specific number
According to as follows, the instant road surface average luminance value scope on the rainy day road surface is 60-80cd/m2；The instant road on the snowy day road surface
Face average luminance value scope is 200-240cd/m2；The instant road surface average luminance value scope on the frost road surface is 240-
280cd/m2。
In safe speed formula, parameter beta, it can change with the difference of weather condition described in instant road surface, fully examine
The transformation of different weather surface friction coefficient is considered, such as rainy weather road surface has the debris such as silt increase frictional force；
By above-mentioned parameter beta variation phenomenon, preferably go out the parameter beta value on most suitable each road surface：
When the instant road surface is determined as rainy day road surface, the value of the β is 0.07；When the road surface immediately is determined as
During snowy day road surface, the value of the β is 0.06；When the instant road surface is determined as snowy day road surface, the value of the β is
0.05。
After safe speed MAX determinations, to ensure driving safety, it is necessary to further be regulated and controled to speed, at this
In the step S5 of embodiment, the step of affiliated weather control automobile in the instant road surface of basis travels in corresponding safe speed
Further comprise S51 and S52,
Specifically：
S51：When safe speed of the Vehicle Speed higher than the road surface immediatelyMAXWhen, alarm sounds sound is sent,
The alarm sounds sound duration is 10S-15S.
Overspeed prompting is carried out to driver in advance, gives driver's certain reaction time, while in view of the hypervelocity time
Longer, the probability for accident occur also accordingly increases, therefore sets the duration of prompt tone as 10S-15S.
S52, when the alarm sounds sound terminates, detect the car speed whether less than the road surface immediately safety speed
Degree, if it is not, adjusting the vehicle braking brake by the ECU, reducing the oil circuit output quantity of the automobile, by the automobile
Speed control is below the Maximum speed limit on the instant road surface.In the CAN of vehicle, ECU leads to ECU in the present embodiment
CAN is crossed braking brake, automobile oil-way output quantity is adjusted.
In the present embodiment, the accuracy of safe speed is improved by setting up the parameter of infrared reflection intensity；
In order to more accurately judge the accuracy of safe speed, the present embodiment also by rotating camera angle, reduces briliancy and identified
Error in journey, specifically in step s 2：Described the step of obtaining instant pavement image by camera, includes：
S21, instant pavement image is obtained by the camera, then by effective field of view range estimation formula, rotated
The camera, effective field of view distance is adjusted, change the imaging of the pavement image immediately；
Wherein, D represents the effective field of view distance of the camera；H represents camera and the distance on instant road surface；δ is represented
The camera sight is in the orthographic projection line on road surface immediately and the angle of the camera sight；θ represents the shooting
Sight and the angle of the road surface vertical line immediately；
A represents blind area line of demarcation and the angle of the road surface vertical line immediately, and B represents that the blind area line of demarcation exists
Immediately the orthographic projection line on road surface and the angle in the blind area line of demarcation.
The judgement of the visual field distance allows for, and is influenceed by difference in height between camera and ground, the road surface
There is scaling relation in the picture of image, (camera is nearer from the ground, the pavement image picture and reality with actual road surface
The ratio on road surface is smaller, and vice versa), and this difference in height certainly exists, camera can not possibly be complete with the road surface
Fitting；
It is originally immediately any in road surface in the case of the relatively described strength road surface scale smaller of the pavement image ratio
1M2Briliancy average value, become any 1cm in instant road surface in picture2Briliancy average value (above 1M2、1cm2Ratio
Relation only assumes that)；
Seven kinds of weather road surface briliancy threshold values, it is to have taken into consideration in road surface to have ponding or product in system is pre-entered
Non- ponding, the brightness value of non-accumulated snow part in the brightness value of snow part and road surface, the threshold value averagely drawn by mass data；
The difference of ratio is excessive, causes originally the average value of certain region briliancy in road surface immediately, becomes brightness in certain region
Spend the maximum value of accounting.Cause in S2, the error that instant road surface average luminance value compares with each road surface average luminance threshold value is very
Greatly, the present embodiment adjusts the effective field of view distance of camera, the mistake for judging different weather road surface by finding H and δ relation
Rate is in below 5%-10%.
In view of in actual conditions, because actual vehicle chassis height is different, the position that camera is set is different, H parameter
Difference, the scope of the H is 30-200cm；
Under conditions of parameter H is fixed value, δ angle crosses conference and make it that instant pavement image is too small, in vehicle high-speed
The surface conditions in front can not be accurately prejudged during traveling, such as speed is in the case of 70Km/h, if even if road surface
Front side 5M instant road surface is only presented in image, and the analysis degree to instant road surface is very low with reference to degree；And θ angle too small meeting
So that pavement image is excessive immediately, it may result in that above-mentioned " difference of ratio is excessive, causes originally certain region brightness in road surface immediately
The situation of the average value of degree, the value for becoming briliancy accounting maximum in certain region ", the analysis for considering instant road surface refer to journey
Degree and proportional difference, the scope of the δ are taken as 15 ° -35 °.
As shown in Fig. 2 the θ and the δ be in same right angled triangle, its interior angle and for 180 ° removes right angle and δ
The scope of the θ is 55 ° -75 ° afterwards；
In existing camera, blind area in addition to the camera of 360 ° of angle shots all be present, illustrated here
Illustrate, such as speed even if front side 5M instant road surface should be presented in pavement image, but is considered to regard in the case of 70Km/h
The disturbing factor of wild blind area, 5M instant road surface should be presented in theory originally, can further reduce.
In view of the disturbing factor of blind area, blind area is also classified as effective ginseng of visual field range estimation by the present embodiment
Number, obtain fitting well on the effective field of view distance of actual conditions, the span of the A is 0 ° -35 °；Corresponding B value
Scope is 55 ° -75 °.
Tested with reference to big data, take into full account that the scope of δ described in proportional difference factor and instant pavement image size is excellent
Elect 25 ° -30 ° as, corresponding θ scope is 60 ° -70 °；
To reduce the annoyance level that the blind area is brought, increase the scope of effective field of view distance, the preferable A's
Span is 20 ° -30 °, and corresponding B span is 60 ° -70 °.
The present embodiment also provides a kind of traffic safety control system：The traffic safety control system is able to carry out above-mentioned
Control method.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements done etc., should be included within the scope of protection of the invention with principle.
Claims (10)
1. a kind of image identification infrared emission judges the control method of safe speed, it is characterised in that：Comprise the following steps
S1：Briliancy critical parameter, infrared critical parameter are set inside ECU；
The briliancy critical parameter is put down including rainy day road surface average luminance threshold value, snowy day road surface average luminance threshold value, frost road surface
Equal briliancy threshold value
S2：Instant pavement image is obtained by camera, the average luminance of instant pavement image is then obtained by the ECU
Value, the ECU compare the road surface average luminance value immediately with each road surface average luminance threshold value, judge the road surface immediately
Affiliated weather；
S3：The infrared ray average reflection value on instant road surface is obtained by infrared transceiver, is then stored in the ECU；
S4：The ECU passes through safe speed budget formula：(0.6X+0.4Y) * β=K, obtain safe speedMAX；
X represents the brightness value that the camera obtains；Y represents the reflection intensity values that the infrared transceiver obtains；β represents peace
Full speed conversion coefficient；K represents safe speedMAX；The span of the β changes with the different road surfaces of judgement, described in the β
Span is 0.05-0.07；It is pre- that the 0.6 and 0.4 expression brightness value and the reflected intensity account for the safe speed
Calculate the weight in formula.
S5：According to the safe speed on the road surface immediatelyMAXAutomobile is controlled in the corresponding safe speedMAXInterior traveling.
2. image identification infrared emission according to claim 1 judges the control method of safe speed, it is characterised in that：
The instant road surface average luminance value scope on the rainy day road surface is 60-80cd/m2；Put down on the instant road surface on the snowy day road surface
Equal brightness value scope is 200-240cd/m2；The instant road surface average luminance value scope on the frost road surface is 240-280cd/m2。
3. image identification infrared emission according to claim 1 judges the control method of safe speed, it is characterised in that：
When the instant road surface is determined as rainy day road surface, the value of the β is 0.07；When the road surface immediately is determined as snowy day
During road surface, the value of the β is 0.06；When the instant road surface is determined as snowy day road surface, the value of the β is 0.05.
4. image identification infrared emission according to claim 1 judges the control method of safe speed, it is characterised in that：
In step s 5, the step of affiliated weather control automobile in the instant road surface of the basis travels in corresponding safety speed-limit is wrapped
Include：
S51：When safe speed of the Vehicle Speed higher than the road surface immediatelyMAXWhen, send alarm sounds sound, the alarm
The prompt tone duration is 10S-15S.
5. image identification infrared emission according to claim 4 judges the control method of safe speed, it is characterised in that：
After step S51, further comprise：
S52, when the alarm sounds sound terminates, detect the car speed whether less than the road surface immediately safety speed-limit,
If it is not, the vehicle braking brake is adjusted by the ECU, reduces the oil circuit output quantity of the automobile, by the speed of the automobile
Degree control is below the Maximum speed limit on the instant road surface.
6. image identification infrared emission according to claim 1 judges the control method of safe speed, it is characterised in that
In step S2：Described the step of obtaining instant pavement image by camera, includes：
S21, instant pavement image is obtained by the camera, then by effective field of view range estimation formula, described in rotation
Camera, effective field of view distance is adjusted, change the imaging of the pavement image immediately；
<mrow>
<mi>D</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>H</mi>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mi>&theta;</mi>
</mrow>
<mrow>
<mi>sin</mi>
<mi>&delta;</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<mrow>
<mi>H</mi>
<mi>sin</mi>
<mi>A</mi>
</mrow>
<mrow>
<mi>sin</mi>
<mi>B</mi>
</mrow>
</mfrac>
<mo>,</mo>
</mrow>
Wherein, D represents the effective field of view distance of the camera；H represents camera and the distance on instant road surface；Described in δ is represented
Camera sight is in the orthographic projection line on road surface immediately and the angle of the camera sight；θ represents the shooting sight
With the angle of the road surface vertical line immediately；
A represents blind area line of demarcation and the angle of the road surface vertical line immediately, and B represents the blind area line of demarcation described
Orthographic projection line and the angle in the blind area line of demarcation on instant road surface.
7. image identification infrared emission according to claim 6 judges the control method of safe speed, it is characterised in that：
The scope of the H is 30-200cm, and the scope of the δ is 15 ° -35 °, and the scope of the θ is 55 ° -75 °；The A's takes
Value scope is 0 ° -35 ° and the span of the B is 55 ° -75 °.
8. image identification infrared emission according to claim 7 judges the control method of safe speed, it is characterised in that：
The scope of the δ is 25 ° -30 °, and the scope of the θ is 60 ° -70 °；The span of the A is 20 ° -30 ° and the B
Span be 60 ° -70 °.
9. image identification infrared emission according to claim 1 judges the control method of safe speed, it is characterised in that：
The infrared transceiver launches infrared ray towards road surface；The direction of the launch of the infrared ray is mutually hung down with the road surface immediately
Directly.
A kind of 10. traffic safety control system, it is characterised in that：The traffic safety control system is able to carry out claim 1-
Control method described in 9 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710674143.4A CN107521339B (en) | 2017-08-09 | 2017-08-09 | A kind of image identification infrared emission determines the control method and its system of safe speed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710674143.4A CN107521339B (en) | 2017-08-09 | 2017-08-09 | A kind of image identification infrared emission determines the control method and its system of safe speed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107521339A true CN107521339A (en) | 2017-12-29 |
| CN107521339B CN107521339B (en) | 2019-06-07 |
Family
ID=60680939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710674143.4A Active CN107521339B (en) | 2017-08-09 | 2017-08-09 | A kind of image identification infrared emission determines the control method and its system of safe speed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107521339B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008049776A (en) * | 2006-08-23 | 2008-03-06 | Denso Corp | Traveling state monitoring device for vehicle |
| JP2008143508A (en) * | 2006-11-14 | 2008-06-26 | Yuki Center | Road surface status determining method and its device |
| CN103034862A (en) * | 2012-12-14 | 2013-04-10 | 北京诚达交通科技有限公司 | Road snow and rain state automatic identification method based on feature information classification |
| US20140081507A1 (en) * | 2012-09-20 | 2014-03-20 | Google Inc. | Detecting road weather conditions |
| CN104061937A (en) * | 2013-03-20 | 2014-09-24 | 厦门歌乐电子企业有限公司 | Vehicle-mounted device prompting information based on pavement behaviors |
| CN106394513A (en) * | 2016-09-28 | 2017-02-15 | 鄂尔多斯市普渡科技有限公司 | Traveling device and strategy for driverless vehicle in rainy and snowy weather |
-
2017
- 2017-08-09 CN CN201710674143.4A patent/CN107521339B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008049776A (en) * | 2006-08-23 | 2008-03-06 | Denso Corp | Traveling state monitoring device for vehicle |
| JP2008143508A (en) * | 2006-11-14 | 2008-06-26 | Yuki Center | Road surface status determining method and its device |
| US20140081507A1 (en) * | 2012-09-20 | 2014-03-20 | Google Inc. | Detecting road weather conditions |
| CN103034862A (en) * | 2012-12-14 | 2013-04-10 | 北京诚达交通科技有限公司 | Road snow and rain state automatic identification method based on feature information classification |
| CN104061937A (en) * | 2013-03-20 | 2014-09-24 | 厦门歌乐电子企业有限公司 | Vehicle-mounted device prompting information based on pavement behaviors |
| CN106394513A (en) * | 2016-09-28 | 2017-02-15 | 鄂尔多斯市普渡科技有限公司 | Traveling device and strategy for driverless vehicle in rainy and snowy weather |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107521339B (en) | 2019-06-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107472253B (en) | A kind of the safe driving control method and its system of image identification detection road surface slippery situation | |
| WO2016066018A1 (en) | Safe visual recognition-based method for standard measurement/calculation of daytime tunnel entrance section illumination, and system thereof | |
| CN105799512B (en) | Overspeed of vehicle based reminding method and system | |
| CN105118316B (en) | The curved road safety speed computational methods and caution system cooperateed with based on bus or train route | |
| CN104670191B (en) | Automatic emergency brake method and apparatus | |
| Gallen et al. | Nighttime visibility analysis and estimation method in the presence of dense fog | |
| DE102004018088B4 (en) | Lane recognition system | |
| CN105922991A (en) | Lane departure early warning method and system based on generation of virtual lane lines | |
| CN107449440A (en) | The display methods and display device for prompt message of driving a vehicle | |
| Gallen et al. | Supporting drivers in keeping safe speed in adverse weather conditions by mitigating the risk level | |
| JP2010515183A (en) | Rider sensor vertical alignment | |
| CN104691545A (en) | Adaptive vehicle anti-collision method | |
| CN104157156A (en) | Vehicle speed dynamic management and early warning method for dangerous section of expressway | |
| CN101936900A (en) | Video-based visibility detecting system | |
| CN113386778B (en) | Method for judging rapid deceleration driving behavior based on vehicle driving track data | |
| CN103909930A (en) | Method for auxiliary control of traveling along with vehicle ahead | |
| EP4120180A1 (en) | Method and device for measuring complexity of vehicle traveling scene | |
| CN112298136B (en) | Driving control method, device and equipment for automatic driving vehicle and readable medium | |
| WO2016091041A1 (en) | Method for performing dynamic evaluation on lighting glare of road by using imaging brightness meter | |
| US10684622B2 (en) | Vehicle dynamics monitor for autonomous vehicle | |
| CN104442827A (en) | Road surface pit detecting method based on smart phone | |
| CN105335729A (en) | Method and system for identifying road visibility based on automobile data recorder | |
| CN109753841A (en) | Lane detection method and apparatus | |
| CN110962927A (en) | Turning control method and device, computer readable storage medium and unmanned aerial vehicle | |
| US20180326983A1 (en) | System and method for controlling mobile warning triangle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 361024 Fujian Xiamen software park three phase 366 Chengyi street 0229 units Applicant after: Xiamen Technology Co., Ltd. Address before: 361000 room 2201-2213, Jimei Road, Jimei District, Xiamen, Fujian, 2201-2213 Applicant before: Xiamen Zongmu Industrial Co. Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |