CN107539127A - A kind of control method and its system based on image brightness identification safe speed - Google Patents
A kind of control method and its system based on image brightness identification safe speed Download PDFInfo
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- CN107539127A CN107539127A CN201710674140.0A CN201710674140A CN107539127A CN 107539127 A CN107539127 A CN 107539127A CN 201710674140 A CN201710674140 A CN 201710674140A CN 107539127 A CN107539127 A CN 107539127A
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Abstract
The present invention provides a kind of control method of the accessory system based on image brightness identification safe speed, comprises the following steps S1：Light rain road surface average luminance threshold value, moderate rain road surface average luminance threshold value, heavy rain road surface average luminance threshold value, slight snow road surface average luminance threshold value, moderate snow road surface average luminance threshold value, heavy snow road surface average luminance threshold value, frost road surface average threshold are set inside ECU；Wherein, each average luminance threshold value is corresponding with the safety speed-limit value of automobile；S2：Instant pavement image is obtained by camera, the average luminance value of instant pavement image is then obtained by the ECU, the ECU compares the road surface average luminance value immediately with each road surface average luminance threshold value, obtains the safety speed-limit value corresponding to road surface immediately；S3：Travelled according to the affiliated weather control automobile in the road surface immediately in corresponding safety speed-limit.
Description
Technical field
The present invention relates to limiting vehicle speed field, more particularly to a kind of control method based on image brightness identification safe speed
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 one kind is based on image brightness identification accident-free vehicle
The control method of the accessory system of speed, comprises the following steps
S1：Light rain road surface average luminance threshold value, moderate rain road surface average luminance threshold value, heavy rain road surface is set to put down inside ECU
Equal briliancy threshold value, slight snow road surface average luminance threshold value, moderate snow road surface average luminance threshold value, heavy snow road surface average luminance threshold value, ice
Freeze road surface average threshold；Wherein, each average luminance threshold value is corresponding with the safety speed-limit value of automobile；
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, obtain the instant road surface
Corresponding safety speed-limit value；
S3：Travelled according to the affiliated weather control automobile in the road surface immediately in corresponding safety speed-limit.
As a further improvement, the instant road surface average luminance value scope on the light rain road surface is 70-80cd/m2, it is described
The instant road surface average luminance value scope on moderate rain road surface is 60-69cd/m2, the heavy rain road surface instant road surface average luminance value
Scope is 50-59cd/m2；
The instant road surface average luminance value scope on the slight snow road surface is 230-240cd/m2, the moderate snow road surface it is instant
Road surface average luminance value scope is 220-239cd/m2, the heavy snow road surface instant road surface average luminance value scope be 210-
219cd/m2；
The instant road surface average luminance value scope on the frost road surface is 240-280cd/m2。
As a further improvement, the max speed of the safety speed-limit on the light rain road surface is 100KM/h；The moderate rain road surface
The max speed of safety speed-limit be 65KM/h；The max speed of the safety speed-limit on the heavy rain road surface is 55KM/h；
The max speed of the safety speed-limit on the slight snow road surface is 80KM/h；The maximum of the safety speed-limit on the moderate snow road surface
Speed is 60KM/h；The max speed of the safety speed-limit on the slight snow road surface is 40KM/h.
The max speed of the safety speed-limit on the frost road surface is 35KM/h.
As a further improvement, in step s3, 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：
S31：When the Vehicle Speed is higher than the safety speed-limit on road surface immediately, alarm sounds sound, institute are sent
It is 10S-15S to state the alarm sounds sound duration.
As a further improvement, after step S31, further comprise：
S32, 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 °.
A kind of traffic safety control system, the traffic safety control system are able to carry out above-mentioned control method.
1. each weather condition average luminance to be prestored in instant road surface brightness value and ECU that the present invention is obtained by camera
Value contrasts, and obtains the safety speed-limit of instant road surface weather, then carries out speed limit regulation by ECU, reduces vehicle and is not going the same way
Because of the accident rate caused by factor such as skid in the case of face.
2. in the present invention, reduce the instant pavement image caused by objective hardware factor by adjusting the angle of camera
Show unclear, reference value reduces the situation of error in judgement of causing；With reference to effective field of view Distance Judgment formula to age camera
Angle is adjusted, and improves the precision that instant road surface judges.
Brief description of the drawings
Fig. 1 is a kind of overall procedure of the control method for the accessory system that safe speed is recognized based on image brightness of the present invention
Figure.
Fig. 2 is a kind of effective field of view of the control method for the accessory system that safe speed is recognized based on image brightness of the present invention
Range estimation parameters of formula schematic diagram.
Fig. 3 is a kind of effective field of view of the control method for the accessory system that safe speed is recognized based on image brightness of the present invention
The schematic diagram of range estimation 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
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.Based on the embodiment in the present invention, ability
The every other embodiment that domain those of ordinary skill is obtained under the premise of creative work is not made, belongs to the present invention
The scope of protection.Therefore, below the detailed description of the embodiments of the present invention to providing in the accompanying drawings be not intended to limit will
The scope of the present invention of protection is sought, but is merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention,
The every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, belong to this
Invent the scope of protection.
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 base
In orientation shown in the drawings or position relationship, description description of the invention and simplified, rather than instruction or hint are for only for ease of
Signified equipment or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this
The limitation of invention.
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.
Such as Fig. 1-shown, a kind of control method of the accessory system based on image brightness identification safe speed, including it is following
Step:
S1：Light rain road surface average luminance threshold value, moderate rain road surface average luminance threshold value, heavy rain road surface is set to put down inside ECU
Equal briliancy threshold value, slight snow road surface average luminance threshold value, moderate snow road surface average luminance threshold value, heavy snow road surface average luminance threshold value, ice
Freeze road surface average threshold；Wherein, each average luminance threshold value is corresponding with the safety speed-limit value of automobile；By set seven it is different
Average gray threshold value, the average luminance threshold reference as the road surface immediately.
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, obtain the instant road surface
Corresponding safety speed-limit value；In view of in the case of different weather, the wet and slippery degree on road surface it is different, such as frost road surface and vehicle wheel
Coefficient of friction of the coefficient of friction of tire less than the coefficient of friction of the snowy day road surface and vehicle tyre, snowy day road surface and vehicle tyre
Less than the rainy day road surface and the coefficient of friction of vehicle tyre, for for the road surface speed limit under different situations, in the case of each
Road surface is designed with specific safety speed-limit value.
S3：Travelled according to the affiliated weather control automobile in the road surface immediately in corresponding safety speed-limit.
By detecting on the spot for a long time, the road surface (such as hill path, highway) of different materials construction is obtained in different weather
Briliancy average value in the case of (for example, snowy day, rainy day, frost), wherein, the instant road surface under the light rain weather condition is averaged
Brightness value scope is 70-80cd/m2, the instant road surface average luminance value scope under the moderate rain weather condition be 60-69cd/m2、
The instant road surface average luminance value scope on the road surface under the heavy rain weather condition is 50-59cd/m2；The slight snow weather condition
Under instant road surface average luminance value scope be 230-240cd/m2, instant road surface average luminance under the moderate snow weather condition
Value scope is 220-239cd/m2, the instant road surface average luminance value scope under the heavy snow weather condition be 210-219cd/m2；
Instant road surface average luminance value scope in the case of the freezing weather is 240-280cd/m2。
The skid level made under surface conditions built by testing tire in different weather, different materials, it is preferable to take out；
The max speed of the safety speed-limit on the light rain road surface is 100KM/h；The safety speed-limit on the moderate rain road surface is most
Big speed is 65KM/h；The max speed of the safety speed-limit on the heavy rain road surface is 55KM/h；
The max speed of the safety speed-limit on the slight snow road surface is 80KM/h；The maximum of the safety speed-limit on the moderate snow road surface
Speed is 60KM/h；The max speed of the safety speed-limit on the slight snow road surface is 40KM/h.
The max speed of the safety speed-limit on the frost road surface is 35KM/h.
In view of can be formed when rain or snow drop to road surface the ponding degree in the case of accumulated snow and ponding, different weather with
Accumulated snow degree also differs, and is divided into 3 grades by rainy weather situation, with the safety speed-limit under snowy day weather condition here.And in ice
In the case of freezing road surface, with vehicle directly contact be the frost that is covered on road surface, tire and frost coefficient of friction polar region,
Classification processing has little significance, so the safety speed-limit for freezing road surface is unified.
In step s3, the step that the affiliated weather control automobile in the instant road surface of the basis travels in corresponding safety speed-limit
Suddenly include：
S31：When the Vehicle Speed is higher than the safety speed-limit on road surface immediately, alarm sounds sound, institute are sent
It is 10S-15S to state the alarm sounds sound duration.
The duration of the alarm sounds sound considers that prolonged prompt tone can make driver produce anxiety, shadow
Normal driving and judgement are rung, therefore sets the alarm sounds sound duration as 10S-15S.
After step S31, further comprise：S32, when the alarm sounds sound terminates, whether detect the car speed
Less than the safety speed-limit on the road surface immediately, if it is not, the ECU adjusts the vehicle braking brake by vehicle CAN bus, subtracted
The oil circuit output quantity of the small automobile, by the speed control of the automobile below the Maximum speed limit on the instant road surface.
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 °.
A kind of traffic safety control system, the traffic safety control system are able to carry out above-mentioned control method, with up to
To the purpose of the safe driving in the case of different weather.
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 (9)
- A kind of 1. control method of the accessory system based on image brightness identification safe speed, it is characterised in that：Including following step SuddenlyS1：Light rain road surface average luminance threshold value, moderate rain road surface average luminance threshold value, the average brightness in heavy rain road surface are set inside ECU Spend threshold value, slight snow road surface average luminance threshold value, moderate snow road surface average luminance threshold value, heavy snow road surface average luminance threshold value, frost road Face average threshold；Wherein, each average luminance threshold value is corresponding with the safety speed-limit value of automobile；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, obtain the road surface pair immediately The safety speed-limit value answered；S3：Travelled according to the affiliated weather control automobile in the road surface immediately in corresponding safety speed-limit.
- 2. the control method of the accessory system according to claim 1 based on image brightness identification safe speed, its feature It is：The instant road surface average luminance value scope on the light rain road surface is 70-80cd/m2, the moderate rain road surface instant road surface put down Equal brightness value scope is 60-69cd/m2, the heavy rain road surface instant road surface average luminance value scope be 50-59cd/m2；The instant road surface average luminance value scope on the slight snow road surface is 230-240cd/m2, the moderate snow road surface instant road surface Average luminance value scope is 220-239cd/m2, the heavy snow road surface instant road surface average luminance value scope be 210-219cd/ m2；The instant road surface average luminance value scope on the frost road surface is 240-280cd/m2。
- 3. the control method of the accessory system according to claim 1 based on image brightness identification safe speed, its feature It is：The max speed of the safety speed-limit on the light rain road surface is 100KM/h；The most cart of the safety speed-limit on the moderate rain road surface Speed is 65KM/h；The max speed of the safety speed-limit on the heavy rain road surface is 55KM/h；The max speed of the safety speed-limit on the slight snow road surface is 80KM/h；The max speed of the safety speed-limit on the moderate snow road surface For 60KM/h；The max speed of the safety speed-limit on the slight snow road surface is 40KM/h；The max speed of the safety speed-limit on the frost road surface is 35KM/h.
- 4. the control method of the accessory system according to claim 1 based on image brightness identification safe speed, its feature It is, in step s3, the step of affiliated weather control automobile in the instant road surface of basis travels in corresponding safety speed-limit Including：S31：When Vehicle Speed is higher than the safety speed-limit on road surface immediately, alarm sounds sound is sent, the alarm carries It is 10S-15S to show the sound duration.
- 5. the control method of the accessory system according to claim 4 based on image brightness identification safe speed, its feature It is, after step S31, further comprises：S32, 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. the control method of the accessory system according to claim 1 based on image brightness identification safe speed, its feature It is, 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, 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 instant Orthographic projection line and the angle in the blind area line of demarcation on road surface.
- 7. the control method of the accessory system according to claim 6 based on image brightness identification safe speed, its feature It is：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. the control method of the accessory system according to claim 7 based on image brightness identification safe speed, its feature It is：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 °.
- A kind of 9. traffic safety control system, it is characterised in that：The traffic safety control system is able to carry out claim 1-8 Control method described in any one.
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| CN107539127B (en) | 2019-06-07 |
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