CN107539127B - 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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- CN107539127B CN107539127B CN201710674140.0A CN201710674140A CN107539127B CN 107539127 B CN107539127 B CN 107539127B CN 201710674140 A CN201710674140 A CN 201710674140A CN 107539127 B CN107539127 B CN 107539127B
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Abstract
The present invention provides a kind of control method of auxiliary system based on image brightness identification safe speed, includes 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 being arranged 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, then the average luminance value of instant pavement image is obtained by the ECU, the ECU compares the instant road surface average luminance value with each road surface average luminance threshold value, obtains the corresponding safety speed-limit value in the instant road surface；S3: it is travelled in corresponding safety speed-limit according to the instant affiliated weather control automobile in road surface.
Description
Technical field
The present invention relates to limiting vehicle speed field more particularly to a kind of control methods based on image brightness identification safe speed
And its system.
Background technique
Traffic accident all accounts for 30 or more the percent of population unusual death rate all the time.
Traffic accident ratio especially caused by the road surface slippery situation because of caused by the weather reason such as rainy day, snowy day is even more prominent
Out；Even if driver's driving vehicle within the scope of the speed limit of notice plate prompt by the road, also can cause to hand over because of road surface slippery situation factor
Interpreter's event.
How the instant surface conditions of vehicle driving are directed to, and carrying out vehicle safety speed limit has been in urgent problem to be solved.
Summary of the invention
It is an object of the invention to overcome the shortcomings of the prior art, provide a kind of based on image brightness identification accident-free vehicle
The control method of the auxiliary system of speed, includes the following steps
S1: setting light rain road surface average luminance threshold value, moderate rain road surface average luminance threshold value, heavy rain road surface are flat inside ECU
Equal 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, ice
Freeze road surface average threshold；Wherein, each average luminance threshold value is corresponding with the safety speed-limit value of automobile；
S2: obtaining instant pavement image by camera, and the average brightness of instant pavement image is then obtained by the ECU
Angle value, the ECU compare the instant road surface average luminance value with each road surface average luminance threshold value, obtain the instant road surface
Corresponding safety speed-limit value；
S3: it is travelled in corresponding safety speed-limit according to the instant affiliated weather control automobile in road surface.
As a further improvement, the instant road surface average luminance value range on the light rain road surface is 70-80cd/m2, it is described
The instant road surface average luminance value range on moderate rain road surface is 60-69cd/m2, the heavy rain road surface instant road surface average luminance value
Range is 50-59cd/m2；
The instant road surface average luminance value range on the slight snow road surface is 230-240cd/m2, the moderate snow road surface it is instant
Road surface average luminance value range is 220-239cd/m2, the heavy snow road surface instant road surface average luminance value range be 210-
219cd/m2；
The instant road surface average luminance value range 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
Safety speed-limit the max speed 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 traveling, includes: in full speed limit
S31: when the Vehicle Speed is higher than the safety speed-limit on the instant road surface, prompt tone is sounded an alarm, institute
Stating the alarm sounds sound duration is 10S-15S.
As a further improvement, further comprising after step S31:
S32 detects the safety the limit whether car speed is lower than the instant road surface when the alarm sounds sound terminates
Speed, if it is not, the oil circuit output quantity that the vehicle braking brake is adjusted by the ECU, reduces 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 obtains instant pavement image by the camera, then passes through effective field of view range estimation formula, rotation
The camera adjusts effective field of view distance, changes the imaging of the instant pavement image；
Wherein, D indicates the effective field of view distance of the camera；H indicates camera at a distance from instant road surface；δ is indicated
The angle of the camera sight orthographic projection line on the instant road surface and the camera sight；θ indicates the camera shooting
The angle of sight and the instant road surface vertical line；
A indicates that the angle in blind area line of demarcation and the instant road surface vertical line, B indicate that the blind area line of demarcation exists
The angle of orthographic projection line and the blind area line of demarcation on the instant road surface.
As a further improvement, the range of the H is 30-200cm, the range of the δ is 15 ° -35 °, the range of the θ
It is 55 ° -75 °；The value range of the A is 0 ° -35 ° and the value range of the B is 55 ° -75 °.
As a further improvement, the range of the δ is 25 ° -30 °, the range of the θ is 60 ° -70 °；The value of the A
Range is 20 ° -30 ° and the value range 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 prestored in instant road surface brightness value and ECU that the present invention is obtained by camera
Value compares, and obtains the safety speed-limit of instant road surface weather, then carry out speed limit adjusting by ECU, reduces vehicle and do not going the same way
Because of the accident rate caused by factors such as skid in the case of face.
2. instant pavement image caused by the present invention, reducing by adjusting the angle of camera because of objective hardware factor
Show unclear, reference value reduction the case where leading to error in judgement；In conjunction with effective field of view Distance Judgment formula to age camera
Angle is adjusted, and improves the precision of instant road surface judgement.
Detailed description of the invention
Fig. 1 is a kind of overall procedure of the control method for the auxiliary 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 auxiliary 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 auxiliary 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
Specific embodiment
To keep the purposes, technical schemes and advantages of embodiment of the present invention clearer, implement below in conjunction with the present invention
The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality
The mode of applying is some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
Domain those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention
The range of protection.Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit below and is wanted
The scope of the present invention of protection is sought, but is merely representative of selected embodiment of the invention.Based on the embodiment in the present invention,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts belongs to this
Invent the range of protection.
In the description of the present invention, it is to be understood that, the orientation or positional relationship of the instructions such as term " on ", "lower" is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified equipment or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It 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.
If Fig. 1-is shown, a kind of control method of the auxiliary system based on image brightness identification safe speed, including it is following
Step:
S1: setting light rain road surface average luminance threshold value, moderate rain road surface average luminance threshold value, heavy rain road surface are flat inside ECU
Equal 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, ice
Freeze road surface average threshold；Wherein, each average luminance threshold value is corresponding with the safety speed-limit value of automobile；It is different by setting seven
Average gray threshold value, the average luminance threshold reference as the instant road surface.
S2: obtaining instant pavement image by camera, and the average brightness of instant pavement image is then obtained by the ECU
Angle value, the ECU compare the instant road surface average luminance value 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
The coefficient of friction of tire is lower than the coefficient of friction of the snowy day road surface and vehicle tyre, the coefficient of friction on snowy day road surface and vehicle tyre
Lower than the coefficient of friction on the rainy day road surface and vehicle tyre, for for the road surface speed limit under different situations, in each situation
Road surface is designed with specific safety speed-limit value.
S3: it is travelled in corresponding safety speed-limit according to the instant affiliated weather control automobile in road surface.
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
Luminance 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 average
Brightness value range is 70-80cd/m2, the instant road surface average luminance value range under the moderate rain weather condition be 60-69cd/m2、
The instant road surface average luminance value range 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 range be 230-240cd/m2, instant road surface average luminance under the moderate snow weather condition
Value range is 220-239cd/m2, the instant road surface average luminance value range under the heavy snow weather condition be 210-219cd/m2；
Instant road surface average luminance value range 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 preferred 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 will form accumulated snow when rain or snow fall to road surface and ponding degree when ponding, different weather with
Accumulated snow degree is not also identical, 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 where freezing road surface, what is directly contacted with vehicle is the frost being covered on road surface, the coefficient of friction polar region of tire and frost,
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 the instant road surface, prompt tone is sounded an alarm, institute
Stating the alarm sounds sound duration is 10S-15S.
The duration of the alarm sounds sound can make driver generate anxiety, shadow in view of prolonged prompt tone
Normal driving and judgement are rung, therefore sets the alarm sounds sound duration as 10S-15S.
After step S31, further comprise: whether S32 detects the car speed when the alarm sounds sound terminates
Lower than the safety speed-limit on the instant road surface, if it is not, the ECU adjusts the vehicle braking brake by vehicle CAN bus, subtracts
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 obtains instant pavement image by the camera, then passes through effective field of view range estimation formula, rotation
The camera adjusts effective field of view distance, changes the imaging of the instant pavement image；
Wherein, D indicates the effective field of view distance of the camera；H indicates camera at a distance from instant road surface；δ is indicated
The angle of the camera sight orthographic projection line on the instant road surface and the camera sight；θ indicates the camera shooting
The angle of sight and the instant road surface vertical line；
A indicates that the angle in blind area line of demarcation and the instant road surface vertical line, B indicate that the blind area line of demarcation exists
The angle of orthographic projection line and the blind area line of demarcation on the instant road surface.
The judgement of the visual field distance allows for, and is influenced by difference in height between camera and ground, the road surface
There are scaling relationships with practical road surface for the picture of image, and (camera is closer from the ground, the pavement image picture and reality
The ratio on road surface is smaller, and vice versa), and this difference in height certainly exists, camera can not be complete with the road surface
Fitting；
It is originally immediately any in road surface in the case where the pavement image ratio strength road surface scale smaller relatively
1M2Luminance average value, become any 1cm in instant road surface in picture2Luminance average value (the above 1M2、1cm2Ratio
Relationship only assumes that)；
In pre-entering system, seven kinds of weather road surface luminance threshold values are to have taken into consideration in road surface to have ponding or product
Avenge the brightness value of non-ponding in the brightness value and road surface of part, non-accumulated snow part, the threshold value averagely obtained by mass data；
The difference of ratio is excessive, leads to originally the average value of certain region luminance 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 and each road surface average luminance threshold value compare is very
Greatly, the present embodiment adjusts the effective field of view distance of camera by the relationship of searching H and δ, the mistake for judging different weather road surface
Rate is in 5%-10% or less.
In view of in actual conditions, because actual vehicle chassis height is different, the position of camera setting is different, the parameter of H
Difference, the range of the H are 30-200cm；
Under conditions of parameter H is fixed value, the angle of δ crosses conference and makes instant pavement image 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 where 70Km/h, if even if road surface
The instant road surface of front side 5M is only presented in image, very low with reference to degree to the analysis degree on instant road surface；And the angle too small meeting of θ
So that pavement image is excessive immediately, it will lead to that above-mentioned " difference of ratio is excessive, leads to originally certain region brightness in road surface immediately
The average value of degree becomes the maximum value of luminance accounting in certain region " the case where, the analysis on instant road surface is comprehensively considered with reference to journey
Degree and proportional difference, the range of the δ are taken as 15 ° -35 °.
As shown in Fig. 2, the θ and the δ be in same right angled triangle, interior angle and be 180 ° removes right angle and δ
The range of the θ is 55 ° -75 ° afterwards；
In existing camera, all there is blind area in addition to the camera of 360 ° of angle shots, illustrate here
Illustrate, such as speed even if the instant road surface of front side 5M should be presented in pavement image, but considers view in the case where 70Km/h
The instant road surface of 5M should theoretically be presented originally, can further reduce for the disturbing factor of wild blind area.
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, obtains the effective field of view distance for fitting well on actual conditions, and the value range of the A is 0 ° -35 °；The value of the corresponding B
Range is 55 ° -75 °.
It is tested in conjunction with big data, fully considers that the range of δ described in proportional difference factor and instant pavement image size is excellent
25 ° -30 ° are selected as, the range of the corresponding θ is 60 ° -70 °；
For the reduction blind area bring annoyance level, increase the range of effective field of view distance, the preferred A's
Value range is 20 ° -30 °, and the value range of the corresponding B is 60 ° -70 °.
A kind of traffic safety control system, the traffic safety control system is able to carry out above-mentioned control method, to reach
To the purpose of the safe driving in different weather.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (8)
1. a kind of control method of the auxiliary system based on image brightness identification safe speed, it is characterised in that: including following step
Suddenly
S1: light rain road surface average luminance threshold value is set inside ECU, moderate rain road surface average luminance threshold value, heavy rain road surface are averaged brightness
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 instant road surface average luminance value with each road surface average luminance threshold value, obtain the instant road surface pair
The safety speed-limit value answered；
Wherein, in step s 2: described the step of obtaining instant pavement image by camera includes:
Instant pavement image is obtained by the camera, then by effective field of view range estimation formula, rotates the camera shooting
Head adjusts effective field of view distance, changes the imaging of the instant pavement image；
D=Hs i n θ/s i n δ-Hs i nA/s i nB,
Wherein, D indicates the effective field of view distance of the camera；H indicates camera at a distance from instant road surface；Described in δ expression
The angle of camera sight the orthographic projection line on the instant road surface and the camera sight；θ indicates the camera shooting sight
With the angle of the instant road surface vertical line；
A indicates that the angle in blind area line of demarcation and the instant road surface vertical line, B indicate the blind area line of demarcation instant
The angle of orthographic projection line and the blind area line of demarcation on road surface；
S3: it is travelled in corresponding safety speed-limit according to the instant affiliated weather control automobile in road surface.
2. the control method of the auxiliary system according to claim 1 based on image brightness identification safe speed, feature
It is:
The instant road surface average luminance value range on the light rain road surface is 70-80cd/m2, the instant road surface on the moderate rain road surface it is flat
Equal brightness value range is 60-69cd/m2, the heavy rain road surface instant road surface average luminance value range be 50-59cd/m2；
The instant road surface average luminance value range on the slight snow road surface is 230-240cd/m2, the moderate snow road surface instant road surface
Average luminance value range is 220-239cd/m2, the heavy snow road surface instant road surface average luminance value range be 210-219cd/
m2；
The instant road surface average luminance value range on the frost road surface is 240-280cd/m2。
3. the control method of the auxiliary system according to claim 1 based on image brightness identification safe speed, 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 auxiliary system according to claim 1 based on image brightness identification safe speed, feature
It is, in step s3, the affiliated weather in the instant road surface of basis controls the step of automobile travels in corresponding safety speed-limit
Include:
S31: when Vehicle Speed is higher than the safety speed-limit on the instant road surface, prompt tone is sounded an alarm, the alarm mentions
Show that the sound duration is 10S-15S.
5. the control method of the auxiliary system according to claim 4 based on image brightness identification safe speed, feature
It is, after step S31, further comprises:
S32 detects the safety speed-limit whether car speed is lower than the instant road surface when the alarm sounds sound terminates,
If it is not, the oil circuit output quantity that the vehicle braking brake is adjusted by the ECU, reduces 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 auxiliary system according to claim 1 based on image brightness identification safe speed, feature
It is:
The range of the H is 30-200cm, and the range of the δ is 15 ° -35 °, and the range of the θ is 55 ° -75 °；The A's takes
Value range is 0 ° -35 ° and the value range of the B is 55 ° -75 °.
7. the control method of the auxiliary system according to claim 6 based on image brightness identification safe speed, feature
It is:
The range of the δ is 25 ° -30 °, and the range of the θ is 60 ° -70 °；The value range of the A is 20 ° -30 ° and the B
Value range be 60 ° -70 °.
8. a kind of traffic safety control system, it is characterised in that: the traffic safety control system is able to carry out claim 1-7
Described in any item control methods.
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