CN107833492A - A kind of zebra stripes real-time monitoring system based on intelligent driving - Google Patents
A kind of zebra stripes real-time monitoring system based on intelligent driving Download PDFInfo
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- CN107833492A CN107833492A CN201711193370.1A CN201711193370A CN107833492A CN 107833492 A CN107833492 A CN 107833492A CN 201711193370 A CN201711193370 A CN 201711193370A CN 107833492 A CN107833492 A CN 107833492A
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of zebra stripes real-time monitoring system based on intelligent driving, including starting module, gather information of road surface module, image pre-processing module, lane detection module, obtain Image Edge-Detection module, Hough transform track fitting module, lane identification module, lane information module, track parameter acquisition module, deviation judge module, the output end of the starting module is connected with the input of the collection information of road surface module, the output end of the collection information of road surface module is connected with the input of described image pretreatment module, the output end of described image pretreatment module is connected with the input of the lane detection module, the output end of the lane detection module is connected with the input of the acquisition Image Edge-Detection module.Beneficial effect：Prevent automobile from being travelled in violation of rules and regulations on road, reduce the generation of accident, improve the security of driving, ensure the security between vehicle.
Description
Technical field
The present invention relates to Driving Skills field, it particularly relates to which a kind of zebra stripes based on intelligent driving are real-time
Monitoring system.
Background technology
Lane Departure Warning System be it is a kind of aided in by way of alarm driver reduce automobile sent out because of deviation
The system of raw traffic accident.Driver easily produces the phenomenon of run-off-road when being travelled on track at present, if too late
When correction easily crash, serious meeting causes casualty accident so that driver drive when security performance
It is relatively low, it is impossible to find the track of traveling in time.
The problem of in correlation technique, effective solution is not yet proposed at present.
The content of the invention
The problem of in correlation technique, the present invention propose a kind of zebra stripes real-time monitoring system based on intelligent driving,
To overcome the above-mentioned technical problem present in existing correlation technique.
The technical proposal of the invention is realized in this way：
A kind of zebra stripes real-time monitoring system based on intelligent driving, including starting module, collection information of road surface module, image are pre-
Processing module, lane detection module, obtain Image Edge-Detection module, Hough transform track fitting module, lane identification mould
Block, lane information module, track parameter acquisition module, deviation judge module, the output end of the starting module with it is described
Gather the input connection of information of road surface module, the output end and described image pretreatment module of the collection information of road surface module
Input connection, the output end of described image pretreatment module is connected with the input of the lane detection module, the car
The output end of road detection module is connected with the input of the acquisition Image Edge-Detection module, the acquisition Image Edge-Detection
The output end of module is connected with the input of Hough transform track fitting module, Hough transform track fitting module
Output end be connected with the input of the lane identification module, the output end of the lane identification module and the lane information
The input connection of module, the output end of the lane information module are connected with the input of the track parameter acquisition module,
The output end of the track parameter acquisition module is connected with the input of the deviation judge module.
Further, controller is provided with the starting module, and the output end of the collection information of road surface module is led to
The input that imaging sensor is crossed with the controller electrically connects, and controller connection CAN.
Further, man-machine interface prompting module, alarm and steering wheel microseism module are provided with the controller.
Further, the man-machine interface prompting module is connected by LCD prompting devices with driver, and the alarm passes through
Prompting device is connected with driver, and the steering wheel microseism module is connected by electromagnetic shaker with driver.
Further, the lane detection module includes resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, electric capacity
C1, electric capacity C2, electric capacity C3, electric capacity C4, transport and placing device U1, one end of the resistance R1 be connected with the transport and placing device U1 and be grounded and with
One end connection of the resistance R2, the other end of the resistance R1 is connected respectively with the positive pole of the transport and placing device U1 and the electricity
The connection of R5 one end is hindered, the other end of the resistance R2 and the positive pole of power supply are connected and be connected with one end of the transport and placing device U1, institute
The positive pole for stating power supply is connected with one end of the electric capacity C1, and the other end of the electric capacity C1 is connected and connect with electric capacity C2 one end
Ground, the other end of the electric capacity C2 are connected with the negative pole of the transport and placing device U1 and one end of the resistance R4 respectively, the electricity
The one end of the R4 other end respectively with the resistance R5, the resistance R3 and the electric capacity C3 is hindered to be connected, and the electric capacity C3
The other end be connected and be grounded with one end of the electric capacity C4, one end of the resistance R3 and the electric capacity C4 other end connect
Connect.
Further, the collection information of road surface module include resistance R7, resistance R8, resistance R9, electric capacity C5, electric capacity C6,
Transport and placing device U2, diode D1, diode D2, the pin P1 and pin P2 of the controller are grounded, the pin of the controller
P3 and pin P5 is all connected with the positive pole of power supply, and the pin P4 of the controller is connected with one end of the resistance R9, the electricity
The resistance R9 other end is connected with the transport and placing device U2, the both ends of the electric capacity C6 respectively with the pin P6 of the controller and described
The pin P7 connections of controller, the pin P8 ground connection of the controller, the resistance R7 and the electric capacity C5 one end are and institute
State transport and placing device U2 positive pole connection, the resistance R7 and the electric capacity C5 other end are grounded, one end of the resistance R8 with
The negative pole of the transport and placing device U2 is connected and the other end is grounded, and the negative pole of the diode D1 is connected with the positive pole of the transport and placing device,
The plus earth of the diode D1, the positive pole of the diode D2 are connected with the positive pole of the transport and placing device U2, the diode
D2 negative pole ground connection.
Further, the deviation judge module is divided into deviation angle and exceedes police more than prompting module and deviation angle
Accuse module.
Beneficial effects of the present invention：Deviation detection is carried out to automobile by starting module, when the automobile root detected
Judged whether that traveling produces the phenomenon of deviation on track according to the analysis of data, and detected when automobile deviates to driver
Reminded, driver correct after do not start alarm, if detecting vehicle lane departure through prompting still not to
Start alarm if correction, prevent automobile from being travelled in violation of rules and regulations on road, reduce the generation of accident, improve the safety of driving
Property, ensure the security between vehicle.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is that a kind of bus or train route of zebra stripes real-time monitoring system based on intelligent driving according to embodiments of the present invention deviates
Theory diagram；
Fig. 2 is a kind of lane departure warning of zebra stripes real-time monitoring system based on intelligent driving according to embodiments of the present invention
System flow chart；
Fig. 3 is a kind of deviation alarm of zebra stripes real-time monitoring system based on intelligent driving according to embodiments of the present invention
Theory diagram；
Fig. 4 is a kind of track rim detection of zebra stripes real-time monitoring system based on intelligent driving according to embodiments of the present invention
Module circuit diagram；
Fig. 5 is a kind of collection information of road surface of zebra stripes real-time monitoring system based on intelligent driving according to embodiments of the present invention
The circuit diagram of module.
In figure：
1st, starting module；2nd, information of road surface module is gathered；3rd, image pre-processing module；4th, lane detection module；5th, image is obtained
Edge detection module；6th, Hough transform track fitting module；7th, lane identification module；8th, lane information module；9th, track parameter
Acquisition module；10th, deviation judge module；11st, controller；12nd, imaging sensor；13rd, man-machine interface prompting module；14、
Alarm；15th, steering wheel microseism module；16th, LCD prompting devices；17th, prompting device；18th, electromagnetic shaker.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained, belong to what the present invention protected
Scope.
According to an embodiment of the invention, there is provided a kind of zebra stripes real-time monitoring system based on intelligent driving.
As Figure 1-5, a kind of zebra stripes real-time monitoring system based on intelligent driving according to embodiments of the present invention, bag
Include starting module 1, collection information of road surface module 2, image pre-processing module 3, lane detection module 4, acquisition Image Edge-Detection
Module 5, Hough transform track fitting module 6, lane identification module 7, lane information module 8, track parameter acquisition module 9, car
Road deviates judge module 10, and the output end of the starting module 1 is connected with the input of the collection information of road surface module 2, institute
The output end for stating collection information of road surface module 2 is connected with the input of described image pretreatment module 3, described image pretreatment mould
The output end of block 3 is connected with the input of the lane detection module 4, and the output end of the lane detection module 4 obtains with described
The input of Image Edge-Detection module 5 is taken to connect, the output end for obtaining Image Edge-Detection module 5 and the Hough
The input connection of changing Lane fitting module 6, output end and the track of Hough transform track fitting module 6 are known
The input connection of other module 7, the output end of the lane identification module 7 are connected with the input of the lane information module 8,
The output end of the lane information module 8 is connected with the input of the track parameter acquisition module 9, the track parameter acquiring
The output end of module 9 is connected with the input of the deviation judge module 10.
By means of above-mentioned technical proposal, deviation detection is carried out to automobile by starting module 1, when the automobile detected
Judged whether that traveling produces the phenomenon of deviation on track according to the analysis of data, and detected when automobile deviates to driving
Member is reminded, and does not start alarm 14 after driver corrects, if detecting vehicle lane departure by reminding still
Start alarm 14 if not awarding correction, prevent automobile from being travelled in violation of rules and regulations on road, reduce the generation of accident, improve driving
Security, ensure the security between vehicle.
In addition, it is provided with controller in the starting module 1（Controller HM2004-JF02）11, and the collection road surface
The output end of information module 2 passes through imaging sensor 12 and the controller（Controller HM2004-JF02）11 input electricity
Connection, and the controller（Controller HM2004-JF02）11 connection CANs, the controller（Controller HM2004-
JF02）Man-machine interface prompting module 13, alarm 14 and steering wheel microseism module 15 are provided with 11, the man-machine interface is reminded
Module 13 is connected by LCD prompting devices 1716 with driver, and the alarm 14 is connected by prompting device 17 with driver, described
Steering wheel microseism module 15 is connected by electromagnetic shaker 18 with driver, and the deviation judge module 10 divides to be surpassed for deviation angle
Cross prompting module and deviation angle exceedes alert module；It can pass through when detecting running car and deviateing on track
Driver is reminded in the man-machine interface prompting module 13 of automotive interior installation, prevents driver from offending traffic rules, keeps away
Exempt to drive penalty note, also, prompting driver can also be carried out by alarm 14 and steering wheel microseism module 15, allow driver
Correct travel direction is timely adjusted, also can timely allow driver to understand the section situation of itself traveling, be entangled in time
Just.Therefore, it is unconscious in driver（Driver does not play steering indicating light）When deviateing former track, it can be sent out in run-off-road before 0.5 second
Go out alarm, or steering wheel starts vibrations to remind the situation that the current vehicle of driver deviates, and more reactions are provided for driver
Time, greatly reduce the collision accident triggered by deviation.
In addition, the lane detection module 4 include resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, electric capacity C1,
Electric capacity C2, electric capacity C3, electric capacity C4, transport and placing device U1, one end of the resistance R1 be connected with the transport and placing device U1 and be grounded and with institute
Resistance R2 one end connection is stated, the other end of the resistance R1 is connected respectively with the positive pole of the transport and placing device U1 and the resistance
R5 one end is connected, and the other end of the resistance R2 and the positive pole of power supply are connected and be connected with one end of the transport and placing device U1, described
The positive pole of power supply is connected with one end of the electric capacity C1, and the other end of the electric capacity C1 is connected and connect with electric capacity C2 one end
Ground, the other end of the electric capacity C2 are connected with the negative pole of the transport and placing device U1 and one end of the resistance R4 respectively, the electricity
The one end of the R4 other end respectively with the resistance R5, the resistance R3 and the electric capacity C3 is hindered to be connected, and the electric capacity C3
The other end be connected and be grounded with one end of the electric capacity C4, one end of the resistance R3 and the electric capacity C4 other end connect
Connect.
Meanwhile the collection information of road surface module 2 includes resistance R7, resistance R8, resistance R9, electric capacity C5, electric capacity C6, amplifier
Device U2, diode D1, diode D2, the controller（Controller HM2004-JF02）11 pin P1 and pin P2 is grounded,
The controller（Controller HM2004-JF02）11 pin P3 and pin P5 are all connected with the positive pole of power supply, the controller
（Controller HM2004-JF02）11 pin P4 is connected with one end of the resistance R9, the other end of the resistance R9 with it is described
Transport and placing device U2 connections, the both ends of the electric capacity C6 respectively with the controller（Controller HM2004-JF02）11 pin P6 and
The controller（Controller HM2004-JF02）11 pin P7 connections, the controller（Controller HM2004-JF02）11
Positive pole of pin P8 ground connection, the resistance R7 and the electric capacity C5 one end with the transport and placing device U2 is connected, the resistance R7
It is grounded with the other end of the electric capacity C5, one end of the resistance R8 is connected with the negative pole of the transport and placing device U2 and another termination
Ground, the negative pole of the diode D1 are connected with the positive pole of the transport and placing device, the plus earth of the diode D1, the diode
D2 positive pole is connected with the positive pole of the transport and placing device U2, the negative pole ground connection of the diode D2.
In summary, by means of the above-mentioned technical proposal of the present invention, deviation inspection is carried out to automobile by starting module 1
Survey, when the automobile detected is judged whether that on track traveling produces the phenomenon of deviation according to the analysis of data, and detect
Driver is reminded when deviateing to automobile, does not start alarm 14 after driver corrects, if detecting that automobile deviates
Track and through prompting still do not award correction if start alarm 14, prevent that automobile from travelling in violation of rules and regulations on road, reduce thing
Therefore generation, improve the security of driving, ensure the security between vehicle.
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 made etc., should be included in the scope of the protection with principle.
Claims (7)
1. a kind of zebra stripes real-time monitoring system based on intelligent driving, it is characterised in that including starting module（1）, collection road
Face information module（2）, image pre-processing module（3）, lane detection module（4）, obtain Image Edge-Detection module（5）、Hough
Changing Lane fitting module（6）, lane identification module（7）, lane information module（8）, track parameter acquisition module（9）, track
Deviate judge module（10）, the starting module（1）Output end with it is described collection information of road surface module（2）Input connect
Connect, the collection information of road surface module（2）Output end and described image pretreatment module（3）Input connection, the figure
As pretreatment module（3）Output end and the lane detection module（4）Input connection, the lane detection module（4）
Output end with it is described acquisition Image Edge-Detection module（5）Input connection, it is described acquisition Image Edge-Detection module（5）
Output end and Hough transform track fitting module（6）Input connection, Hough transform track fitting module
（6）Output end and the lane identification module（7）Input connection, the lane identification module（7）Output end and institute
State lane information module（8）Input connection, the lane information module（8）Output end and the track parameter acquiring mould
Block（9）Input connection, the track parameter acquisition module（9）Output end and the deviation judge module（10）'s
Input connects.
2. a kind of zebra stripes real-time monitoring system based on intelligent driving according to claim 1, it is characterised in that described
Starting module（1）Inside it is provided with controller（11）, and the collection information of road surface module（2）Output end pass through imaging sensor
（12）With the controller（11）Input electrical connection, and the controller（11）Connect CAN.
3. a kind of zebra stripes real-time monitoring system based on intelligent driving according to claim 2, it is characterised in that described
Controller（11）Inside it is provided with man-machine interface prompting module（13）, alarm（14）With steering wheel microseism module（15）.
4. a kind of zebra stripes real-time monitoring system based on intelligent driving according to claim 3, it is characterised in that described
Man-machine interface prompting module（13）Pass through LCD prompting devices（16）It is connected with driver, the alarm（14）Pass through prompting device
（17）It is connected with driver, the steering wheel microseism module（15）Pass through electromagnetic shaker（18）It is connected with driver.
5. a kind of zebra stripes real-time monitoring system based on intelligent driving according to claim 1, it is characterised in that described
Lane detection module（4）Including resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, electric capacity C1, electric capacity C2, electric capacity C3, electricity
Hold C4, transport and placing device U1, one end of the resistance R1 is connected with the transport and placing device U1 and is grounded and connects with one end of the resistance R2
Connect, the other end of the resistance R1 is connected respectively with the positive pole of the transport and placing device U1 and the connection of described resistance R5 one end, described
The connection of the positive pole of the resistance R2 other end and power supply and be connected with one end of the transport and placing device U1, the positive pole of the power supply with it is described
Electric capacity C1 one end connection, the other end of the electric capacity C1 are connected and are grounded with electric capacity C2 one end, and the electric capacity C2's is another
One end is connected with the negative pole of the transport and placing device U1 and one end of the resistance R4 respectively, the other end of the resistance R4 respectively with
The resistance R5, the resistance R3 and the electric capacity C3 one end connection, and the other end of the electric capacity C3 and the electric capacity
C4 one end is connected and is grounded, and one end of the resistance R3 is connected with the other end of the electric capacity C4.
6. a kind of zebra stripes real-time monitoring system based on intelligent driving according to claim 1, it is characterised in that described
Gather information of road surface module（2）Including resistance R7, resistance R8, resistance R9, electric capacity C5, electric capacity C6, transport and placing device U2, diode D1,
Diode D2, the controller（11）Pin P1 and pin P2 be grounded, the controller（11）Pin P3 and pin
P5 is all connected with the positive pole of power supply, the controller（11）Pin P4 be connected with one end of the resistance R9, the resistance R9's
The other end is connected with the transport and placing device U2, the both ends of the electric capacity C6 respectively with the controller（11）Pin P6 and the control
Device processed（11）Pin P7 connections, the controller（11）Pin P8 ground connection, the resistance R7 and the electric capacity C5 one end
Positive pole with the transport and placing device U2 is connected, and the resistance R7 and the electric capacity C5 other end are grounded, the resistance R8's
One end is connected with the negative pole of the transport and placing device U2 and the other end is grounded, the negative pole of the diode D1 and the positive pole of the transport and placing device
Connection, the plus earth of the diode D1, the positive pole of the diode D2 are connected with the positive pole of the transport and placing device U2, and described two
Pole pipe D2 negative pole ground connection.
7. a kind of zebra stripes real-time monitoring system based on intelligent driving according to claim 1, it is characterised in that described
Deviation judge module（10）It is divided into deviation angle and exceedes alert module more than prompting module and deviation angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711193370.1A CN107833492A (en) | 2017-11-24 | 2017-11-24 | A kind of zebra stripes real-time monitoring system based on intelligent driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711193370.1A CN107833492A (en) | 2017-11-24 | 2017-11-24 | A kind of zebra stripes real-time monitoring system based on intelligent driving |
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| CN107833492A true CN107833492A (en) | 2018-03-23 |
Family
ID=61652595
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711193370.1A Pending CN107833492A (en) | 2017-11-24 | 2017-11-24 | A kind of zebra stripes real-time monitoring system based on intelligent driving |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113470344A (en) * | 2020-03-31 | 2021-10-01 | 北京慧行实达科技有限公司 | Cloud recognition early warning network system for dynamic supervision of road transport vehicles |
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Application publication date: 20180323 |