CN108372825B - Automatic light switching method for tunnel portal vehicle based on image recognition - Google Patents
Automatic light switching method for tunnel portal vehicle based on image recognition Download PDFInfo
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- CN108372825B CN108372825B CN201810241995.9A CN201810241995A CN108372825B CN 108372825 B CN108372825 B CN 108372825B CN 201810241995 A CN201810241995 A CN 201810241995A CN 108372825 B CN108372825 B CN 108372825B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/33—Driving situation
- B60Q2300/337—Tunnels or bridges
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- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention relates to a tunnel portal vehicle automatic lamp switching method based on image recognition, which is based on image recognition and image processing technologies, records images in front of a vehicle in real time through a vehicle data recorder, and recognizes the existence of a tunnel portal by adopting matlab software image processing and second-order gray level image recognition technologies. When the existence of the tunnel portal is identified, and the distance between the vehicle and the portal or the running time meets the requirements, the automatic switching on and off of the vehicle lamp outside the tunnel portal is realized by controlling the vehicle lamp switching control system based on the microprocessor, so that the driving safety of a driver in accident-prone road sections such as tunnels and continuous tunnel groups is improved. The invention has the advantages of high accuracy, convenience, lightness, easy installation and use and the like.
Description
Technical Field
The invention belongs to the technical field of road traffic safety, relates to an image recognition and image processing technology, and particularly relates to an automatic light switching method for a vehicle at a tunnel portal based on image recognition.
Background
The driving characteristics of a driver on a highway tunnel and a tunnel group road section are approximately represented by deceleration when the driver drives in the tunnel, acceleration when the driver drives out of the tunnel, change of speed, frequent change of light and shade adaptation of a tunnel portal and drastic change of illumination intensity, so that the tunnel portal is a road section with multiple traffic accidents, and the driving risk is high.
At present, warning signs such as 'please drive a car when entering a tunnel' are generally arranged at the tunnel portal of the expressway. However, due to the connection part of the tunnel entrance, the road base section and the bridge section, the road side environment changes greatly, the warning information and the speed control information received by a driver are more, and the traffic environment is more complex; the phenomenon of 'dark adaptation' at the entrance of the tunnel is severe, and if the light is not turned on in time, the eyes of a driver are difficult to adapt to the dark environment in the tunnel. Therefore, in order to reduce the operation load of a driver at the tunnel portal, the automatic light switching technology for the vehicle at the tunnel portal based on image recognition is provided, so that the situation that the driver forgets to drive the vehicle lamp and the like or the driving safety is influenced because the driver controls the lamp switch to pay attention to the road condition is avoided, and the driving safety of the tunnel entrance is improved.
The vehicle switch lamp system is suitable for the development of the information era, and intelligent measures are introduced. In a traditional car light switch system, when a tunnel portal is generally closed, a driver controls the car light switch system manually, and the operation load of the driver is increased. However, in recent years, with economic development and technological progress, people have made higher demands on intelligent transportation, so that the status of information management in the transportation field is more and more important.
Disclosure of Invention
The invention aims to provide an automatic lamp switching method for a tunnel portal vehicle based on image recognition, which is characterized in that tunnel portal images shot by a CMOS camera within a certain safe recognition distance are recognized through matlab image processing and recognition technology, and headlamps of the vehicle are automatically switched on and off through a microprocessor-based switch control system.
In order to achieve the purpose, the invention adopts the technical scheme that:
a tunnel portal vehicle automatic lamp switching method based on image recognition is characterized in that an image recognition module arranged in a vehicle data recorder is used for carrying out binarization processing on a tunnel portal key frame picture shot by a CMOS camera arranged in the vehicle data recorder by adopting an image processing technology in matlab to obtain a binary picture, then a tunnel portal sub-mode image data set is called by adopting an image template matching technology, and the tunnel portal is matched and recognized when a vehicle is away from a tunnel entrance or a tunnel exit by a parking visual distance, wherein the sub-mode image data set comprises sub-mode images of tunnel portal entrances with different shapes and sub-mode images of tunnel portal exits with different shapes; when the binary image is matched with the sub-mode image in the tunnel entrance sub-mode image data set, the tunnel entrance is identified, the image identification module immediately outputs an activation signal to the switch control system, and the switch control system controls the vehicle lamp switch.
The invention is further improved in that the key frame picture is a picture which is recorded by the automobile data recorder at a time interval of 0.1s and can be used for image processing and identification when the automobile data recorder is away from a parking sight distance of a tunnel entrance in the driving process.
The invention is further improved in that the parking sight distance is 75-110 m.
The invention has the further improvement that for the entrance of the tunnel, before the vehicle enters, the image recognition module is adopted to carry out image recognition, and then the switch control system directly outputs an activation signal and turns on the vehicle lamp.
The further improvement of the invention is that for the tunnel exit, before exiting the tunnel portal, the specific process of calculating and controlling the light-off time by the switch control system 5 is as follows:
1) when the distance between the vehicle and the tunnel exit is the parking sight distance, matching the key frame pictures at the tunnel exit, and when the matching is successful, the distance L between the vehicle and the tunnel exit isC＝S-v*tpWherein S is the parking sight distance, v is the vehicle running speed, tpIdentifying a time for the match;
2) the vehicle recognizes the time t required for the vehicle to travel to the exit after the tunnel exits＝LC/v；
3) The switch control system 5 controls the light-off time tk＝ts+3。
The invention is further improved in that for the continuous tunnel group with the clear distance between two adjacent tunnels within 300m, in the period from the identification of the tunnel exit to the control of the turning off of the vehicle, if the image identification module can identify the existence of the next tunnel entrance, the output signal of the identified tunnel entrance is adopted to keep the vehicle lamp in the opening state to enter the next tunnel entrance.
Compared with the prior art, the invention has the following beneficial effects: in the invention, because a person does not need to make any identification, judgment, reaction and operation when the automobile is triggered, the automobile is started through the automobile body provided with the automobile data recorder and the image identification module thereof and finally the lamp is controlled to be started through the switch control system. When the vehicle leaves the tunnel exit, the vehicle is automatically extinguished after a certain time delay. And it is different from the sound-light control lamp, does not need sound and on-off control, thus has avoided the invasion of the acoustic control noise, has improved work efficiency, reaches energy-conserving effect. The tunnel portal automatic lamp switching technology based on image recognition mainly aims at the vehicle running state under the condition of good light in the daytime and the vehicles running at night are in the vehicle lamp switching-on state, and sets an available time period for an image recognition module, so that the condition that the vehicle automatically switches off the lamp at the tunnel portal due to the fact that the bright adaptation process of the tunnel portal opposite to the daytime occurs at night can be avoided. The invention can improve the driving safety of the driver in the accident-prone road sections such as tunnels, continuous tunnel groups and the like.
Furthermore, when the existence of the tunnel portal is identified, and the distance between the vehicle and the tunnel portal or the running time meets the requirements, the vehicle lamp is automatically switched on and off outside the tunnel portal by controlling the vehicle lamp switching control system based on the microprocessor, so that the driving safety of a driver on accident-prone road sections such as tunnels and continuous tunnel groups is improved. The invention has the advantages of high accuracy, easy installation and use and the like.
Drawings
FIG. 1 is a schematic structural diagram of an automatic light switching device for a vehicle at a tunnel portal based on image recognition;
fig. 2 is a schematic view of the connection of the components of the present invention.
Fig. 3 is a schematic view of a tunnel portal entrance.
Fig. 4 is the binary picture of fig. 3.
Fig. 5 is a schematic view of an exit of a tunnel portal.
Fig. 6 is the binary picture of fig. 5.
Fig. 7 is an example of a binarized image of a sub-template image at an entrance of a tunnel portal with different shapes.
Fig. 8 is an example of a binary image of a sub-template image at an exit of a tunnel portal with different shapes.
Fig. 9 is an illustration of an example embodiment.
In the figure, 1-CMOS camera; 2-an image recognition module; 3-tunnel entrance sub-mode image dataset; 4-a vehicle event data recorder; 5-a switch control system; 6, a vehicle body; 61-a windshield; 62 vehicle head lamp.
Detailed Description
The invention is further described below with reference to the figures and examples.
The following detailed description of the embodiments of the present invention, which is made with reference to fig. 1-9, will help those skilled in the art to more fully, accurately and deeply understand the inventive concept and technical solution of the present invention.
Referring to fig. 2, the automatic light switching device for a tunnel portal vehicle based on image recognition comprises a switching control system 5 and a driving recorder 4, wherein a CMOS camera 1, an image recognition module 2 and a tunnel portal sub-mode image data set 3 are arranged in the driving recorder; the switch control system 5 comprises a microprocessor, and the input end of the switch control system 5 is connected with the output end of the image recognition module 2 in the automobile data recorder. The output of the switch control system 5 is connected to the headlights 62 of the vehicle.
Referring to fig. 1, the drive recorder 4 is provided on a windshield 61 of a vehicle body 6, and the switch control system 5 is provided in the vehicle body 6.
The invention provides an automatic light switching method for a vehicle at a tunnel portal based on image recognition, which comprises the following specific processes: the CMOS camera 1 is used for shooting the front road condition in real time in the running process of the vehicle; the image recognition module 2 carries out binarization processing on a key frame picture of a tunnel portal, which is shot by the CMOS camera 1, by adopting an image processing technology in matlab (the key frame picture is a picture which is recorded by a driving recorder at a time interval of 0.1s and can be used for image processing and recognition when the driving recorder is away from the tunnel portal by a parking visual distance in a driving process), so as to obtain a binary picture, wherein figures 3-6 are respectively a tunnel entrance (see figures 3 and 5) and pictures (see figures 4 and 6) obtained after binarization processing, a tunnel portal sub-mode image data set 3 is called by adopting an image template matching technology, and the tunnel portal is matched and recognized when an internal vehicle approaches the tunnel entrance or the tunnel exit by a parking visual distance (75 m-110 m); the tunnel portal sub-mode image dataset 3 includes: the method comprises the following steps that firstly, sub-mode images of tunnel portal inlets with different shapes, which can be used as templates, are obtained, namely binary images of tunnel portals with different shapes are obtained when the tunnel portals are accessed, the interior of the tunnel portal outline in the images is black, and the rest parts are white (see fig. 7). And secondly, sub-mode images of tunnel portal outlets with different shapes, which can be used as templates, are binary images of the tunnels with different shapes at the outlet, the interior of the contour of the tunnel portal in the images is white, and the rest parts are black (see figure 8). When the local area of the binary image is matched with the sub-mode image (as shown in fig. 7 and 8) in the tunnel entrance sub-mode image dataset 3, so that the tunnel entrance can be identified, the image identification module 2 immediately outputs an activation signal to the switch control system 5, and the switch control system 5 calculates the light-off time and turns off the light.
The exit of the tunnel is identified by the image identification module 2 in the tunnel, and at the moment, the vehicle does not exit the tunnel, so the vehicle light control mode at the exit adopts the following process: adopt the template matching technique the same with the entry to discern the export through image recognition module 2 in the tunnel and export the turn-off signal of putting out light, microprocessor based car light on-off control system 5 is automatic after receiving the turn-off signal and is prolonged certain time (control turn-off time promptly, for vehicle discernment tunnel exit after go to export required time and go out 3s behind the entrance to a cave), guarantee that the vehicle goes out the tunnel and controls the vehicle turn-off light again, the concrete process that on-off control system 5 calculated the turn-off time is:
1) when the vehicle is at a distance L from the tunnel exitCWhen the vehicle is in the parking visual range, the key frame pictures at the tunnel exit are matched, and when the matching is successful, the distance L between the vehicle and the tunnel exit is obtainedC＝S-v*tpWherein, denotes multiplication sign, S parking sight distance is, v is vehicle running speed, tpIdentifying a time for the match;
2) the vehicle recognizes the time t required for the vehicle to travel to the exit after the tunnel exits＝LC/v；
3) The switch control system 5 controls the light-off time tk＝ts+3；
For a continuous tunnel group with two adjacent tunnel portals within 300m of clear distance, the image recognition module 2 can be further improved as follows: during the period from the identification of the tunnel exit to the control of the turning off of the vehicle lights, if the image recognition module 2 can identify the existence of the next tunnel entrance, the output signal of the identified tunnel entrance should be used to keep the vehicle lights in the on state to enter the next tunnel entrance.
The tunnel portal automatic light switching technology based on image recognition mainly aims at the driving state of vehicles under the condition of good light in the daytime and the vehicles driving at night are in the light-on state, and simultaneously sets an available time period for the image recognition module 2 in order to avoid the situation that the vehicles automatically switch off the light at the tunnel portal due to the fact that the clear adaptation process of the tunnel portal opposite to the daytime occurs at night.
This is illustrated below by means of a specific example. As shown in fig. 9, a vehicle having mounted therein the drive recorder 4 (including the CMOS camera 1), the image recognition module 2, and the tunnel entrance sub-pattern image dataset 3 is traveling in the direction of a → b (a, b represent two adjacent tunnels, respectively), and the CMOS camera is capturing images of the road conditions ahead in real time. When the vehicle body passes through the point A at a certain moment, the key frame color picture shot by the CMOS camera is converted into a binary picture through image processing, the binary picture is identified by a template matching technology through a tunnel entrance sub-mode picture in a tunnel entrance sub-mode image data set 3 established in advance, and when the response value of the sub-mode picture and the local area of the processed binary picture is found to be just up to the response value required by a certain confidence level (85% -90%), the image identification module 2 immediately outputs a light-on signal to the switch control system 5 based on the microprocessor. The switch control system 5 receives the light-on signal output by the image recognition module 2, and then immediately switches on the light-on signal to connect the power supply to the car light, so as to turn on the car light to illuminate the road condition ahead.
When the vehicle continues to drive to the tunnel a and approaches the exit of the tunnel, the image recognition module 2 recognizes the clear adaptation contour generated at the tunnel entrance according to the same template matching technology as the tunnel entrance and outputs a light-off signal to the microprocessor-based vehicle light switch control system 5, if the vehicle approaches the tunnel a exit LGo outWhen the image recognition module 2 can recognize the entrance of the b tunnel within a certain distance 3v from the inside or outside of the tunnel, the vehicle is kept in a light-on state and enters the b tunnel by adopting a light-on signal recognized by the tunnel entrance, and if the distance L between the exit of the a tunnel and the entrance of the b tunnel is larger, the vehicle lamp switch control system 5 based on the microprocessor keeps the vehicle lamp on for t duration after receiving the light-off signalControlAnd after the time, the vehicle lamp is controlled to be turned off.
Claims (1)
1. A tunnel portal vehicle automatic lamp switching method based on image recognition is characterized in that an image recognition module (2) arranged in a vehicle traveling recorder is used for carrying out binarization processing on a tunnel portal key frame picture shot by a CMOS camera (1) arranged in the vehicle traveling recorder by adopting an image processing technology in matlab to obtain a binary picture, then a tunnel portal sub-mode image data set (3) is called by an image template matching technology, and matching recognition is carried out on a tunnel portal when a vehicle is away from a tunnel entrance or a tunnel exit by a parking visual distance, wherein the sub-mode image data set (3) comprises sub-mode images of tunnel portal entrances with different shapes and sub-mode images of tunnel portal exits with different shapes; when the binary image is matched with the sub-mode image in the tunnel entrance sub-mode image dataset (3), so that a tunnel entrance is identified, the image identification module (2) immediately outputs an activation signal to the switch control system (5), and the switch control system (5) controls the vehicle lamp switch;
the key frame picture is a picture which is recorded by the automobile data recorder (4) at a time interval of 0.1s and can be used for image processing and recognition when the automobile data recorder is in a parking visual distance away from the tunnel entrance;
the parking visual distance is 75-110 m;
for the tunnel entrance, before the vehicle enters, the image recognition module (2) is adopted to carry out image recognition, and then an activation signal is directly output through the switch control system (5) and the vehicle lamp is turned on;
for the tunnel exit, before exiting the tunnel portal, the specific process of calculating and controlling the light-off time by the switch control system (5) is as follows:
1) when the distance between the vehicle and the tunnel exit is the parking sight distance, matching the key frame pictures at the tunnel exit, and when the matching is successful, the distance L between the vehicle and the tunnel exit isC＝S-v*tpWherein S is the parking sight distance, v is the vehicle running speed, tpIdentifying a time for the match;
2) the vehicle recognizes the time t required for the vehicle to travel to the exit after the tunnel exits＝LC/v；
3) The switch control system (5) controls the light-offTime tk＝ts+3；
For the continuous tunnel group with the clear distance between two adjacent tunnels within 300m, in the period from the identification of the tunnel exit to the control of turning off the lights of the vehicle, if the image identification module (2) can identify the existence of the next tunnel entrance, the output signal of the identified tunnel entrance is adopted to keep the lights of the vehicle in an open state to enter the next tunnel entrance.
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| CN110466419A (en) * | 2018-10-31 | 2019-11-19 | 长城汽车股份有限公司 | Control method, system and the vehicle of vehicle |
| CN111361494B (en) * | 2018-12-25 | 2022-02-22 | 深圳市丰驰顺行信息技术有限公司 | Automatic control method and system for car lamp |
| CN109596317B (en) * | 2018-12-25 | 2021-01-22 | 新华三技术有限公司 | Detection method and device for panel lamp |
| CN109455187A (en) * | 2019-01-30 | 2019-03-12 | 新誉轨道交通科技有限公司 | Train pressure wave control method, device and electronic equipment |
| CN110211073B (en) * | 2019-04-19 | 2021-11-09 | 北京汽车集团有限公司 | Tunnel entry guiding device and method |
| CN110053545A (en) * | 2019-05-13 | 2019-07-26 | 斑马网络技术有限公司 | Control method, device, medium and the electronic equipment of car lighting |
| CN112101230B (en) * | 2020-09-16 | 2024-05-14 | 招商局重庆公路工程检测中心有限公司 | Method and system for detecting opening of head lamp of road tunnel passing vehicle |
| CN113619480A (en) * | 2021-08-18 | 2021-11-09 | 广东机电职业技术学院 | Automobile light auxiliary control method and system based on machine vision |
| CN116030633B (en) * | 2023-02-21 | 2023-06-02 | 天津汉云工业互联网有限公司 | Vehicle tunnel early warning method and device |
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