CN108417043B - Detection method for continuous starting of high beam - Google Patents
Detection method for continuous starting of high beam Download PDFInfo
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- CN108417043B CN108417043B CN201810131747.9A CN201810131747A CN108417043B CN 108417043 B CN108417043 B CN 108417043B CN 201810131747 A CN201810131747 A CN 201810131747A CN 108417043 B CN108417043 B CN 108417043B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
Abstract
The invention discloses a method for detecting continuous starting of a high beam, which comprises the following steps: step 1, setting a confidence virtual detection area step 2, judging the lamplight dazzling degree step 3, judging whether the change rule of the dazzling degree accords with the characteristic of a bright and dark boundary of a high beam and a low beam, 3.1 tracking a target, 3.2 tracking a chain lamplight change rule, 3.3 judging whether the beneficial effects of the invention are continuously achieved: the method is suitable for complex environments with a plurality of interferences in videos shot by the traffic monitoring camera, has the advantages of simple steps, convenience in implementation, small calculated amount and high result accuracy, and can be used for efficiently detecting the continuously started high beam by the given result.
Description
Technical Field
The invention relates to the technical field of video processing of intelligent traffic monitoring systems, in particular to a method for detecting continuous starting of a high beam under a driving background of a vehicle at night.
Background
The automotive headlamps are divided into a low beam mode and a high beam mode, and the high beam is the high beam mode. The low beam illuminates near and the high beam illuminates far. According to traffic regulations, the use of automotive high beam is well defined. Because the high beam can bring convenience and safety for driving when being used correctly, but great potential safety hazard can be brought if being used incorrectly. In an intelligent traffic monitoring system, for automatic detection and identification of high and low beams at night, the interference of external factors is less, and when the texture of a car lamp is clear, the false detection rate of high beam detection is not high. However, when the situation of the vehicle is complex, external factors such as bad environment form great interference, and the texture of the light of the vehicle is not clear enough, a system can cause great false detection when detecting the high beam, that is, the low beam can be mistakenly detected as the high beam, which greatly reduces the accuracy of the high beam detection. Therefore, the invention provides a detection method for continuously starting a high beam of a vehicle running at night, which is efficient and simple.
Disclosure of Invention
The invention aims to provide a detection method for continuously starting a high beam, which aims to solve the problems that in the prior art, when a high beam of a vehicle is detected during night driving in a video monitoring picture, the monitoring picture has large information amount and more redundant information due to complex vehicle condition conditions, and road ponding environment conditions are complex, so that the monitoring picture is seriously reflected, and the detection of the high beam is seriously interfered.
In order to achieve the purpose, the technical scheme of the invention is as follows: a method for detecting the continuous starting of a high beam comprises the following steps:
In order to ensure that the detected light is proper in size, stable in tracking and unnecessary interference is eliminated, confidence virtual detection lines cf and bg are set in a road area adeh, namely, only the starting condition of a vehicle light when the vehicle runs to a confidence virtual detection area bcfg is detected;
According to the design principle of the headlamp, the bright-dark cut-off L is set:
namely, when the motor vehicle which starts the high beam does not reach the bright and dark cut-off line L, the monitoring camera can receive the emitted light, and the collected light is dazzling light spots;
when the motor vehicle runs across the bright-dark cut-off L, the monitoring camera cannot receive the light emitted by the high beam, only the reflected light part is available, and the collected light is in a non-dazzling light spot;
when the motor vehicle with the dipped headlight is started runs to the front and back of the bright-dark cut-off L, no illuminating light can enter the camera, and the collected vehicle lights are all non-dazzling light spots in the whole running process;
the method for specifically judging whether the high beam is a high beam or not by judging the dazzling degree is as follows:
for a grey-scale map of the vehicle light image, a high threshold th1Corresponding to the area S of a car lamp1Low threshold th2Corresponding to the area S of a car lamp2The dazzling degree of the vehicle lamp can be judged according to the ratio K in the formula 1:
the threshold th is a dazzling judgment threshold, and the vehicle lamp is considered to be dazzled when K is larger than th and not dazzled when K is smaller than th; the threshold th is an empirical value, and is adjusted between 0.5 and 1.5 according to the actual environment;
3.1 target tracking
When the headlamp of the motor vehicle enters the cf confidence detection line, continuously tracking the headlamp of the motor vehicle by video frames until the headlamp of the motor vehicle goes out of the confidence detection line bg;
3.2 tracking chain light change law
In the tracking process, calculating the dazzling degree K of the vehicle lamp simultaneously to be used for counting the change rule of the light of the tracking chain when the tracking is finished, wherein for the change rule of a complete high beam tracking chain, the K is usually larger than the threshold th before a bright and dark cut-off L, and the K is smaller than the threshold th after the bright and dark cut-off L;
3.3 judging whether to continuously open
When whether the high beam is continuously started or not is actually judged, the judgment is carried out according to a certain proportion, namely that K of the vehicle lamp in n% of total video frames before a bright-dark cut-off L is larger than a threshold value th, K of the vehicle lamp in m% of total video frames after the bright-dark cut-off L is smaller than the threshold value th, the total video frame number at least reaches the product of the second number of the vehicle lamp which is judged to be continuously started by a rule and a shooting frame rate, if the change rule is met, the vehicle lamp is judged to be continuously started, similarly, if the change rule is not met, the vehicle lamp is judged not to be continuously started, and in addition, if the dazzling degree of the vehicle lamp is changed without a bright-dark change process, the vehicle lamp is judged not to be continuously started.
Preferably, in 3.3 of the step 3, n is 90, and m is 95.
The invention has the beneficial effects that: the method is suitable for complex environments with a plurality of interferences in videos shot by the traffic monitoring camera, has the advantages of simple steps, convenience in implementation, small calculated amount and high result accuracy, and can be used for efficiently detecting the continuously started high beam by the given result.
Drawings
FIG. 1 is a set of confidence virtual detection lines on a road.
Fig. 2 is a schematic diagram of the cut-off.
FIG. 3 is a schematic diagram of a gray scale spot area of a vehicle lamp at a high threshold and a low threshold.
Fig. 4 is a diagram showing the change rule of the dazzling degree of the high beam of the motor vehicle when the high beam is continuously turned on.
Detailed Description
A method for detecting the continuous starting of a high beam comprises the following steps:
The first step in implementing the high beam continuous on detection is to set a confidence virtual detection line, as shown in fig. 1. In order to ensure that the detected light is proper in size, stable in tracking and unnecessary interference is eliminated, the method adopts a method of setting a confidence virtual detection line; in fig. 1, adeh is a road area, a motor vehicle runs in the direction of an arrow, cf and bg are set confidence virtual detection lines, that is, only the starting condition of a vehicle lamp when the vehicle runs to a confidence virtual detection area bcfg is detected;
According to the design principle of the headlamp, a straight line L in fig. 2 is a schematic position of a bright-dark cut-off (also corresponding to a straight line L in fig. 1), when a motor vehicle ( positions 1 and 2 in the figure) starting a high beam does not reach the bright-dark cut-off L, a monitoring camera can receive emitted light, so the collected light is a dazzling spot, when the motor vehicle (position 3 in the figure) runs through the bright-dark cut-off L, the monitoring camera cannot receive the light emitted by the high beam and only has a reflected light part, so the collected light is a non-dazzling spot, and when the motor vehicle starting a low beam runs before and after the bright-dark cut-off L, the motor vehicle starting the low beam cannot enter the camera, so the collected light is the non-dazzling spot in the whole running process;
therefore, whether the car light in the frame image is a high beam or not can be judged by judging the dazzling degree; the specific judgment method is as follows:
for a grey-scale map of the vehicle light image, a high threshold th1Corresponding to the area S of a car lamp1(inner circle O of FIG. 3)1) Low threshold th2Corresponding to the area S of a car lamp2(outer circle O of FIG. 3)2) Therefore, the dazzling degree of the vehicle lamp can be judged according to the ratio K in the formula 1;
the threshold th is a threshold for judging glare, and it is considered that the vehicle lamp is dazzled when K is greater than th, and the vehicle lamp is not dazzled when K is less than th. The threshold th is an empirical value, and is adjusted between 0.5 and 1.5 according to the actual environment;
3.1 target tracking
When the headlamp of the motor vehicle enters the cf confidence detection line, continuously tracking the headlamp of the motor vehicle by video frames until the headlamp of the motor vehicle goes out of the confidence detection line bg;
3.2 tracking chain light change law
For a complete high beam tracking chain, the change law is usually that K is greater than the threshold th before the bright-dark cut-off L and K is less than the threshold th after the bright-dark cut-off L.
3.3 judging whether to continuously open
When whether the high beam is continuously started or not is actually judged, according to a certain proportion, the K of the car light in more than 90% of total video frames before a bright-dark cut-off L is considered to be larger than a threshold th, the K of the car light in more than 95% of total video frames after a bright-dark cut-off L is considered to be smaller than the threshold th, the total video frame number at least reaches the product of the number of seconds for confirming that the high beam is continuously started and the shooting frame rate, if the change rule is met, the car light is considered to continuously start the high beam, and the change rule of the dazzling degree for continuously starting the high beam is shown in fig. 4.
Similarly, if the vehicle lamp change does not meet the rule, the high beam is not considered to be continuously started; further, if the change in the degree of glare of the vehicle lamp does not have a light-dark change process, it is not considered that the high beam is continuously turned on.
The invention can better detect the continuously-started high beam, and has simple and efficient detection algorithm and small calculated amount.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (2)
1. A method for detecting the continuous starting of a high beam is characterized by comprising the following steps:
step 1, setting a confidence virtual detection area
In order to ensure that the detected light is proper in size, stable in tracking and unnecessary interference is eliminated, confidence virtual detection lines cf and bg are set in a road area adeh, namely, only the starting condition of a vehicle light when the vehicle runs to a confidence virtual detection area bcfg is detected;
step 2, judging the dazzling degree of lamplight
According to the design principle of the headlamp, the bright-dark cut-off L is set:
namely, when the motor vehicle which starts the high beam does not reach the bright and dark cut-off line L, the monitoring camera can receive the emitted light, and the collected light is dazzling light spots;
when the motor vehicle runs across the bright-dark cut-off L, the monitoring camera cannot receive the light emitted by the high beam, only the reflected light part is available, and the collected light is in a non-dazzling light spot;
when the motor vehicle with the dipped headlight is started runs to the front and back of the bright-dark cut-off L, no illuminating light can enter the camera, and the collected vehicle lights are all non-dazzling light spots in the whole running process;
the method for specifically judging whether the high beam is a high beam or not by judging the dazzling degree is as follows:
for a grey-scale map of the vehicle light image, a high threshold th1Corresponding to the area S of a car lamp1Low threshold th2Corresponding to the area S of a car lamp2The dazzling degree of the vehicle lamp can be judged according to the ratio K in the formula 1:
the threshold th is a dazzling judgment threshold, and the vehicle lamp is considered to be dazzled when K is larger than th and not dazzled when K is smaller than th; the threshold th is an empirical value, and is adjusted between 0.5 and 1.5 according to the actual environment;
step 3, judging whether the change rule of the dazzling degree accords with the characteristics of the bright and dark boundary of the high and low beam lamps
3.1 target tracking
When the headlamp of the motor vehicle enters the cf confidence detection line, continuously tracking the headlamp of the motor vehicle by video frames until the headlamp of the motor vehicle goes out of the confidence detection line bg;
3.2 tracking chain light change law
In the tracking process, calculating the dazzling degree K of the vehicle lamp simultaneously to be used for counting the change rule of the light of the tracking chain when the tracking is finished, wherein for the change rule of a complete high beam tracking chain, the K is usually larger than the threshold th before a bright and dark cut-off L, and the K is smaller than the threshold th after the bright and dark cut-off L;
3.3 judging whether to continuously open
When the high beam is actually judged to be continuously started, determining according to a certain proportion, namely considering that K of the car lamp in n% of total video frames before a bright-dark cut-off L is larger than a threshold th, and K of the car lamp in m% of total video frames after the bright-dark cut-off L is smaller than the threshold th, wherein the total video frame number at least reaches the product of the second number of the continuously started high beam and the shooting frame rate which are determined by a rule;
similarly, if the vehicle lamp change does not meet the rule, the high beam is not considered to be continuously started; further, if the change in the degree of glare of the vehicle lamp does not have a light-dark change process, it is not considered that the high beam is continuously turned on.
2. The method as claimed in claim 1, wherein in 3.3 of step 3, n is 90 and m is 95.
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| CN110823533B (en) * | 2019-09-10 | 2021-07-09 | 金华东贤科技有限公司 | Non-standard light detection system and detection method thereof |
| CN110823363A (en) * | 2019-09-10 | 2020-02-21 | 李东华 | Automobile light detection system and detection method thereof |
| CN110823362A (en) * | 2019-09-10 | 2020-02-21 | 李东华 | High beam detection system and detection method thereof |
| CN110646173A (en) * | 2019-09-30 | 2020-01-03 | 青岛讯极科技有限公司 | Detection method for continuous opening of high beam |
| CN113628447B (en) * | 2020-05-06 | 2022-12-23 | 杭州海康威视数字技术股份有限公司 | High beam light starting detection method, device, equipment and system |
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