CN108583564A - a kind of vehicle safe driving system - Google Patents
a kind of vehicle safe driving system Download PDFInfo
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- CN108583564A CN108583564A CN201810677706.XA CN201810677706A CN108583564A CN 108583564 A CN108583564 A CN 108583564A CN 201810677706 A CN201810677706 A CN 201810677706A CN 108583564 A CN108583564 A CN 108583564A
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- 238000012545 processing Methods 0.000 claims abstract description 172
- 238000003706 image smoothing Methods 0.000 claims abstract description 32
- 238000004891 communication Methods 0.000 claims description 8
- 230000001815 facial effect Effects 0.000 claims description 7
- 230000008054 signal transmission Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
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- 230000002708 enhancing effect Effects 0.000 claims description 3
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- 230000007613 environmental effect Effects 0.000 abstract description 2
- 206010039203 Road traffic accident Diseases 0.000 description 5
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- 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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/26—Incapacity
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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
- B60W2756/00—Output or target parameters relating to data
- B60W2756/10—Involving external transmission of data to or from the vehicle
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- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The present invention provides a kind of vehicle safe driving system, utilize central processing unit, the first image acquisition units, the second image acquisition units, the first image processing unit, the second image processing unit, distance measuring sensor, signal processor, alarm unit, vehicle power control unit, vehicle brake control unit, storage unit and remote monitoring center, environmental information, the driver fatigue information of vehicle front are acquired, to ensure ride safety of automobile；Wherein, the first image processing unit includes the first image enhancement module, the first image smoothing module and the first image denoising module, and the second image processing unit includes the second image enhancement module, the second image smoothing module and the second image denoising module.
Description
Technical field
The present invention relates to traffic testing field more particularly to a kind of vehicle safe driving systems.
Background technology
With the fast development of society and economy, the ownership of automobile is in the trend being stepped up, traffic safety problem
Getting worse.It is counted according to Traffic Administration Bureau：Ended for the end of the year 2016, national vehicle guaranteeding organic quantity 2.9 hundred million, wherein 1.94 hundred million, automobile,
3.6 hundred million people of vehicle driver.Increase however, traffic accident is also in blowout therewith, the data that the World Health Organization announces are aobvious
Show, every year because road fatalities are there are about 1,250,000, be equivalent to the whole world there are 3500 people because of traffic accident daily in the whole world
It is dead.Data show, also several million peoples are therefore injured or disable every year, and traffic accident also becomes 15-29 Sui young man
Primary cause of death.According to incompletely statistics, there are about 60% major traffic accidents caused by driver tired driving, about
21% traffic accident is caused by the improper run-off-road of vehicle, therefore in driver fatigue state and vehicle traveling
Process detection becomes vehicle active safety problem in the urgent need to address.
The major automobile active safety system in the world starts with computer vision technique detection vehicle and road markings at present
Line, and China starts late in intelligent vehicle and safety assistant driving area research, has compared with developed countries certain
Gap, for many achievements in research also in theory stage, degree of commercialization is low, main reason is that most researchs and product are only
For the good situation of illumination and road, it can not be suitable for driving the complexity and individuation difference of indoor and outdoor monitoring situation.
Invention content
Therefore, in order to overcome the above problem, the present invention provides a kind of vehicle safe driving system, utilizes central processing list
Member, the first image acquisition units, the second image acquisition units, the first image processing unit, the second image processing unit, ranging pass
Sensor, signal processor, alarm unit, vehicle power control unit, vehicle brake control unit, storage unit and long-range prison
Control center is acquired environmental information, the driver fatigue information of vehicle front, to ensure ride safety of automobile.
A kind of vehicle safe driving system according to the present invention comprising central processing unit, the first image acquisition units,
Second image acquisition units, the first image processing unit, the second image processing unit, distance measuring sensor, signal processor, alarm
Unit, vehicle power control unit, vehicle brake control unit, storage unit and remote monitoring center；
Wherein, the input of the input terminal of alarm unit, the input terminal of vehicle power control unit, vehicle brake control unit
The input terminal connection with the output end of central processing unit respectively at end, the input terminal of storage unit and remote monitoring center,
The output end of the output end of signal processor, the output end of the first image processing unit and the second image processing unit and center
The input terminal of processing unit connects, and the output end of distance measuring sensor and the input terminal of signal processor connect, the first Image Acquisition
The output end of unit is connect with the input terminal of the first image processing unit, the output end of the second image acquisition units and the second image
The input terminal of processing unit connects.
Preferably, signal processor includes filter, signal amplifier and A/D converter；
Wherein, the input terminal of distance measuring sensor output end and filter connects, the output end and signal amplifier of filter
Input terminal connection, the input terminal of the output end of signal amplifier and A/D converter connects, and the output end of A/D converter is in
The input terminal of central processor connects.
Preferably, the first image processing unit includes the first image enhancement module, the first image smoothing module and first
Image denoising module；
Wherein, the output end of the first image acquisition units is connect with the input terminal of the first image enhancement module, the first image
The output end of enhancing module is connect with the input terminal of the first image smoothing module, the output end and first of the first image smoothing module
The input terminal of image denoising module connects, and the output end of the first image denoising module and the input terminal of central processing unit connect.
Preferably, the second image processing unit includes the second image enhancement module, the second image smoothing module and second
Image denoising module；
Wherein, the output end of the second image acquisition units is connect with the input terminal of the second image enhancement module, the second image
The output end of enhancing module is connect with the input terminal of the second image smoothing module, the output end and second of the second image smoothing module
The input terminal of image denoising module connects, and the output end of the second image denoising module and the input terminal of central processing unit connect.
Preferably, the first image collecting device includes three CCD cameras, respectively the first CCD camera, the second CCD camera
And third CCD camera, wherein the first CCD camera is installed on vehicle front windshield, the second CCD camera and the 3rd CCD
Camera is respectively arranged in vehicle sided mirror unit, and the first CCD camera is for the image information in front of collection vehicle, the 2nd CCD
Camera and third CCD camera are used for the image information at collection vehicle side rear, the first CCD camera, the second CCD camera and third
CCD camera is connect with the first image processing unit；
Second image collector is set to infrared camera, and infrared camera is installed on the top of operator seat in driver's cabin, infrared phase
Machine is used to acquire the facial image information of driver, and infrared camera is connect with the second image processing unit, the second image procossing list
Member is transmitted to central processing unit after the facial image information of acquisition is carried out image procossing, after central processing unit is according to processing
Image information judge driver whether fatigue driving.
Preferably, distance measuring sensor is installed at vehicle license plate position, for monitor vehicle in the process of moving with front truck
Distance signal, and by distance signal transmission to signal processor, signal processor by distance signal transmission to central processing unit,
Distance signal is compared by central processing unit with pre-determined distance threshold value S1 and pre-determined distance threshold value S2, if the numerical value of distance signal
Less than threshold value S1 and being more than threshold value S2, then central processing unit controls vehicle power control unit carries out reduction of speed processing to vehicle,
Central processing unit controls alarm unit sends out alarm signal, and central processing unit is by the first image processing unit and the second image
The image information of processing unit processes is preserved to storage unit, meanwhile, by the first image processing unit and the second image procossing
The image information of cell processing is sent to remote monitoring center by wireless communication networks；If the numerical value of distance signal is less than or waits
In threshold value S2, then central processing unit controls vehicle brake control unit carries out braking processing, central processing unit control to vehicle
Alarm unit processed sends out alarm signal, and central processing unit handles the first image processing unit and the second image processing unit
Image information is preserved to storage unit, meanwhile, the image that the first image processing unit and the second image processing unit are handled
Information is sent to remote monitoring center by wireless communication networks；If the numerical value of distance signal is greater than or equal to threshold value S1, in
Central Processing Unit preserves the image information that the first image processing unit and the second image processing unit are handled to storage unit,
Meanwhile the image information that the first image processing unit and the second image processing unit are handled being sent to by wireless communication networks
Remote monitoring center.
Preferably, it is two-dimensional function f (x, y) by the image definition of the first image acquisition units acquisition, wherein x, y is space
Coordinate, the first image enhancement module carry out image enhancement processing to image f (x, y), and the image after image enhancement processing is g
(x, y), wherein
Wherein, k, q are custom parameter, and the value range of k is (0,1), and the value range of q is [ln2K, lnk]；
First the first image enhancement module of image smoothing module pair treated image g (x, y) carries out picture smooth treatment,
Image after picture smooth treatment is p (x, y), wherein
Image p (x, y) after first image denoising module pair the first image smoothing resume module carries out image denoising processing,
It is s (x, y) by image denoising treated image, wherein it is q (x, y) to carry out pretreated image to image s (x, y),
S (x, y)=q (x, y)+q (x-1, y)+q (x, y-1)+q (x+1, y)+q (x, y+1)；
First image denoising module will pass through image denoising, and treated that image s (x, y) is transmitted to central processing unit.
Preferably, it is two-dimensional function k (x, y) by the image definition of the second image acquisition units acquisition, wherein x, y is space
Coordinate, the second image enhancement module carry out image enhancement processing to image k (x, y), and the image after image enhancement processing is h
(x, y), wherein
Wherein, k, q are custom parameter, and the value range of k is (0,1), and the value range of q is [ln2K, lnk]；
Second the second image enhancement module of image smoothing module pair treated image h (x, y) carries out picture smooth treatment,
Image after picture smooth treatment is i (x, y), wherein
Image i (x, y) after second image denoising module pair the second image smoothing resume module carries out image denoising processing,
It is m (x, y) by image denoising treated image, wherein it is n (x, y) to carry out pretreated image to image i (x, y),
M (x, y)=n (x, y)+n (x-1, y)+n (x, y-1)+n (x-1, y-1)；
Second image denoising module will pass through image denoising, and treated that image m (x, y) is transmitted to central processing unit.
Preferably, central processing unit is STC12C5A60S2 microcontrollers or MSP430 microcontrollers.
Preferably, remote monitoring center is car owner's mobile phone, and car owner monitors vehicle traveling shape by remote monitoring center in real time
State.
Compared with prior art, the present invention has following advantageous effect：
(1) vehicle safe driving system provided by the invention is that outdoor informational is detected in driver's cabin under adverse circumstances,
Comprehensive guarantee is provided for vehicle safe driving, pushes reality of the visual perception technology in vehicle active safety auxiliary system significantly
It applies on border；
(2) vehicle safe driving system provided by the invention, first the first image acquisition units of image processing unit pair are adopted
The image of collection carries out image enhancement, image smoothing and image denoising processing, second the second image of image processing unit pair and adopts successively
Collection unit acquisition image carry out successively image enhancement, image smoothing and image denoising processing, can efficiently, quickly extract first
The face letter to vehicle-periphery and driver can be improved in the image information of image acquisition units and the second image acquisition units
The identification precision of breath efficiently reduces erroneous judgement and happens；
(3) vehicle safe driving system provided by the invention, is combined using visible light, infrared camera with distance measuring sensor
Mode, interior external environment data, vehicle running state, condition of road surface, driving behavior are acquired and are monitored, wherein can
Light-exposed CCD camera is securable to vehicle front and keeps out the wind for vehicle forward sight, side back sight information collection, such as Chinese herbaceous peony condition of road surface
At glass, rearview mirror or body top section corresponding position, infrared camera is for obtaining indoor driver's face and behavioural characteristic, ranging
Sensor provides multi-ensuring for assisting visual perception technology to detect for traffic safety.
Description of the drawings
Fig. 1 is a kind of schematic diagram of vehicle safe driving system of the present invention.
Fig. 2 is the schematic diagram of the signal processor of the present invention；
Fig. 3 is the schematic diagram of the first image processing unit of the present invention；
Fig. 4 is the schematic diagram of the second image processing unit of the present invention；
Fig. 5 is the original image information of the first image acquisition units acquisition of the present invention；
Fig. 6 is that the original image information of first the first image acquisition units of image processing unit pair acquisition of the present invention carries out
Image information after image procossing；
Fig. 7 is the original image information of the second image acquisition units acquisition of the present invention；
Fig. 8 is that the original image information of second the second image acquisition units of image processing unit pair acquisition of the present invention carries out
Image information after image procossing.
Reference numeral：
1- central processing unit；The first image acquisition units of 2-；The second image acquisition units of 3-；4- the first image procossing lists
Member；The second image processing units of 5-, 6- distance measuring sensors, 7- signal processors, 8- alarm units, the control of 9- vehicle powers are single
Member, 10- vehicle brake control units, 11- storage units, 12- remote monitoring centers, 13- filters, 14- signal amplifiers,
15-A/D converters.
Specific implementation mode
Vehicle safe driving system of the present invention is described in detail with reference to the accompanying drawings and examples.
It is adopted as shown in Figure 1, vehicle safe driving system provided by the invention includes central processing unit (1), the first image
Collect unit (2), the second image acquisition units (3), the first image processing unit (4), the second image processing unit (5), ranging biography
Sensor (6), alarm unit (8), vehicle power control unit (9), vehicle brake control unit (10), is deposited signal processor (7)
Storage unit (11) and remote monitoring center (12)；
Wherein, the input terminal of alarm unit (8), vehicle power control unit (9) input terminal, vehicle brake control unit
(10) input terminal of input terminal, storage unit (11) and the input terminal of remote monitoring center (12) respectively with central processing list
The connection of the output end of first (1), the output end of signal processor (7), the output end and second of the first image processing unit (4)
The output end of image processing unit (5) is connect with the input terminal of central processing unit (1), the output end of distance measuring sensor (6) with
The input terminal of signal processor (7) connects, the output ends of the first image acquisition units (2) and the first image processing unit (4)
Input terminal connects, and the output end of the second image acquisition units (3) is connect with the input terminal of the second image processing unit (5).
As shown in Fig. 2, signal processor (7) includes filter (13), signal amplifier (14) and A/D converter
(15)；Wherein, distance measuring sensor (6) output end is connect with the input terminal of filter (13), the output end and letter of filter (13)
The input terminal connection of number amplifier (14), the output end of signal amplifier (14) are connect with the input terminal of A/D converter (15), A/
The output end of D converters (15) is connect with the input terminal of central processing unit (1).
As shown in figure 3, the first image processing unit (4) include the first image enhancement module, the first image smoothing module with
And the first image denoising module；
Wherein, the output end of the first image acquisition units (2) is connect with the input terminal of the first image enhancement module, the first figure
The output end of image intensifying module is connect with the input terminal of the first image smoothing module, the output end of the first image smoothing module and
The input terminal of one image denoising module connects, the input terminal of the output end and central processing unit (1) of the first image denoising module
Connection.
As shown in figure 4, the second image processing unit (5) include the second image enhancement module, the second image smoothing module with
And the second image denoising module；
Wherein, the output end of the second image acquisition units (3) is connect with the input terminal of the second image enhancement module, the second figure
The output end of image intensifying module is connect with the input terminal of the second image smoothing module, the output end of the second image smoothing module and
The input terminal of two image denoising modules connects, the input terminal of the output end and central processing unit (1) of the second image denoising module
Connection.
Specifically, the first image collecting device (1) includes three CCD cameras, respectively the first CCD camera, the 2nd CCD phases
Machine and third CCD camera, wherein the first CCD camera is installed on vehicle front windshield, the second CCD camera and third
CCD camera is respectively arranged in vehicle sided mirror unit, and the first CCD camera is for the image information in front of collection vehicle, and second
CCD camera and third CCD camera are used for the image information at collection vehicle side rear, the first CCD camera, the second CCD camera and
Third CCD camera is connect with the first image processing unit (4)；
Second image collecting device (2) is infrared camera, and infrared camera is installed on the top of operator seat in driver's cabin, infrared
Camera is used to acquire the facial image information of driver, and infrared camera is connect with the second image processing unit (5), at the second image
Reason unit (5) is transmitted to central processing unit (1), central processing unit after the facial image information of acquisition is carried out image procossing
(1) according to treated image information judges driver whether fatigue driving.
Driver's eyes are positioned according to the face geometry in driver's facial information, further according to the closure of driver
Fatigue driving is judged.
Specifically, distance measuring sensor (6) is installed at vehicle license plate position, for monitor vehicle in the process of moving with it is preceding
The distance signal of vehicle, and by distance signal transmission to signal processor (7), signal processor (7) is by distance signal transmission into
Distance signal is compared by central processor (1), central processing unit (1) with pre-determined distance threshold value S1 and pre-determined distance threshold value S2,
If the numerical value of distance signal is less than threshold value S1 and is more than threshold value S2, central processing unit (1) controls vehicle power control unit
(9) reduction of speed processing is carried out to vehicle, central processing unit (1) control alarm unit (8) sends out alarm signal, central processing unit
(1) image information that the first image processing unit (4) and the second image processing unit (5) are handled is preserved to storage unit
(11), meanwhile, the image information that the first image processing unit (4) and the second image processing unit (5) are handled is passed through into channel radio
News network is sent to remote monitoring center (12)；If the numerical value of distance signal is less than or equal to threshold value S2, central processing unit
(1) control vehicle brake control unit (9) carries out braking processing to vehicle, and central processing unit (1) controls alarm unit (8) and sends out
Go out alarm signal, the figure that central processing unit (1) handles the first image processing unit (4) and the second image processing unit (5)
As information is preserved to storage unit (11), meanwhile, at the first image processing unit (4) and the second image processing unit (5)
The image information of reason is sent to remote monitoring center (12) by wireless communication networks；If the numerical value of distance signal is greater than or equal to
Threshold value S1, the then image that central processing unit (1) handles the first image processing unit (4) and the second image processing unit (5)
Information is preserved to storage unit (11), meanwhile, the first image processing unit (4) and the second image processing unit (5) are handled
Image information be sent to remote monitoring center (12) by wireless communication networks.
Specifically, it is two-dimensional function f (x, y) by the image definition of the first image acquisition units (2) acquisition, wherein x, y is
Space coordinate, the first image enhancement module carry out image enhancement processing, the figure after image enhancement processing to image f (x, y)
As being g (x, y), wherein
Wherein, k, q are custom parameter, and the value range of k is (0,1), and the value range of q is [ln2K, lnk]；
First the first image enhancement module of image smoothing module pair treated image g (x, y) carries out picture smooth treatment,
Image after picture smooth treatment is p (x, y), wherein
Image p (x, y) after first image denoising module pair the first image smoothing resume module carries out image denoising processing,
It is s (x, y) by image denoising treated image, wherein it is q (x, y) to carry out pretreated image to image s (x, y),
S (x, y)=q (x, y)+q (x-1, y)+q (x, y-1)+q (x+1, y)+q (x, y+1)；
First image denoising module will pass through image denoising, and treated that image s (x, y) is transmitted to central processing unit
(1)。
Specifically, it is two-dimensional function k (x, y) by the image definition of the second image acquisition units (3) acquisition, wherein x, y is
Space coordinate, the second image enhancement module carry out image enhancement processing, the figure after image enhancement processing to image k (x, y)
As being h (x, y), wherein
Wherein, k, q are custom parameter, and the value range of k is (0,1), and the value range of q is [ln2K, lnk]；
Second the second image enhancement module of image smoothing module pair treated image h (x, y) carries out picture smooth treatment,
Image after picture smooth treatment is i (x, y), wherein
Image i (x, y) after second image denoising module pair the second image smoothing resume module carries out image denoising processing,
It is m (x, y) by image denoising treated image, wherein it is n (x, y) to carry out pretreated image to image i (x, y),
M (x, y)=n (x, y)+n (x-1, y)+n (x, y-1)+n (x-1, y-1)；
Second image denoising module will pass through image denoising, and treated that image m (x, y) is transmitted to central processing unit
(1)。
Specifically, central processing unit (1) is STC12C5A60S2 microcontrollers or MSP430 microcontrollers.
Specifically, remote monitoring center (12) is car owner's mobile phone, and car owner passes through remote monitoring center (12) real-time monitoring car
Transport condition.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, it will be understood by those of ordinary skill in the art that, to the technical side of the present invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Right in.
Claims (10)
1. a kind of vehicle safe driving system, which is characterized in that the vehicle safe driving system includes central processing unit
(1), the first image acquisition units (2), the second image acquisition units (3), the first image processing unit (4), the second image procossing
Unit (5), distance measuring sensor (6), signal processor (7), alarm unit (8), vehicle power control unit (9), vehicle braking
Control unit (10), storage unit (11) and remote monitoring center (12)；
Wherein, the input terminal, the input terminal of the vehicle power control unit (9) of the alarm unit (8), the vehicle braking
The input terminal of the input terminal of control unit (10), the input terminal of the storage unit (11) and the remote monitoring center (12)
Respectively with the connection of the output end of the central processing unit (1), output end, first figure of the signal processor (7)
As the output end of processing unit (4) and the output end of second image processing unit (5) and the central processing unit (1)
Input terminal connection, the output end of the distance measuring sensor (6) connect with the input terminal of the signal processor (7), described the
The output end of one image acquisition units (2) is connect with the input terminal of described first image processing unit (4), and second image is adopted
The output end of collection unit (3) is connect with the input terminal of second image processing unit (5).
2. vehicle safe driving system according to claim 1, which is characterized in that the signal processor (7) includes filter
Wave device (13), signal amplifier (14) and A/D converter (15)；
Wherein, distance measuring sensor (6) output end is connect with the input terminal of the filter (13), the filter (13)
Output end is connect with the input terminal of the signal amplifier (14), and output end and the A/D of the signal amplifier (14) turn
The input terminal of parallel operation (15) connects, and the output end of the A/D converter (15) connects with the input terminal of the central processing unit (1)
It connects.
3. vehicle safe driving system according to claim 1, which is characterized in that described first image processing unit (4)
Including the first image enhancement module, the first image smoothing module and the first image denoising module；
Wherein, the output end of described first image collecting unit (2) is connect with the input terminal of described first image enhancing module, institute
The output end for stating the first image enhancement module is connect with the input terminal of described first image Leveling Block, and described first image is smooth
The output end of module is connect with the input terminal of described first image denoising module, the output end of described first image denoising module with
The input terminal of the central processing unit (1) connects.
4. vehicle safe driving system according to claim 1, which is characterized in that second image processing unit (5)
Including the second image enhancement module, the second image smoothing module and the second image denoising module；
Wherein, the output end of second image acquisition units (3) is connect with the input terminal of second image enhancement module, institute
The output end for stating the second image enhancement module is connect with the input terminal of the second image smoothing module, second image smoothing
The output end of module is connect with the input terminal of the second image denoising module, the output end of the second image denoising module with
The input terminal of the central processing unit (1) connects.
5. vehicle safe driving system according to claim 1, which is characterized in that described first image harvester (1)
Including three CCD cameras, respectively the first CCD camera, the second CCD camera and third CCD camera, wherein the first CCD
Camera is installed on vehicle front windshield, and second CCD camera and the third CCD camera are respectively arranged in vehicle two
On rearview mirror, first CCD camera is for the image information in front of collection vehicle, second CCD camera and described the
Three CCD cameras are used for the image information at collection vehicle side rear, first CCD camera, second CCD camera and described
Third CCD camera is connect with described first image processing unit (4)；
Second image collecting device (2) is infrared camera, and the infrared camera is installed on the top of operator seat in driver's cabin,
The infrared camera is used to acquire the facial image information of driver, the infrared camera and second image processing unit
(5) it connects, second image processing unit (5) is transmitted to institute after the facial image information of acquisition is carried out image procossing
State central processing unit (1), image information judges driver to the central processing unit (1) whether fatigue is driven according to treated
It sails.
6. vehicle safe driving system according to claim 1, which is characterized in that the distance measuring sensor (6) is installed on
At vehicle license plate position, for monitor vehicle in the process of moving with the distance signal of front truck, and by the distance signal transmission
To the signal processor (7), the signal processor (7) is by the distance signal transmission to the central processing unit (1), institute
It states central processing unit (1) to be compared the distance signal with pre-determined distance threshold value S1 and pre-determined distance threshold value S2, if described
The numerical value of distance signal is less than the threshold value S1 and is more than the threshold value S2, then the central processing unit (1) controls the vehicle
Power control unit (9) carries out reduction of speed processing to vehicle, and the central processing unit (1) controls alarm unit (8) hair
Go out alarm signal, the central processing unit (1) is by described first image processing unit (4) and second image processing unit
(5) image information handled is preserved to the storage unit (11), meanwhile, by described first image processing unit (4) and institute
The image information for stating the second image processing unit (5) processing is sent to the remote monitoring center by wireless communication networks
(12)；If the numerical value of the distance signal is less than or equal to the threshold value S2, the central processing unit (1) controls the vehicle
Brak control unit (9) carries out braking processing to vehicle, and the central processing unit (1) controls alarm unit (8) hair
Go out alarm signal, the central processing unit (1) is by described first image processing unit (4) and second image processing unit
(5) image information handled is preserved to the storage unit (11), meanwhile, by described first image processing unit (4) and institute
The image information for stating the second image processing unit (5) processing is sent to the remote monitoring center by wireless communication networks
(12)；If the numerical value of the distance signal is greater than or equal to the threshold value S1, the central processing unit (1) is by described first
Image processing unit (4) and the image information of second image processing unit (5) processing are preserved to the storage unit
(11), meanwhile, the image information that described first image processing unit (4) and second image processing unit (5) are handled is logical
It crosses wireless communication networks and is sent to the remote monitoring center (12).
7. vehicle safe driving system according to claim 3, which is characterized in that by described first image collecting unit
(2) image definition acquired is two-dimensional function f (x, y), and wherein x, y are space coordinates, and described first image enhances module to figure
As f (x, y) progress image enhancement processings, the image after image enhancement processing is g (x, y), wherein
Wherein, k, q are custom parameter, and the value range of k is (0,1), and the value range of q is [ln2K, lnk]；
Described first image Leveling Block enhances described first image image g (x, y) the progress image smoothings after resume module
Processing, the image after picture smooth treatment are p (x, y), wherein
Described first image denoising module carries out image denoising to described first image Leveling Block treated image p (x, y)
Processing is s (x, y) by image denoising treated image, wherein it is q to carry out pretreated image to image s (x, y)
(x, y),
S (x, y)=q (x, y)+q (x-1, y)+q (x, y-1)+q (x+1, y)+q (x, y+1)；
Described first image denoising module will pass through image denoising, and treated that image s (x, y) is transmitted to the central processing list
First (1).
8. vehicle safe driving system according to claim 3, which is characterized in that by second image acquisition units
(3) image definition acquired is two-dimensional function k (x, y), and wherein x, y is space coordinate, and second image enhancement module is to figure
As k (x, y) progress image enhancement processings, the image after image enhancement processing is h (x, y), wherein
Wherein, k, q are custom parameter, and the value range of k is (0,1), and the value range of q is [ln2K, lnk]；
The second image smoothing module carries out image smoothing to second image enhancement module treated image h (x, y)
Processing, the image after picture smooth treatment are i (x, y), wherein
The second image denoising module carries out image denoising to the image i (x, y) after the second image smoothing resume module
Processing is m (x, y) by image denoising treated image, wherein it is n to carry out pretreated image to image i (x, y)
(x, y),
M (x, y)=n (x, y)+n (x-1, y)+n (x, y-1)+n (x-1, y-1)；
The second image denoising module will pass through image denoising, and treated that image m (x, y) is transmitted to the central processing list
First (1).
9. vehicle safe driving system according to claim 1, which is characterized in that the central processing unit (1) is
STC12C5A60S2 microcontrollers or MSP430 microcontrollers.
10. vehicle safe driving system according to claim 1, which is characterized in that the remote monitoring center (12) is
Car owner's mobile phone, car owner monitor vehicle running state in real time by the remote monitoring center (12).
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| CN201810677706.XA CN108583564B (en) | 2018-06-27 | 2018-06-27 | Safety running system for vehicle |
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| CN201810677706.XA CN108583564B (en) | 2018-06-27 | 2018-06-27 | Safety running system for vehicle |
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