CN108583564B - Safety running system for vehicle - Google Patents
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- 238000003706 image smoothing Methods 0.000 claims abstract description 53
- 230000001815 facial effect Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000007781 pre-processing Methods 0.000 claims 1
- 206010039203 Road traffic accident Diseases 0.000 description 6
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- 230000016776 visual perception Effects 0.000 description 2
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- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
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Classifications
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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
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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
- B60W10/04—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
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- 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
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/26—Incapacity
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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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
- B60W2756/00—Output or target parameters relating to data
- B60W2756/10—Involving external transmission of data to or from the vehicle
Abstract
The invention provides a vehicle safe driving system, which utilizes a central processing unit, a first image acquisition unit, a second image acquisition unit, a first image processing unit, a second image processing unit, a ranging sensor, a signal processor, an alarm unit, a vehicle power control unit, a vehicle brake control unit, a storage unit and a remote monitoring center to acquire environment information in front of an automobile and fatigue information of a driver so as to ensure the driving safety of the automobile; the first image processing unit comprises a first image enhancement module, a first image smoothing module and a first image denoising module, and the second image processing unit comprises a second image enhancement module, a second image smoothing module and a second image denoising module.
Description
Technical Field
The invention relates to the field of traffic tests, in particular to a vehicle safety driving system.
Background
With the rapid development of society and economy, the quantity of the automobile to be kept is gradually increased, and the traffic safety problem is also increasingly serious. Statistics according to the delivery management office: by the end of 2016, motor vehicles remain 2.9 hundred million nationwide, with 1.94 hundred million vehicles and 3.6 hundred million motor vehicle drivers. However, traffic accidents also grow in a blowout way, and data published by world health organizations show that the number of deaths caused by road traffic accidents is about 125 ten thousand worldwide, which is equivalent to 3500 deaths caused by traffic accidents worldwide. The data show that tens of millions of people are injured or disabled each year, and traffic accidents become the leading cause of death among young people between 15 and 29 years old. According to incomplete statistics, about 60% of major traffic accidents are caused by fatigue driving of a driver, and about 21% of traffic accidents are caused by abnormal lane departure of a vehicle, so that the fatigue state of the driver and the detection of the process in the driving process of the vehicle become the urgent problems of active safety of the vehicle.
At present, the active safety system of each big automobile in the world starts to detect the vehicle and the road marking line by using the computer vision technology, but China has a certain gap in the research start in the fields of intelligent vehicles and safety auxiliary driving, and compared with the foreign developed countries, many research achievements are in a theoretical stage, and the commercialization degree is low, and the main reason is that most researches and products only aim at the conditions of illumination and good roads, and cannot be suitable for the complexity and individuation difference of the outdoor monitoring condition in a cab.
Disclosure of Invention
Therefore, in order to overcome the above problems, the present invention provides a vehicle safety driving system, which uses a central processing unit, a first image acquisition unit, a second image acquisition unit, a first image processing unit, a second image processing unit, a ranging sensor, a signal processor, an alarm unit, a vehicle power control unit, a vehicle brake control unit, a storage unit and a remote monitoring center to acquire environmental information in front of a vehicle and fatigue information of a driver so as to ensure the driving safety of the vehicle.
The invention relates to a vehicle safe driving system, which comprises a central processing unit, a first image acquisition unit, a second image acquisition unit, a first image processing unit, a second image processing unit, a ranging sensor, a signal processor, an alarm unit, a vehicle power control unit, a vehicle brake control unit, a storage unit and a remote monitoring center, wherein the first image acquisition unit is used for acquiring a first image of a vehicle;
the input end of the alarm unit, the input end of the vehicle power control unit, the input end of the vehicle brake control unit, the input end of the storage unit and the input end of the remote monitoring center are respectively connected with the output end of the central processing unit, the output end of the signal processor, the output end of the first image processing unit and the output end of the second image processing unit are connected with the input end of the central processing unit, the output end of the ranging sensor is connected with the input end of the signal processor, the output end of the first image acquisition unit is connected with the input end of the first image processing unit, and the output end of the second image acquisition unit is connected with the input end of the second image processing unit.
Preferably, the signal processor includes a filter, a signal amplifier, and an a/D converter;
the output end of the distance measuring sensor is connected with the input end of the filter, the output end of the filter is connected with the input end of the signal amplifier, the output end of the signal amplifier is connected with the input end of the A/D converter, and the output end of the A/D converter is connected with the input end of the central processing unit.
Preferably, the first image processing unit includes a first image enhancement module, a first image smoothing module, and a first image denoising module;
the output end of the first image acquisition unit is connected with the input end of the first image enhancement module, the output end of the first image enhancement module is connected with the input end of the first image smoothing module, the output end of the first image smoothing module is connected with the input end of the first image denoising module, and the output end of the first image denoising module is connected with the input end of the central processing unit.
Preferably, the second image processing unit includes a second image enhancement module, a second image smoothing module, and a second image denoising module;
the output end of the second image acquisition unit is connected with the input end of the second image enhancement module, the output end of the second image enhancement module is connected with the input end of the second image smoothing module, the output end of the second image smoothing module is connected with the input end of the second image denoising module, and the output end of the second image denoising module is connected with the input end of the central processing unit.
Preferably, the first image acquisition device comprises three CCD cameras, namely a first CCD camera, a second CCD camera and a third CCD camera, wherein the first CCD camera is arranged on a windshield in front of the vehicle, the second CCD camera and the third CCD camera are respectively arranged on rearview mirrors on two sides of the vehicle, the first CCD camera is used for acquiring image information in front of the vehicle, the second CCD camera and the third CCD camera are used for acquiring image information on the rear side of the vehicle, and the first CCD camera, the second CCD camera and the third CCD camera are all connected with the first image processing unit;
the second image acquisition device is an infrared camera, the infrared camera is arranged above a driver seat in the cab and is used for acquiring facial image information of a driver, the infrared camera is connected with the second image processing unit, the second image processing unit performs image processing on the acquired facial image information and then transmits the processed facial image information to the central processing unit, and the central processing unit judges whether the driver is tired to drive according to the processed image information.
Preferably, the distance measuring sensor is arranged at the position of a license plate of the vehicle and is used for monitoring distance signals between the vehicle and a preceding vehicle in the running process and transmitting the distance signals to the signal processor, the signal processor transmits the distance signals to the central processing unit, the central processing unit compares the distance signals with a preset distance threshold S1 and a preset distance threshold S2, if the value of the distance signals is smaller than the threshold S1 and larger than the threshold S2, the central processing unit controls the vehicle power control unit to perform deceleration processing on the vehicle, the central processing unit controls the alarm unit to send alarm signals, the central processing unit stores the image information processed by the first image processing unit and the second image processing unit to the storage unit, and meanwhile, the image information processed by the first image processing unit and the second image processing unit is transmitted to the remote monitoring center through a wireless communication network; if the value of the distance signal is smaller than or equal to a threshold S2, the central processing unit controls the vehicle brake control unit to brake the vehicle, the central processing unit controls the alarm unit to send an alarm signal, the central processing unit stores the image information processed by the first image processing unit and the second image processing unit into the storage unit, and meanwhile, the image information processed by the first image processing unit and the second image processing unit is sent to the remote monitoring center through the wireless communication network; if the value of the distance signal is greater than or equal to the threshold S1, the central processing unit stores the image information processed by the first image processing unit and the second image processing unit into the storage unit, and simultaneously, the image information processed by the first image processing unit and the second image processing unit is sent to the remote monitoring center through the wireless communication network.
Preferably, the image acquired by the first image acquisition unit is defined as a two-dimensional function f (x, y), wherein x and y are space coordinates, the first image enhancement module performs image enhancement processing on the image f (x, y), and the image after the image enhancement processing is g (x, y), wherein,
wherein k and q are user-defined parameters, the value range of k is (0, 1), and the value range of q is [ ln ] 2 k，lnk]；
The first image smoothing module performs image smoothing processing on the image g (x, y) processed by the first image enhancement module, wherein the image after the image smoothing processing is p (x, y), and the image after the image smoothing processing is p (x, y),
the first image denoising module performs image denoising processing on the image p (x, y) processed by the first image smoothing module, wherein the image after the image denoising processing is s (x, y), the image after the image s (x, y) is q (x, y),
s(x，y)＝q(x，y)+q(x-1，y)+q(x，y-1)+q(x+1，y)+q(x，y+1)；
the first image denoising module transmits the image s (x, y) subjected to the image denoising processing to the central processing unit.
Preferably, the image acquired by the second image acquisition unit is defined as a two-dimensional function k (x, y), wherein x and y are space coordinates, the second image enhancement module performs image enhancement processing on the image k (x, y), and the image after the image enhancement processing is h (x, y), wherein,
wherein k and q are user-defined parameters, the value range of k is (0, 1), and the value range of q is [ ln ] 2 k，lnk]；
The second image smoothing module performs image smoothing processing on the image h (x, y) processed by the second image enhancement module, wherein the image after the image smoothing processing is i (x, y), and the image after the image smoothing processing is a three-dimensional image,
the second image denoising module performs image denoising processing on the image i (x, y) processed by the second image smoothing module, wherein the image after the image denoising processing is m (x, y), the image after the image i (x, y) is preprocessed is n (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 transmits the image m (x, y) subjected to the image denoising processing to the central processing unit.
Preferably, the central processing unit is an STC12C5A60S2 singlechip or an MSP430 singlechip.
Preferably, the remote monitoring center is a mobile phone of a vehicle owner, and the vehicle owner monitors the running state of the vehicle in real time through the remote monitoring center.
Compared with the prior art, the invention has the following beneficial effects:
(1) The vehicle safe driving system provided by the invention detects the indoor and outdoor information of the cab in a severe environment, provides omnibearing guarantee for vehicle safe driving, and greatly promotes the practical application of a visual perception technology in a vehicle active safety auxiliary system;
(2) According to the vehicle safety driving system provided by the invention, the first image processing unit sequentially performs image enhancement, image smoothing and image denoising on the images acquired by the first image acquisition unit, and the second image processing unit sequentially performs image enhancement, image smoothing and image denoising on the images acquired by the second image acquisition unit, so that the image information of the first image acquisition unit and the second image acquisition unit can be extracted efficiently and quickly, the recognition precision of the surrounding environment of the vehicle and the facial information of a driver can be improved, and the occurrence of erroneous judgment is effectively reduced;
(3) The vehicle safety driving system provided by the invention adopts a mode of combining the visible light, the infrared camera and the ranging sensor to collect and monitor the internal and external environment data, the driving state, the road condition and the driver behavior of the vehicle, wherein the visible light CCD camera is used for collecting the front-view and side-rear-view information of the vehicle, such as the road condition of the front of the vehicle, and the like, can be fixed at the front windshield, the rearview mirror or the corresponding position on the upper part of the vehicle body, the infrared camera is used for acquiring the face and the behavior characteristics of the indoor driver, and the ranging sensor is used for assisting the visual perception technology detection to provide multiple guarantees for driving safety.
Drawings
Fig. 1 is a schematic diagram of a vehicle safety driving system according to the present invention.
FIG. 2 is a schematic diagram of a signal processor according to the present invention;
FIG. 3 is a schematic diagram of a first image processing unit according to the present invention;
FIG. 4 is a schematic diagram of a second image processing unit of the present invention;
FIG. 5 is an original image acquired by the first image acquisition unit of the present invention;
fig. 6 is image information after the first image processing unit performs image processing on the original image information acquired by the first image acquisition unit;
FIG. 7 is a diagram showing the original image information acquired by the second image acquisition unit of the present invention;
fig. 8 is image information after the second image processing unit performs image processing on the original image information acquired by the second image acquisition unit.
Reference numerals:
1-a central processing unit; 2-a first image acquisition unit; 3-a second image acquisition unit; 4-a first image processing unit; the system comprises a 5-second image processing unit, a 6-ranging sensor, a 7-signal processor, an 8-alarm unit, a 9-vehicle power control unit, a 10-vehicle brake control unit, an 11-storage unit, a 12-remote monitoring center, a 13-filter, a 14-signal amplifier and a 15-A/D converter.
Detailed Description
The vehicle safety travel system of the present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in fig. 1, the vehicle safe driving system provided by the invention comprises a central processing unit (1), a first image acquisition unit (2), a second image acquisition unit (3), a first image processing unit (4), a second image processing unit (5), a ranging sensor (6), a signal processor (7), an alarm unit (8), a vehicle power control unit (9), a vehicle brake control unit (10), a storage unit (11) and a remote monitoring center (12);
the input end of the alarm unit (8), the input end of the vehicle power control unit (9), the input end of the vehicle brake control unit (10), the input end of the storage unit (11) and the input end of the remote monitoring center (12) are respectively connected with the output end of the central processing unit (1), the output end of the signal processor (7), the output end of the first image processing unit (4) and the output end of the second image processing unit (5) are connected with the input end of the central processing unit (1), the output end of the ranging sensor (6) is connected with the input end of the signal processor (7), the output end of the first image acquisition unit (2) is connected with the input end of the first image processing unit (4), and the output end of the second image acquisition unit (3) is connected with the input end of the second image processing unit (5).
As shown in fig. 2, the signal processor (7) includes a filter (13), a signal amplifier (14), and an a/D converter (15); the output end of the ranging sensor (6) is connected with the input end of the filter (13), the output end of the filter (13) is connected with the input end of the signal amplifier (14), the output end of the signal amplifier (14) is connected with the input end of the A/D converter (15), and the output end of the A/D converter (15) is connected with the input end of the central processing unit (1).
As shown in fig. 3, the first image processing unit (4) includes a first image enhancement module, a first image smoothing module, and a first image denoising module;
the output end of the first image acquisition unit (2) is connected with the input end of the first image enhancement module, the output end of the first image enhancement module is connected with the input end of the first image smoothing module, the output end of the first image smoothing module is connected with the input end of the first image denoising module, and the output end of the first image denoising module is connected with the input end of the central processing unit (1).
As shown in fig. 4, the second image processing unit (5) includes a second image enhancement module, a second image smoothing module, and a second image denoising module;
the output end of the second image acquisition unit (3) is connected with the input end of the second image enhancement module, the output end of the second image enhancement module is connected with the input end of the second image smoothing module, the output end of the second image smoothing module is connected with the input end of the second image denoising module, and the output end of the second image denoising module is connected with the input end of the central processing unit (1).
Specifically, the first image acquisition device (1) comprises three CCD cameras, namely a first CCD camera, a second CCD camera and a third CCD camera, wherein the first CCD camera is arranged on a windshield in front of a vehicle, the second CCD camera and the third CCD camera are respectively arranged on rearview mirrors on two sides of the vehicle, the first CCD camera is used for acquiring image information in front of the vehicle, the second CCD camera and the third CCD camera are used for acquiring image information in back of the side of the vehicle, and the first CCD camera, the second CCD camera and the third CCD camera are all connected with the first image processing unit (4);
the second image acquisition device (2) is an infrared camera, the infrared camera is arranged above a driver seat in a cab and is used for acquiring facial image information of a driver, the infrared camera is connected with the second image processing unit (5), the second image processing unit (5) performs image processing on the acquired facial image information and then transmits the processed facial image information to the central processing unit (1), and the central processing unit (1) judges whether the driver is in fatigue driving or not according to the processed image information.
And positioning eyes of the driver according to the geometry of the five sense organs in the facial information of the driver, and judging the fatigue driving according to the closure degree of the driver.
Specifically, the ranging sensor (6) is installed at the license plate position of the vehicle and is used for monitoring distance signals between the vehicle and the front vehicle in the driving process and transmitting the distance signals to the signal processor (7), the signal processor (7) transmits the distance signals to the central processing unit (1), the central processing unit (1) compares the distance signals with a preset distance threshold S1 and a preset distance threshold S2, if the value of the distance signals is smaller than the threshold S1 and larger than the threshold S2, the central processing unit (1) controls the vehicle power control unit (9) to perform deceleration processing on the vehicle, the central processing unit (1) controls the alarm unit (8) to send out alarm signals, the central processing unit (1) stores image information processed by the first image processing unit (4) and the second image processing unit (5) to the storage unit (11), and meanwhile, the image information processed by the first image processing unit (4) and the second image processing unit (5) is transmitted to the remote monitoring center (12) through a wireless communication network; if the value of the distance signal is smaller than or equal to a threshold S2, the central processing unit (1) controls the vehicle brake control unit (9) to brake the vehicle, the central processing unit (1) controls the alarm unit (8) to send out an alarm signal, the central processing unit (1) stores the image information processed by the first image processing unit (4) and the second image processing unit (5) into the storage unit (11), and meanwhile, the image information processed by the first image processing unit (4) and the second image processing unit (5) is sent to the remote monitoring center (12) through a wireless communication network; if the value of the distance signal is greater than or equal to the threshold value S1, the central processing unit (1) stores the image information processed by the first image processing unit (4) and the second image processing unit (5) into the storage unit (11), and meanwhile, the image information processed by the first image processing unit (4) and the second image processing unit (5) is sent to the remote monitoring center (12) through a wireless communication network.
Specifically, the image acquired by the first image acquisition unit (2) is defined as a two-dimensional function f (x, y), wherein x and y are space coordinates, the first image enhancement module performs image enhancement processing on the image f (x, y), the image after the image enhancement processing is g (x, y), wherein,
wherein k and q are user-defined parameters, the value range of k is (0, 1), and the value range of q is [ ln ] 2 k，lnk]；
The first image smoothing module performs image smoothing processing on the image g (x, y) processed by the first image enhancement module, wherein the image after the image smoothing processing is p (x, y), and the image after the image smoothing processing is p (x, y),
the first image denoising module performs image denoising processing on the image p (x, y) processed by the first image smoothing module, wherein the image after the image denoising processing is s (x, y), the image after the image s (x, y) is q (x, y),
s(x，y)＝q(x，y)+q(x-1，y)+q(x，y-1)+q(x+1，y)+q(x，y+1)；
the first image denoising module transmits the image s (x, y) subjected to the image denoising processing to the central processing unit (1).
Specifically, the image acquired by the second image acquisition unit (3) is defined as a two-dimensional function k (x, y), wherein x and y are space coordinates, the second image enhancement module performs image enhancement processing on the image k (x, y), the image after the image enhancement processing is h (x, y), wherein,
wherein k and q are user-defined parameters, the value range of k is (0, 1), and the value range of q is [ ln ] 2 k，lnk]；
The second image smoothing module performs image smoothing processing on the image h (x, y) processed by the second image enhancement module, wherein the image after the image smoothing processing is i (x, y), and the image after the image smoothing processing is a three-dimensional image,
the second image denoising module performs image denoising processing on the image i (x, y) processed by the second image smoothing module, wherein the image after the image denoising processing is m (x, y), the image after the image i (x, y) is preprocessed is n (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 transmits the image m (x, y) subjected to the image denoising processing to the central processing unit (1).
Specifically, the central processing unit (1) is an STC12C5A60S2 singlechip or an MSP430 singlechip.
Specifically, the remote monitoring center (12) is a mobile phone of a vehicle owner, and the vehicle owner monitors the running state of the vehicle in real time through the remote monitoring center (12).
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and are not limiting. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the appended claims.
Claims (4)
1. The vehicle safety driving system is characterized by comprising a central processing unit (1), a first image acquisition unit (2), a second image acquisition unit (3), a first image processing unit (4), a second image processing unit (5), a ranging sensor (6), a signal processor (7), an alarm unit (8), a vehicle power control unit (9), a vehicle brake control unit (10), a storage unit (11) and a remote monitoring center (12);
the input end of the alarm unit (8), the input end of the vehicle power control unit (9), the input end of the vehicle brake control unit (10), the input end of the storage unit (11) and the input end of the remote monitoring center (12) are respectively connected with the output end of the central processing unit (1), the output end of the signal processor (7), the output end of the first image processing unit (4) and the output end of the second image processing unit (5) are connected with the input end of the central processing unit (1), the output end of the ranging sensor (6) is connected with the input end of the signal processor (7), the output end of the first image acquisition unit (2) is connected with the input end of the first image processing unit (4), and the output end of the second image acquisition unit (3) is connected with the input end of the second image processing unit (5);
the signal processor (7) comprises a filter (13), a signal amplifier (14) and an A/D converter (15);
the output end of the ranging sensor (6) is connected with the input end of the filter (13), the output end of the filter (13) is connected with the input end of the signal amplifier (14), the output end of the signal amplifier (14) is connected with the input end of the A/D converter (15), and the output end of the A/D converter (15) is connected with the input end of the central processing unit (1);
the first image processing unit (4) comprises a first image enhancement module, a first image smoothing module and a first image denoising module;
the output end of the first image acquisition unit (2) is connected with the input end of the first image enhancement module, the output end of the first image enhancement module is connected with the input end of the first image smoothing module, the output end of the first image smoothing module is connected with the input end of the first image denoising module, and the output end of the first image denoising module is connected with the input end of the central processing unit (1);
the second image processing unit (5) comprises a second image enhancement module, a second image smoothing module and a second image denoising module;
the output end of the second image acquisition unit (3) is connected with the input end of the second image enhancement module, the output end of the second image enhancement module is connected with the input end of the second image smoothing module, the output end of the second image smoothing module is connected with the input end of the second image denoising module, and the output end of the second image denoising module is connected with the input end of the central processing unit (1);
the second image processing unit (5) comprises a second image enhancement module, a second image smoothing module and a second image denoising module;
the output end of the second image acquisition unit (3) is connected with the input end of the second image enhancement module, the output end of the second image enhancement module is connected with the input end of the second image smoothing module, the output end of the second image smoothing module is connected with the input end of the second image denoising module, and the output end of the second image denoising module is connected with the input end of the central processing unit (1);
the first image acquisition unit (2) comprises three CCD cameras, namely a first CCD camera, a second CCD camera and a third CCD camera, wherein the first CCD camera is arranged on a windshield in front of a vehicle, the second CCD camera and the third CCD camera are respectively arranged on rearview mirrors on two sides of the vehicle, the first CCD camera is used for acquiring image information in front of the vehicle, the second CCD camera and the third CCD camera are used for acquiring image information on the rear side of the vehicle, and the first CCD camera, the second CCD camera and the third CCD camera are all connected with the first image processing unit (4);
the second image acquisition unit (3) is an infrared camera, the infrared camera is arranged above a driver seat in a cab and is used for acquiring facial image information of a driver, the infrared camera is connected with the second image processing unit (5), the second image processing unit (5) performs image processing on the acquired facial image information and then transmits the processed facial image information to the central processing unit (1), and the central processing unit (1) judges whether the driver is in fatigue driving or not according to the processed image information;
the distance measuring sensor (6) is arranged at the position of a license plate of a vehicle and is used for monitoring distance signals between the vehicle and a front vehicle in the driving process and transmitting the distance signals to the signal processor (7), the signal processor (7) transmits the distance signals to the central processing unit (1), the central processing unit (1) compares the distance signals with a preset distance threshold S1 and a preset distance threshold S2, if the value of the distance signals is smaller than the threshold S1 and larger than the threshold S2, the central processing unit (1) controls the vehicle power control unit (9) to perform deceleration processing on the vehicle, the central processing unit (1) controls the alarm unit (8) to send alarm signals, the central processing unit (1) stores image information processed by the first image processing unit (4) and the second image processing unit (5) to the storage unit (11), and simultaneously sends the image information processed by the first image processing unit (4) and the second image processing unit (5) to the central processing unit (12) through a wireless monitoring network; if the value of the distance signal is smaller than or equal to the threshold value S2, the central processing unit (1) controls the vehicle brake control unit (9) to brake the vehicle, the central processing unit (1) controls the alarm unit (8) to send out an alarm signal, the central processing unit (1) stores the image information processed by the first image processing unit (4) and the second image processing unit (5) into the storage unit (11), and meanwhile, the image information processed by the first image processing unit (4) and the second image processing unit (5) is sent to the remote monitoring center (12) through a wireless communication network; if the value of the distance signal is greater than or equal to the threshold value S1, the central processing unit (1) stores the image information processed by the first image processing unit (4) and the second image processing unit (5) to the storage unit (11), and simultaneously, sends the image information processed by the first image processing unit (4) and the second image processing unit (5) to the remote monitoring center (12) through a wireless communication network;
defining the image acquired by the first image acquisition unit (2) as a two-dimensional function f (x, y), wherein x and y are space coordinates, performing image enhancement processing on the image f (x, y) by the first image enhancement module, and obtaining an image g (x, y) after the image enhancement processing, wherein,
；
wherein k and q are self-defined parameters, the value range of k is (0, 1), and the value range of q is；
The first image smoothing module performs image smoothing processing on the image g (x, y) processed by the first image enhancement module, wherein the image after the image smoothing processing is p (x, y),
；
the first image denoising module performs image denoising processing on the image p (x, y) processed by the first image smoothing module, the image after the image denoising processing is s (x, y), wherein the image after the image s (x, y) is q (x, y),
；
；
the first image denoising module transmits the image s (x, y) subjected to image denoising to the central processing unit (1).
2. The vehicle safety driving system according to claim 1, wherein the image acquired by the second image acquisition unit (3) is defined as a two-dimensional function k (x, y), wherein x, y are spatial coordinates, the second image enhancement module performs an image enhancement process on the image k (x, y), the image after the image enhancement process is h (x, y), wherein,
；
wherein k and q are self-defined parameters, the value range of k is (0, 1), and the value range of q is；
The second image smoothing module performs image smoothing processing on the image h (x, y) processed by the second image enhancement module, wherein the image after the image smoothing processing is i (x, y),
；
the second image denoising module performs image denoising processing on the image i (x, y) processed by the second image smoothing module, wherein the image after image denoising processing is m (x, y), the image after preprocessing the image i (x, y) is n (x, y),
；
；
the second image denoising module transmits the image m (x, y) subjected to image denoising to the central processing unit (1).
3. The vehicle safety driving system according to claim 1, wherein the central processing unit (1) is an STC12C5a60S2 single-chip microcomputer or an MSP430 single-chip microcomputer.
4. The vehicle safety driving system according to claim 1, wherein the remote monitoring center (12) is a mobile phone of a vehicle owner, and the vehicle owner monitors the driving state of the vehicle in real time through the remote monitoring center (12).
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