CN108629281A - Utilize the automatic safe driving assistance method of bend corner mirror - Google Patents
Utilize the automatic safe driving assistance method of bend corner mirror Download PDFInfo
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- CN108629281A CN108629281A CN201810263237.7A CN201810263237A CN108629281A CN 108629281 A CN108629281 A CN 108629281A CN 201810263237 A CN201810263237 A CN 201810263237A CN 108629281 A CN108629281 A CN 108629281A
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- corner mirror
- image
- bend
- vehicle
- safe driving
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- 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
- B60W40/02—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 ambient conditions
- B60W40/04—Traffic conditions
Abstract
The present invention relates to a kind of automatic safe driving assistance methods using bend corner mirror, include the following steps：Corner mirror on S1, identification bend, and measure the curvature gone off the curve and turning radius and corner mirror and drive vehicle distance d1；Image in S2, acquisition corner mirror, and judge to then follow the steps S3 if there is obstacle target with the presence or absence of obstacle target in image；S3, the distance between obstacle target and corner mirror d2 is determined；S4, the arc distance driven between vehicle and obstacle target is calculated；S5, safe driving strategy is determined according to the arc distance driven between vehicle and obstacle target.The present invention can complete the identification to the obstacles target such as vehicle, pedestrian in bend corner mirror, coordinate the executing agencies such as steering, the brake of chassis, realize that vehicle body actively slows down or brakes, reduce the risk of negotiation of bends.
Description
Technical field
The present invention relates to automatic safes to drive field, more specifically to a kind of automatic peace using bend corner mirror
Full driving assistance method.
Background technology
A face bend corner mirror, physical aspect more circle, convex surface, terrain clearances are often erect in road curve side
About 1.5 meters, experienced driver can obtain bend vehicle, pedestrian information by observing the mirror, to regulation speed, complete
At meeting operation etc., bend passage safety is improved.
But for not forming for new hand driver or the driver for observing mirror custom, the effect of the mirror can not just embody, this
Invention is directed to the corner mirror, invents a kind of scheme of view-based access control model, the identification to information in mirror is completed, further according to dedicated active
Security strategy is completed to act the active safeties such as the deceleration or brake of vehicle, improves the safety that bend passes through.
Invention content
The technical problem to be solved in the present invention is, provides a kind of automatic safe driving auxiliary square using bend corner mirror
Method can reduce the risk of negotiation of bends.
The technical solution adopted by the present invention to solve the technical problems is：Construct a kind of automatic peace using bend corner mirror
Full driving assistance method, includes the following steps：
Corner mirror on S1, identification bend, and measure the curvature gone off the curve and turning radius and corner mirror and drive vehicle
Distance d1；
Image in S2, acquisition corner mirror, and judge to whether there is obstacle target in image, if there is obstacle target,
Then follow the steps S3；
S3, the distance between obstacle target and corner mirror d2 is determined；
S4, the arc distance driven between vehicle and obstacle target is calculated；
S5, safe driving strategy is determined according to the arc distance driven between vehicle and obstacle target.
In said program, the step S1 further comprises the steps：
S11, image is acquired using the camera module for driving vehicle, is transferred to arithmetic and control unit；
S12, arithmetic and control unit identify road curvature w and turning radius by vision respective algorithms, and judge to drive vehicle
Whether enter curved areas；
If S13, driving vehicle enter curved areas, corner mirror of going off the curve is identified by machine vision algorithm detection, is obtained
It takes bend corner mirror and drives the distance between vehicle d1.
Identify that the method for curvature w and turning radius is in said program, in the step S12：Image is increased first
By force with pretreatment so that lane line pixel is more prominent, according to lane line model extraction lane line position coordinates after image binaryzation,
If calculated road curvature w<Thw, thw are bend curvature threshold, are measured by off-line testing, then it is curved to judge that vehicle will enter
Road region, while preserving the turning radius value r of calculating.
In said program, the enhancing includes greyscale transformation, filtering noise reduction, inverse distortion coordinate transform with pretreatment.
In said program, the track line model includes straight line model, concentric circles curve model, conic model, sample
Curve model, clothoid model and built-up pattern.
In said program, the S13 further comprises the steps：
S131, offline capturing sample image, establish sample database, using SVM, Adaboost or other methods training sample,
Grader is obtained, is stored in local arithmetic and control unit Installed System Memory；
S132, in line computation, be by pretreated image, bend lateral area delimited according to lane curvature w
Area-of-interest, i.e. ROI；
S133, image in ROI is carried out to feature extraction operation and compared with grader is locally stored, determines whether to identify
Target, if it is unidentified go out corner mirror, recalculate new frame image；If identifying, continue；
S134, it after identifying corner mirror, is looked into offline distance calibration table according to pixel distance shared by corner mirror minute surface height
Inquiry obtains the corner mirror from driving vehicle distances.
In said program, judge in the step S2 be with the presence or absence of obstacle mesh calibration method in image：
Control camera module first acquires corner mirror mirror sections, stores area image f0 as target area；So
Image enhancement is carried out to image f0 to pre-process to obtain enhanced target area image f1, machine vision is used in image f1 afterwards
Algorithm identification wherein information, is detected in the regions whole image f1, compared with feature in offline grader, determines whether there is
Obstacle target.
In said program, the distance between obstacle target and corner mirror d2=k*r2+m*r+n。
In said program, the step S5 is specially：Calculate collision time according to arc distance, according to collision time and
Vehicle running state is driven, steering brake control strategy instruction is obtained by security strategy related operation, current strategies are obtained
Execute instruction executing agency be output to by CAN bus, come control man-machine interface response police instruction, the flicker of control headlight or
Whistle, slows down or brakes at control Vehicular turn evacuation.
The automatic safe driving assistance method using bend corner mirror for implementing the present invention, has the advantages that：
The present invention utilizes the automatic safe driving assistance method of bend corner mirror, can complete to vehicle in bend corner mirror
, the identification of the obstacles target such as pedestrian, coordinate the executing agencies such as steering, the brake of chassis, realize vehicle body actively slow down or
Brake, reduces the risk of negotiation of bends.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 is flow chart of the present invention using the automatic safe driving assistance method of bend corner mirror；
Fig. 2 is the location diagram between bend corner mirror, vehicle and obstacle target；
Fig. 3 is the flow chart that the virtual track of vehicle traveling is speculated using steering wheel for vehicle corner information；
Fig. 4 is the overhaul flow chart of road curvature；
Fig. 5 is bend corner mirror identification process figure；
Fig. 6 is the image recognition flow chart in bend corner mirror；
Fig. 7 is the schematic diagram of equivalent arc length model.
Specific implementation mode
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
The specific implementation mode of the present invention.
As shown in Figure 1 and Figure 2, in the automatic safe driving assistance method using bend corner mirror of the present invention, pass through camera shooting
Head mould group acquires road video information, and vehicle, pedestrian etc. in Computer Vision, bend corner mirror are completed in arithmetic and control unit
Identification, the security strategy processing of obstacle target, are finally sent to vehicle body CAN bus by control instruction, and control vehicle is completed corresponding
The active safeties action such as deceleration, brake.This method needs vehicle body steering, brake actuating mechanism to have CAN bus control function, opens
Moving the function has the requirement of the speed upper limit.
The present invention's specifically includes following steps using the automatic safe driving assistance method of bend corner mirror：
(1) vehicle body camera module acquires image, is transferred to arithmetic and control unit；
(2) arithmetic and control unit identifies road curvature w by vision respective algorithms, detects bend and corner area；It is based on
The testing process of vision technique identification road curvature is shown in Fig. 3：
Common enhancing preprocess method includes but not limited to the sides such as greyscale transformation, filtering noise reduction, inverse distortion coordinate transform
Method so that lane line pixel is more prominent, according to lane line model extraction lane line position coordinates, common model after image binaryzation
Including but not limited to straight line model, concentric circles curve model, conic model, spline curve model, clothoid model with
And built-up pattern etc..If calculated road curvature w<Thw (thw is bend curvature threshold, is measured by off-line testing), then judge
Vehicle will enter curved areas, while preserve the turning radius value r of calculating.
If road surface breakage, identify unclear, sleety weather etc. due to cause vision technique that can not obtain totally to stablize
Effective lane line information then speculates virtual track and its bend curvature w of vehicle traveling using steering wheel for vehicle corner information,
Detailed process is shown in Fig. 3：
Current steering wheel angle θ is obtained by vehicle body CAN signal first, works as θ>When th_angle, judgement driver is
Curved operation was carried out, i.e. vehicle enters bend, and th_angle is the steering wheel angle threshold value that driver enters curved operation, by trying offline
It tests given, is stored in local controller memory.
If it is determined that vehicle enters bend, then by direction disk rotational angle theta value table look-up to obtain vehicle will by bend half
Diameter, the look-up table are tested by off-line calibration and are obtained, be stored in local controller memory, this will by bend path can be with
It is corresponding be labeled in the acquisition of forward sight camera back in the former frame picture, as the virtual lane line that vehicle will advance,
The ROI that bend lateral area is used as subsequent step is found by the lane line, it, can be with simultaneously as the bend is to table look-up to obtain
It is synchronous from table to obtain its curvature w and turning radius r.
(3) after judgement enters curved areas, bend corner mirror identification function is opened, is detected and is identified by machine vision algorithm
It goes off the curve corner mirror, obtains the azimuth information of the mirror, the mirror apart from this vehicle distance d1.Corner mirror has specific physical aspect,
It can be identified with use pattern recognition methods, as shown in figure 5, main process is as follows：
A, offline capturing sample image, establishes sample database, using SVM, Adaboost or other methods training sample, obtains
Grader is stored in local arithmetic and control unit Installed System Memory；
B, in line computation, in by pretreated image, area-of-interest (ROI) delimited according to lane curvature w,
ROI is bend lateral area.
C, image in ROI is subjected to feature extraction operation and compared with grader is locally stored, determines whether to identify mesh
Mark, if it is unidentified go out corner mirror, recalculate new frame image；If identifying, continue；
D, it after identifying corner mirror, is inquired according to pixel distance shared by corner mirror minute surface height and offline distance calibration table
Go out the corner mirror (to obtain using the calibration of 80cm corner mirrors apart from look-up table offline with a distance from this vehicle, be stored in local operation control
In device Installed System Memory).
(4) control camera module auto-focusing stores area video image f0 and makees to bend corner mirror mirror sections
For target area, focusing is not necessarily to if camera is configured to 1 meter of outer infinity of focal length.
(5) pretreatments such as image enhancement are carried out to f0 to calculate, such as filtering, defogging, wide-angle distortion inverse transformation, is enhanced
Target area image f1 afterwards.
(6) in f1 wherein information, such as track, motor vehicle, non-motor vehicle, pedestrian is identified using machine vision algorithm,
Obstacle target a0-an is obtained, recognition detection method is similar with identification corner mirror method.The mesh such as vehicle, pedestrian are equally established offline
Target class library is stored in local arithmetic and control unit Installed System Memory, in line computation, is examined in the regions whole image f1
It surveys, compared with feature in offline grader, determines whether there is target vehicle or pedestrian, as shown in Figure 6.
(7) a0-an to distance d2 (0)~d2 (n) of the bend corner minute surface is determined by algorithm, first using face area method,
R0=s0/Sf is calculated, wherein s0 is the outer profile rectangular area of target a0, and Sf is corner mirror mirror image f1 areas, and unit is
Square, r0 are the two ratio.Target a0 is described to the minute surface distance with quadratic function：
D2 (0)=k* (r0)2+m*r0+n
K, m, n are coefficient, and by off-line test, fitting obtains, is stored in local arithmetic and control unit Installed System Memory.
(8) using target a0 as example, two use this vehicle to bend corner mirror distance d1, a0 to bend corner mirror distance d2
(0), turning radius r establishes equivalent arc length model, as shown in Figure 7：
L (0)=d1+d2 (0)-q
Wherein q is compensating parameter, is stored in local arithmetic and control unit Installed System Memory for experiment off-line measurement, root when use
It tables look-up reading according to road curvature w.
Relative velocity v calculates as follows：
V=(L (0)t-L(0)t-1)/△t
Wherein L (0)tLong, the L (0) for two spacing arc of recess of current timet-1Long for two spacing arc of recess of last moment, △ t are meter
Calculate the frame period time
Collision time (time to collision) Ttc calculates as follows：
Ttc=L (0)t/v
According to Ttc and this vehicle travelling state (speed, acceleration, steering wheel angle, yaw velocity etc.), pass through safe plan
Slightly related operation obtains steering brake control strategy instruction etc.；
(9) executing instruction of obtaining of current strategies is output to executing agency by CAN bus, is rung to control man-machine interface
Police instruction, the flicker of control headlight or whistle, control Vehicular turn is answered to avoid, slow down or brake.Thus this active safety is dynamic
Make overall process and executes completion.
(10) by driver, by subjective judgement vehicle, whether collisionless risk terminates the vehicle active safety control row
For steering wheel, throttle, brake or specified button can be operated by driver to realize by specifically terminating mode, exit this actively
After security control behavior, vehicle continues to travel, and system preparation executes next time.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (9)
1. a kind of automatic safe driving assistance method using bend corner mirror, which is characterized in that include the following steps：
Corner mirror on S1, identification bend, and measure the curvature gone off the curve and turning radius and corner mirror and drive vehicle
Distance d1；
Image in S2, acquisition corner mirror, and judge then to hold if there is obstacle target with the presence or absence of obstacle target in image
Row step S3；
S3, the distance between obstacle target and corner mirror d2 is determined；
S4, the arc distance driven between vehicle and obstacle target is calculated；
S5, safe driving strategy is determined according to the arc distance driven between vehicle and obstacle target.
2. the automatic safe driving assistance method according to claim 1 using bend corner mirror, which is characterized in that described
Step S1 further comprises the steps：
S11, image is acquired using the camera module for driving vehicle, is transferred to arithmetic and control unit；
S12, arithmetic and control unit identify road curvature w and turning radius by vision respective algorithms, and judge that driving vehicle is
It is no to enter curved areas；
If S13, driving vehicle enter curved areas, corner mirror of going off the curve is identified by machine vision algorithm detection, is obtained curved
The distance between road corner mirror and driving vehicle d1.
3. the automatic safe driving assistance method according to claim 2 using bend corner mirror, which is characterized in that described
Identify that the method for curvature w and turning radius is in step S12：Image is enhanced and is pre-processed first so that lane line picture
Element is more prominent, according to lane line model extraction lane line position coordinates after image binaryzation, if calculated road curvature w<
Thw, thw are bend curvature threshold, are measured by off-line testing, then judge that vehicle will enter curved areas, while preserving calculating
Turning radius value r.
4. the automatic safe driving assistance method according to claim 3 using bend corner mirror, which is characterized in that described
Enhancing includes greyscale transformation, filtering noise reduction, inverse distortion coordinate transform with pretreatment.
5. the automatic safe driving assistance method according to claim 3 using bend corner mirror, which is characterized in that described
Track line model includes straight line model, concentric circles curve model, conic model, spline curve model, clothoid model
And built-up pattern.
6. the automatic safe driving assistance method according to claim 2 using bend corner mirror, which is characterized in that described
S13 further comprises the steps：
S131, offline capturing sample image, establish sample database, using SVM or Adaboost method training samples, are classified
Device is stored in local arithmetic and control unit Installed System Memory；
S132, in line computation, by pretreated image, it is to feel emerging to delimit bend lateral area according to lane curvature w
Interesting region, i.e. ROI；
S133, image in ROI is carried out to feature extraction operation and compared with grader is locally stored, determines whether to identify mesh
Mark, if it is unidentified go out corner mirror, recalculate new frame image；If identifying, continue；
S134, it after identifying corner mirror, is inquired according to pixel distance shared by corner mirror minute surface height and offline distance calibration table
Go out the corner mirror from driving vehicle distances.
7. the automatic safe driving assistance method according to claim 1 using bend corner mirror, which is characterized in that described
Judge in step S2 be with the presence or absence of obstacle mesh calibration method in image：
Control camera module first acquires corner mirror mirror sections, stores area image f0 as target area；Then right
Image f0 carries out image enhancement and pre-processes to obtain enhanced target area image f1, and machine vision algorithm is used in image f1
Identification wherein information, is detected in the regions whole image f1, compared with feature in offline grader, determines whether there is obstacle
Target.
8. the automatic safe driving assistance method according to claim 1 using bend corner mirror, which is characterized in that obstacle
The distance between target and corner mirror d2=k*r2+m*r+n。
9. the automatic safe driving assistance method according to claim 1 using bend corner mirror, which is characterized in that described
Step S5 is specially：Collision time is calculated according to arc distance, according to collision time and vehicle running state is driven, passes through peace
Full strategy related operation obtains steering brake control strategy instruction, and executing instruction of obtaining of current strategies is defeated by CAN bus
Go out to executing agency, come control man-machine interface response police instruction, control headlight flicker or whistle, control Vehicular turn evacuation,
Slow down or brakes.
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Cited By (4)
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| CN109318899A (en) * | 2018-10-23 | 2019-02-12 | 百度在线网络技术（北京）有限公司 | Negotiation of bends method, apparatus, equipment and the storage medium of automatic driving vehicle |
| CN109784292A (en) * | 2019-01-24 | 2019-05-21 | 中汽研（天津）汽车工程研究院有限公司 | A method of the intelligent automobile for parking garage independently finds parking stall |
| CN110046569A (en) * | 2019-04-12 | 2019-07-23 | 北京百度网讯科技有限公司 | A kind of data processing method, device and electronic equipment |
| CN110992710A (en) * | 2019-12-13 | 2020-04-10 | 潍柴动力股份有限公司 | Curve speed measurement early warning method and device, control equipment and readable storage medium |
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