CN108694848A - A kind of vehicle communication and navigation system - Google Patents
A kind of vehicle communication and navigation system Download PDFInfo
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- CN108694848A CN108694848A CN201810542295.3A CN201810542295A CN108694848A CN 108694848 A CN108694848 A CN 108694848A CN 201810542295 A CN201810542295 A CN 201810542295A CN 108694848 A CN108694848 A CN 108694848A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
- G08G1/096872—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver where instructions are given per voice
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- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of vehicle communication and navigation system, including communications services devices, navigation Service device and information service center, the communications services devices and navigation Service device pass through wireless network and information service center two-way communication, the communications services devices include voice communication module and video calling module, the calling module carries out voice communication for driver and information service center, the video calling module carries out video calling for driver and information service center, the navigation Service device includes road road conditions identification module and navigation module, the road conditions identification module is identified vehicle front road conditions based on image superpixel, the navigation module is used to obtain navigation information from information service center, it navigates to vehicle in conjunction with front road conditions.Beneficial effects of the present invention are:Realize vehicle communication with navigation, by being communicated with information service center, can and alarm and solve failure, realize vehicle accurate navigation.
Description
Technical field
The present invention relates to field of navigation technology, and in particular to a kind of vehicle communication and navigation system.
Background technology
As traffic route facility and transport need contradiction become increasingly conspicuous, by providing communication and navigation Service to vehicle
Through causing automobile navigation inaccurate since road conditions identification process is slow as the important means for alleviating traffic congestion.
With the development of science and technology, the rate request to image procossing is higher and higher.Intrinsic image procossing be typically all with
Base unit of the pixel as processing, as soon as 128 × 128 image, the number of pixel have reached 16384, this
Numerical value is very large, this results in Algorithms T-cbmplexity very high.If by certain pixels for meeting specified conditions
A set is constituted, using these set as the base unit handled, then the algorithm required time will greatly shorten.Super picture
Element generates the effective way for being to pixel being gathered into set.Image superpixel is to gather the pixel with like attribute
A region is integrated, image is indicated instead of pixel, the process that image superpixel generates is according to gray scale, texture, face
The characteristic informations such as color and shape, adjacent pixel is combined, and constitutes a region so that region interior pixels point
Feature is with uniformity, and the pixel for being included in the different region of any two has apparent otherness.
Invention content
In view of the above-mentioned problems, the present invention is intended to provide a kind of vehicle communication and navigation system.
The purpose of the present invention is realized using following technical scheme:
Provide a kind of vehicle communication and navigation system, including communications services devices, navigation Service device and information service
Center, the communications services devices and navigation Service device are described logical by wireless network and information service center two-way communication
Telecommunications services device includes voice communication module and video calling module, and the calling module is used in driver and information service
The heart carries out voice communication, and the video calling module carries out video calling for driver and information service center, described to lead
Boat service unit includes road road conditions identification module and navigation module, before the road conditions identification module is based on image superpixel to vehicle
Fang Lukuang is identified, and the navigation module is used to obtain navigation information from information service center, in conjunction with front road conditions to vehicle
It navigates.
Beneficial effects of the present invention are:Realize vehicle communication and navigation, by being communicated with information service center, energy
Enough and alarm and solution failure, navigation information and front road conditions, realize vehicle accurate navigation.
Description of the drawings
Using attached drawing, the invention will be further described, but the embodiment in attached drawing does not constitute any limit to the present invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is the structural schematic diagram of the present invention;
Reference numeral:
Communications services devices 1, navigation Service device 2, information service center 3.
Specific implementation mode
The invention will be further described with the following Examples.
Referring to Fig. 1, a kind of vehicle communication of the present embodiment and navigation system, including communications services devices 1, navigation Service dress
2 and information service center 3 are set, the communications services devices 1 and navigation Service device 2 pass through wireless network and information service center
3 two-way communications, the communications services devices 1 include voice communication module and video calling module, and the calling module is for driving
It sails personnel and information service center 3 carries out voice communication, the video calling module is used for driver and information service center 3
Video calling is carried out, the navigation Service device 2 includes road road conditions identification module and navigation module, the road conditions identification module base
Vehicle front road conditions are identified in image superpixel, the navigation module is used to obtain navigation letter from information service center 3
Breath, navigates to vehicle in conjunction with front road conditions.
The present embodiment realize vehicle communication with navigation, by being communicated with information service center, can and alarm
With solution failure, navigation information and front road conditions realize vehicle accurate navigation.
Preferably, the road conditions identification module includes super-pixel model building module, super-pixel generation module, evaluation module
And identification module, the super-pixel model building module establish super-pixel model, the super-pixel life for inputting road conditions image
It is used to generate image superpixel according to super-pixel model at module, the evaluation module is used to generate described image super-pixel and tie
Fruit is evaluated, and the identification module is identified road conditions according to image superpixel.
The super-pixel model building module establishes super-pixel model, specially for inputting road conditions image:If input figure
As be C, it includes number of pixels be N, to image carry out over-segmentation, obtain super-pixel model, by its super-pixel model indicate
For:
In formula, K indicates the number of super-pixel, CjAnd CiJ-th and i-th of super-pixel are indicated respectively;
As a kind of image Segmentation Technology, difference is that image over-segmentation is by a width input picture point for image over-segmentation
It is cut into the region of the smaller non-overlapping copies of more sizes, and each small region, referred to as super-pixel.This preferred embodiment
By establishing super-pixel model, reduces the order of magnitude of graphical representation, thereby reduces the complexity of subsequent image Processing Algorithm,
Possibility is provided for the real-time of image processing algorithm.
Preferably, the super-pixel generation module is used to generate image superpixel according to super-pixel model, specially:
The first step selects K pixel labeled as the initial cluster centre of K super-pixel;
Second step, calculates the distance that each pixel in image arrives each cluster centre, and by the pixel labeled as with
Its that one kind apart from super-pixel where nearest cluster centre;
Third walks, and the geometric center for all pixels point for including using each super-pixel is as in the new cluster of the super-pixel
The heart;
4th step repeats second step and third step, until the deviation of super-pixel new cluster centre and old cluster centre
Less than the threshold value being previously set, using the super-pixel as the super-pixel ultimately generated;
In the calculating image each pixel to each cluster centre distance, specially:
In formula, D indicates pixel to the distance of cluster centre, d1Indicate pixel and cluster centre in RGB color
Euclidean distance, d2Indicate pixel and cluster centre in the Euclidean distance of Lab color spaces, d3It indicates in pixel and cluster
The Euclidean distance of the spatial position of the heart, β1,β2,β3Indicate weight coefficient, β1+β2+β3=1;
This preferred embodiment realizes the accurate life of image superpixel by being clustered respectively to pixel in image
At, while can ensure to surpass as partitioning standards using the Euclidean distance of two kinds of different colours spaces of pixel and spatial position
The accuracy of pixel interior pixels point colour consistency and division promotes the accuracy of subsequent image processing, by adjusting weight
Coefficient, image can adapt to different application demand and generate super-pixel.
Preferably, the evaluation module includes the first evaluation module, the second evaluation module and overall merit module, and described the
One evaluation module is used to determine the first evaluation index that image superpixel generates, and second evaluation module is for determining that image is super
The second evaluation index that pixel generates, the overall merit module are super to image according to the first evaluation index and the second evaluation index
Pixel generates result and is evaluated;
First evaluation module is used to determine the first evaluation index that image superpixel generates, specially:
The first evaluation index that image superpixel generates is determined using following formula:
In formula, E1Indicate the first evaluation index, M1Indicate that the pixel of graphics standard partitioning boundary is fallen into around super-pixel boundary
Ratio in 1 pixel wide region, M2Indicate that the pixel of graphics standard partitioning boundary falls into 2 pixels around super-pixel boundary
Ratio in width regions;First evaluation index is bigger, indicates that the super-pixel generated keeps effect to get on the boundary of image
It is good;
Second evaluation module is used to determine the second evaluation index that image superpixel generates, specially:
The second evaluation index that image superpixel generates is determined using following formula:
In formula, E2Indicate that the second evaluation index, K indicate the number of super-pixel, siIndicate the area of i-th of super-pixel, liTable
Show the perimeter of i-th of super-pixel;Second evaluation index is bigger, indicates that the super-pixel generated is compacter;
The overall merit module according to the first evaluation index and the second evaluation index to image superpixel generate result into
Row evaluation, specially:Comprehensive evaluation index is determined according to the first evaluation index and the second evaluation index:
E=13+log2(E1×E2+3)
In formula, E indicates comprehensive evaluation index;The comprehensive evaluation index is bigger, indicates the super-pixel comprehensive performance generated
Better.
This preferred embodiment realizes the accurate evaluation that image superpixel generates result, specifically by determining evaluation index
, the first evaluation index has accurately reflected the super-pixel generated and has kept effect, the second evaluation index accurately anti-on the boundary of image
The compactedness of the super-pixel generated is reflected, comprehensive evaluation index generates super-pixel and carries out overall merit, is the later stage by super-pixel
It lays a good foundation as image procossing base unit.
Automobile navigation is carried out using vehicle communication of the present invention and navigation system, selectes departure place, 5 destinations is inputted and carries out
Experiment, respectively destination 1, destination 2, destination 3, destination 4, destination 5, to navigation time and navigation error probability into
Row statistics, is compared, generation has the beneficial effect that shown in table compared with Vehicular navigation system:
| Navigation time shortens | The error probability that navigates reduces | |
| Destination 1 | 29% | 27% |
| Destination 2 | 27% | 26% |
| Destination 3 | 26% | 26% |
| Destination 4 | 25% | 24% |
| Destination 5 | 24% | 22% |
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation for protecting range, although being explained in detail to the present invention with reference to preferred embodiment, the ordinary skill destination of this field
It should be appreciated that can be modified or replaced equivalently to technical scheme of the present invention, without departing from technical solution of the present invention
Spirit and scope.
Claims (9)
1. a kind of vehicle communication and navigation system, which is characterized in that taken including communications services devices, navigation Service device and information
Business center, the communications services devices and navigation Service device are described by wireless network and information service center two-way communication
Communications services devices include voice communication module and video calling module, and the calling module is used for driver and information service
Center carries out voice communication, and the video calling module carries out video calling for driver and information service center, described
Navigation Service device includes road road conditions identification module and navigation module, and the road conditions identification module is based on image superpixel to vehicle
Front road conditions are identified, and the navigation module is used to obtain navigation information from information service center, in conjunction with front road conditions to vehicle
It navigates.
2. vehicle communication according to claim 1 and navigation system, which is characterized in that the road conditions identification module includes super
Pixel model establishes module, super-pixel generation module, evaluation module and identification module, and the super-pixel model building module is used for
Road conditions image is inputted, super-pixel model is established, the super-pixel generation module is used to generate the super picture of image according to super-pixel model
Element, the evaluation module are used to generate result to described image super-pixel and evaluate, and the identification module surpasses picture according to image
Road conditions are identified in element.
3. vehicle communication according to claim 2 and navigation system, which is characterized in that the super-pixel model building module
For inputting road conditions image, super-pixel model is established, specially:If input picture be C, it includes number of pixels be N, to figure
As carrying out over-segmentation, super-pixel model is obtained, its super-pixel model is expressed as:
In formula, K indicates the number of super-pixel, CjAnd CiJ-th and i-th of super-pixel are indicated respectively.
4. vehicle communication according to claim 3 and navigation system, which is characterized in that the super-pixel generation module is used for
Image superpixel is generated according to super-pixel model, specially:
The first step selects K pixel labeled as the initial cluster centre of K super-pixel;
Second step, calculates the distance that each pixel in image arrives each cluster centre, and by the pixel labeled as with its away from
That from super-pixel where nearest cluster centre is a kind of;
Third walks, and the geometric center for all pixels point for including using each super-pixel is as the new cluster centre of the super-pixel;
4th step repeats second step and third step, until the deviation of the new cluster centre of super-pixel and old cluster centre is less than
The threshold value being previously set, using the super-pixel as the super-pixel ultimately generated.
5. vehicle communication according to claim 4 and navigation system, which is characterized in that each pixel in the calculating image
Point arrives the distance of each cluster centre, specially:
In formula, D indicates pixel to the distance of cluster centre, d1Indicate pixel and cluster centre in the European of RGB color
Distance, d2Indicate pixel and cluster centre in the Euclidean distance of Lab color spaces, d3Indicate the sky of pixel and cluster centre
Between position Euclidean distance, β1,β2,β3Indicate weight coefficient, β1+β2+β3=1.
6. vehicle communication according to claim 5 and navigation system, which is characterized in that the evaluation module is commented including first
Valence module, the second evaluation module and overall merit module, first evaluation module are used to determine image superpixel generates the
One evaluation index, second evaluation module are used to determine the second evaluation index that image superpixel generates, the overall merit
Module generates result to image superpixel according to the first evaluation index and the second evaluation index and evaluates.
7. vehicle communication according to claim 6 and navigation system, which is characterized in that first evaluation module is for true
Determine the first evaluation index of image superpixel generation, specially:
The first evaluation index that image superpixel generates is determined using following formula:
In formula, E1Indicate the first evaluation index, M1Indicate that the pixel of graphics standard partitioning boundary falls into around super-pixel boundary 1
Ratio in pixel wide region, M2It is wide to indicate that the pixel of graphics standard partitioning boundary falls into 2 pixels around super-pixel boundary
Spend the ratio in region;First evaluation index is bigger, indicates that the super-pixel generated keeps effect better on the boundary of image.
8. vehicle communication according to claim 7 and navigation system, which is characterized in that second evaluation module is for true
Determine the second evaluation index of image superpixel generation, specially:
The second evaluation index that image superpixel generates is determined using following formula:
In formula, E2Indicate that the second evaluation index, K indicate the number of super-pixel, siIndicate the area of i-th of super-pixel, liIndicate the
The perimeter of i super-pixel;Second evaluation index is bigger, indicates that the super-pixel generated is compacter.
9. vehicle communication according to claim 8 and navigation system, which is characterized in that the overall merit module is according to
One evaluation index and the second evaluation index generate result to image superpixel and evaluate, specially:According to the first evaluation index
Comprehensive evaluation index is determined with the second evaluation index:
E=13+log2(E1×E2+3)
In formula, E indicates comprehensive evaluation index;The comprehensive evaluation index is bigger, indicates that the super-pixel comprehensive performance generated is better.
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