CN109017544B - Multifunctional camera system of intelligent automobile - Google Patents
Multifunctional camera system of intelligent automobile Download PDFInfo
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- CN109017544B CN109017544B CN201810637760.1A CN201810637760A CN109017544B CN 109017544 B CN109017544 B CN 109017544B CN 201810637760 A CN201810637760 A CN 201810637760A CN 109017544 B CN109017544 B CN 109017544B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
- B60Q1/1415—Dimming circuits
- B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
- B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
- B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
- B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
- B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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- Signal Processing (AREA)
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- Closed-Circuit Television Systems (AREA)
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Abstract
The invention discloses an intelligent automobile multifunctional camera system, which comprises: the sensing module is arranged on the automobile and used for acquiring video image data and processing the video image data into a plurality of brightness features, a plurality of spot features and a plurality of motion vector features; the decision module is in communication connection with the sensing module and is used for comparing the plurality of brightness features, the plurality of spot features and the plurality of motion vector features with the experience working condition to obtain the current working condition and generating control information according to the current working condition; and the control module is in communication connection with the decision module and is used for controlling the action of the actuating mechanism according to the control information. The intelligent vehicle control system reduces the cost of realizing intelligence of the vehicle to a certain extent, reduces the incidence rate of traffic accidents, and guarantees the personal safety and property safety of drivers.
Description
The patent application of the invention is a divisional application of the invention creation name of a multifunctional camera system for vehicles, the original application date is 2016, 10 and 13 days, and the application number is 2016108933824.
Technical Field
The invention relates to the field of vehicle-mounted equipment, in particular to a multifunctional camera system for a vehicle.
Background
In recent years, with the rapid development of the automobile industry, more and more people select automobiles as transportation means for traveling, and therefore, a series of social problems such as traffic accidents of colliding automobiles and colliding people caused by improper use of automobile lamps and rain wipers are brought, and the road traffic accidents bring great loss to society, countries and families. In addition, when the accident occurs in the general driving process, the image data of the accident before and after the accident needs to be collected to provide reliable evidence for the subsequent accident analysis and processing. At present, high and medium-grade vehicles are generally equipped with systems such as a rainfall sensor and an automatic headlamp and a vehicle event data recorder, but the sensors need to be installed respectively, so that the cost of intelligent configuration of the vehicle is increased, and the vehicle maintenance cost of a driver is also increased.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent automobile multifunctional camera system. The automatic windscreen wiper integrates an automatic headlamp function, an automatic windscreen wiper function and an emergency video recording function of a collision accident. The intelligent cost of the vehicle is reduced, the accident rate is reduced, and the safety and the comfort of a driver in the driving process are improved.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides an intelligent automobile multifunctional camera system, includes:
the sensing module is arranged on the automobile and used for acquiring video image data and processing the video image data into a plurality of brightness features, a plurality of spot features and a plurality of motion vector features;
the decision module is in communication connection with the sensing module and is used for comparing the brightness features, the spot features and the motion vector features with empirical working conditions to obtain current working conditions and generating control information according to the current working conditions;
the control module is in communication connection with the decision module and is used for controlling the action of the actuating mechanism according to the control information;
the control module is connected with the execution mechanism through a bus, the bus adopts at least one of a CAN bus, a FlexRay bus, a most bus, a J1939 bus and an Ethernet bus, and the processing comprises image conversion coordinates, image denoising, image distortion correction and image ROI area setting.
Optionally, the sensing module includes at least one camera, the camera includes a visual sensor and a visual processor, the visual sensor is configured to acquire the video image data, and the visual processor processes the video image data into a plurality of luminance features, a plurality of speckle features, and a plurality of motion vector features.
Optionally, the camera is a laser infrared camera, an infrared night vision camera, an LED camera or a micro-optical camera.
Optionally, the empirical condition includes a luminance standard histogram distribution, a speckle standard histogram distribution, and a motion standard histogram distribution;
the decision module acquires a plurality of brightness features, a plurality of spot features and a plurality of motion vector features; arranging a plurality of brightness features, a plurality of spot features and a plurality of motion vector features to respectively form three types of video feature sets; clustering the three types of video feature sets respectively to obtain brightness standard visual words, spot standard visual words and motion standard visual words respectively, obtaining brightness standard collimation square distribution according to the brightness standard visual words, obtaining spot standard histogram distribution according to the spot standard visual words, and obtaining motion standard histogram distribution according to the motion standard visual words;
calculating the Euclidean distance of brightness between the brightness histogram distribution of the real-time video and the brightness standard collimation square diagram distribution, calculating the Euclidean distance of speckles between the speckle histogram distribution of the real-time video and the speckle standard histogram distribution, and calculating the Euclidean distance of motion between the motion histogram distribution of the real-time video and the motion standard histogram distribution;
comparing the brightness Euclidean distance, the spot Euclidean distance and the movement Euclidean distance, when the brightness Euclidean distance is the minimum, the current working condition is the brightness working condition mode, when the spot Euclidean distance is the minimum, the current working condition is the windshield wiper mode, and when the movement Euclidean distance is the minimum, the current working condition is the collision mode.
Optionally, the control module includes a light control module, a wiper control module and an emergency video recording module, the executing mechanism includes a lamp connected with the light control module, a wiper connected with the wiper control module, and a video collector connected with the emergency video recording module.
Optionally, the video collector stores video information 5 seconds before and after the collision.
Optionally, the brightness feature is a gradient brightness feature of the video image ROI area, the speckle feature is a speckle feature of the video image ROI area, and the motion vector feature is an optical flow feature of the video image ROI area.
Optionally, the image ROI area is set as an ROI rectangular frame area formed by two road boundary lines and a road vanishing line of the driving road.
The invention has the following technical effects: the automatic opening and switching of far and near light, the automatic opening of the windscreen wiper, the control of the windscreen wiper speed and the storage of collision picture data are controlled by using an image algorithm, the installation types of vehicle sensors are reduced, the cost of vehicle intelligent equipment is reduced, and the integration of vehicle functions is improved; the automatic opening and switching of the far and near light can reduce various traffic accidents caused by improper light use, the automatic opening of the windscreen wiper and the automatic control of the windscreen wiper speed can provide a good visual field for a driver and reduce the driving labor intensity, so that the driver can better concentrate on driving a vehicle in the driving process, the convenience and the safety of driving in rainy days are improved, and the emergency storage of collision pictures saves the pictures of driving accidents, so that the observable evidence can be provided for the reappearance of the accidents; the intelligent vehicle control system reduces the cost of realizing intelligence of the vehicle to a certain extent, reduces the incidence rate of traffic accidents, and guarantees the personal safety and property safety of drivers.
These features and advantages of the present invention will be disclosed in more detail in the following detailed description and the accompanying drawings.
Drawings
The invention is further described below with reference to the accompanying drawings:
fig. 1 is a block diagram of a vehicle multifunctional camera system.
FIG. 2 is a flow chart of generating standard visual words for vehicle multifunctional camera system features.
Detailed Description
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
Example 1.
Referring to fig. 1, the multifunctional camera system for vehicles includes: the sensing module is arranged on the automobile and used for acquiring video image data and processing the video image data into a plurality of brightness features, a plurality of spot features and a plurality of motion vector features; the decision module is in communication connection with the sensing module and is used for comparing the brightness features, the spot features and the motion vector features with empirical working conditions to obtain current working conditions and generating control information according to the current working conditions; and the control module is in communication connection with the decision module and is used for controlling the action of the actuating mechanism according to the control information.
The perception module comprises at least one camera, the camera comprises a visual sensor and a visual processor, the visual sensor is used for acquiring the video image data, and the visual processor processes the video image data into a plurality of brightness features, a plurality of spot features and a plurality of motion vector features. Wherein, the camera is laser infrared camera, infrared night vision camera, LED camera or little light camera.
The empirical working conditions comprise brightness standard histogram distribution, speckle standard histogram distribution and motion standard histogram distribution; the decision module acquires a plurality of brightness features, a plurality of spot features and a plurality of motion vector features; arranging a plurality of brightness features, a plurality of spot feature sets and a plurality of motion vector features to respectively form three types of video feature sets; clustering the three types of video feature sets respectively to obtain brightness standard visual words, spot standard visual words and motion standard visual words respectively, obtaining brightness standard collimation square distribution according to the brightness standard visual words, obtaining spot standard histogram distribution according to the spot standard visual words, and obtaining motion standard histogram distribution according to the motion standard visual words; calculating the Euclidean distance of brightness between the brightness histogram distribution of the real-time video and the brightness standard collimation square diagram distribution, calculating the Euclidean distance of speckles between the speckle histogram distribution of the real-time video and the speckle standard histogram distribution, and calculating the Euclidean distance of motion between the motion histogram distribution of the real-time video and the motion standard histogram distribution; comparing the brightness Euclidean distance, the spot Euclidean distance and the movement Euclidean distance, when the brightness Euclidean distance is the minimum, the current working condition is the brightness working condition mode, when the spot Euclidean distance is the minimum, the current working condition is the windshield wiper mode, and when the movement Euclidean distance is the minimum, the current working condition is the collision mode.
The control module comprises a light control module, a wiper control module and an emergency video recording module, and the actuating mechanism comprises a lamp connected with the light control module, a wiper connected with the wiper control module and a video collector connected with the emergency video recording module.
The video collector stores video information 5 seconds before and after the collision.
The brightness feature is a gradient brightness feature of the video image ROI area, the spot feature is a spot feature of the video image ROI area, and the motion vector feature is an optical flow feature of the video image ROI area.
The control module is connected with the execution mechanism through a bus, and the bus adopts at least one of a CAN bus, a FlexRay bus, a most bus, a J1939 bus and an Ethernet bus.
The processing comprises image coordinate conversion, image denoising, image distortion correction and image ROI area setting.
The image ROI area is set as an ROI rectangular frame area formed by two road boundary lines and road vanishing lines of a driving road.
Referring to fig. 2, the vocabulary in the foregoing empirical mode is obtained as follows:
the method comprises the steps of respectively extracting features of a plurality of (n) sample videos (which are preprocessed) under the same working condition, combining n feature data into a large set, carrying out cluster calculation on the large set, and finally obtaining k cluster centers serving as standard visual vocabularies capable of describing the working condition. The feature extraction of different working conditions needs to be distinguished according to the working condition types, and the luminance features of the sample video extracted under the working condition of the lighting mode can effectively distinguish the scenes of day, night (not opening a street lamp), opening a street lamp on a road at night, intersection of vehicles when the lights of opposite vehicles are turned on at night and the like; under the working condition of a wiper mode, the size of rainfall can be effectively distinguished by extracting the spot characteristics of the sample video, and the rainfall condition can be well described by the density degree of the spots; the jitter rate of each frame of the video shot under the collision mode working condition is far greater than that of the frame of the video shot under the collision-free condition, so that the video shot when the vehicle normally runs and the video shot when the vehicle collides can be effectively distinguished by extracting the motion vector characteristics of the sample video to describe the jitter condition of the frame of the video. The standard visual vocabulary extraction process under various working conditions is as follows: the brightness working condition mode needs to extract brightness characteristics, the extracted characteristic data is subjected to clustering calculation to obtain standard visual words of the working conditions, and the obtained standard visual words are used for describing the working conditions; respectively extracting spot characteristics from videos under several working conditions in which a wiper mode needs to be opened, performing class calculation on the extracted characteristic data, and acquiring standard visual vocabularies of the working conditions, wherein the acquired standard visual vocabularies can describe the working conditions; and extracting motion vector feature clustering calculation from the video under the collision mode working condition to obtain a standard visual vocabulary of the working condition, wherein the obtained standard visual vocabulary can describe the working condition. Let the video function be I (x, y, t), the specific calculation process is as follows:
the step 2 is specifically:
step 1. feature extraction
1.1 calculation of video luminance characteristics under luminance Condition mode
The brightness characteristic of the video may be represented as Gf(x，y，t)，Gfx、Gfy、GfzThe calculation formula is as follows:
Gfx＝I(x+1，y，t)-I(x-1，y，t)
Gfy＝I(x，y+1，t)-I(x，y-1，t)
Gfz＝I(x，y，t+1)-I(x，y，t-1)
1.2 Spot characteristics in wiper operating mode
Is calculated as follows:
wherein the content of the first and second substances,
1.3 motion vector feature F in Collision regime modef(x，y，t)Is calculated as follows:
and 2, combining the same kind of characteristics into a large set.
2.1, merging the extracted brightness characteristics of the n videos of the brightness working condition mode as follows:
Feature Gf(x，y，t)＝[Gf(x，y，t)]1∪[Gf(x，y，t)]2∪…[Gf(x，y，t)]n
2.2, merging the extracted spot characteristics of the n videos of the wiper working condition modes as follows:
2.3, merging the extracted motion vector characteristics of the n videos of the collision condition mode as follows:
Feature Ff(x，y，t)＝[Ff(x，y，t)]1∪[Ff(x，y，t)]2∪…[Ff(x，y，t)]n
step 3, clustering the three characteristic sets respectively by using a K-means algorithm to respectively obtain K brightness standard visual words describing three working conditions
Speckle standard vision vocabulary
Standard vision vocabulary for sports
And 4, calculating the frequency of the standard visual vocabulary M on the Feature extracted from the video under the same working condition to obtain the corresponding brightness standard alignment histogram distribution Hist _ Stand _ G, the spot standard histogram distribution Hist _ Stand _ L and the motion standard histogram distribution Hist _ Stand _ F, and describing the corresponding working condition by using the histogram distribution as the standard histogram distribution.
The technical scheme adopted for judging the system working condition is as follows:
step 1, after preprocessing a real-time video, respectively extracting brightness features, spot features and motion vector features of the real-time video, and sequentially arranging the three features in a video feature set, wherein the video feature set is arranged as follows:
step 2, calculating the brightness standard visual words of the Video Feature set Feature _ Video acquired in the step 1 under three working conditions
Speckle standard vision vocabulary
Standard vision vocabulary for sports
A luminance histogram distribution Hist _ Video _ G, a blob histogram distribution Hist _ Video _ L, and a motion histogram distribution Hist _ Video _ F.
Step 3, respectively calculating brightness histogram distribution Hist _ Video _ G, spot histogram distribution Hist _ Video _ L, motion histogram distribution Hist _ Video _ F, brightness Euclidean distance Dist _ Video _ G, spot Euclidean distance Dist _ Video _ L and motion Euclidean distance Dist _ Video _ F between brightness histogram distribution Hist _ Video _ F and brightness standard histogram distribution Hist _ Stand _ G, and comparing brightness Euclidean distance Dist _ Video _ G, spot Euclidean distance Dist _ Video _ L and motion Euclidean distance Dist _ Video _ F to obtain minimum Euclidean distance Min _ Dist: then, the following judgment is made:
If Dist_Video_G＝Min_Dist；
the current working condition belongs to a brightness working condition mode;
If Dist_Video_L＝Min_Dist；
the current working condition belongs to the 'wiper mode';
If Dist_Video_F＝Min_Dist；
the current working condition belongs to the 'collision mode'.
While the invention has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in many different forms without departing from the spirit and scope of the invention as set forth in the following claims. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (6)
1. The utility model provides a multi-functional camera system of intelligent automobile which characterized in that includes:
the sensing module is arranged on the automobile and used for acquiring video image data and processing the video image data into a plurality of brightness features, a plurality of spot features and a plurality of motion vector features;
the decision module is in communication connection with the sensing module and is used for comparing the brightness features, the spot features and the motion vector features with empirical working conditions to obtain current working conditions and generating control information according to the current working conditions;
the control module is in communication connection with the decision module and is used for controlling the action of the actuating mechanism according to the control information;
the control module is connected with the execution mechanism through a bus, the bus adopts at least one of a CAN bus, a FlexRay bus, a most bus, a J1939 bus and an Ethernet bus, and the processing comprises image conversion coordinates, image denoising, image distortion correction and image ROI area setting;
the perception module comprises at least one camera, the camera comprises a visual sensor and a visual processor, the visual sensor is used for acquiring the video image data, and the visual processor processes the video image data into a plurality of brightness features, a plurality of spot features and a plurality of motion vector features;
the empirical working conditions comprise brightness standard histogram distribution, speckle standard histogram distribution and motion standard histogram distribution;
the decision module acquires a plurality of brightness features, a plurality of spot features and a plurality of motion vector features; arranging a plurality of brightness features, a plurality of spot features and a plurality of motion vector features to respectively form three types of video feature sets; clustering the three types of video feature sets respectively to obtain brightness standard visual words, spot standard visual words and motion standard visual words respectively, obtaining brightness standard collimation square distribution according to the brightness standard visual words, obtaining spot standard histogram distribution according to the spot standard visual words, and obtaining motion standard histogram distribution according to the motion standard visual words;
calculating the Euclidean distance of brightness between the brightness histogram distribution of the real-time video and the brightness standard collimation square diagram distribution, calculating the Euclidean distance of speckles between the speckle histogram distribution of the real-time video and the speckle standard histogram distribution, and calculating the Euclidean distance of motion between the motion histogram distribution of the real-time video and the motion standard histogram distribution;
comparing the brightness Euclidean distance, the spot Euclidean distance and the movement Euclidean distance, when the brightness Euclidean distance is the minimum, the current working condition is the brightness working condition mode, when the spot Euclidean distance is the minimum, the current working condition is the windshield wiper mode, and when the movement Euclidean distance is the minimum, the current working condition is the collision mode.
2. The intelligent multifunctional camera system for automobiles according to claim 1, characterized in that: the camera is a laser infrared camera, an infrared night vision camera, an LED camera or a micro-light camera.
3. The intelligent multifunctional camera system for automobiles according to claim 1, characterized in that: the control module comprises a light control module, a wiper control module and an emergency video recording module, and the executing mechanism comprises a lamp connected with the light control module, a wiper connected with the wiper control module and a video collector connected with the emergency video recording module.
4. The intelligent multifunctional camera system for automobiles according to claim 3, characterized in that: and the video collector stores video information of 5 seconds before and after the collision.
5. The intelligent multifunctional camera system for automobiles according to claim 1, characterized in that: the brightness feature is the gradient brightness feature of the video image ROI area, the spot feature is the spot feature of the video image ROI area, and the motion vector feature is the optical flow feature of the video image ROI area.
6. The intelligent multifunctional camera system for automobiles according to claim 1, characterized in that: the image ROI area is set as an ROI rectangular frame area formed by two road boundary lines and road vanishing lines of the driving road.
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| CN203739806U (en) * | 2013-12-30 | 2014-07-30 | 中通客车控股股份有限公司 | Passenger car safety control system |
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| CN101266132A (en) * | 2008-04-30 | 2008-09-17 | 西安工业大学 | Running disorder detection method based on MPFG movement vector |
| JP5478159B2 (en) * | 2009-08-31 | 2014-04-23 | 矢崎エナジーシステム株式会社 | Drive recorder |
| CN105539274A (en) * | 2015-12-31 | 2016-05-04 | 南通华腾电子科技有限公司 | Full-automatic lamplight switching device and method for safe driving at night |
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