CN109131075B - Reversing alarm device based on image processing - Google Patents
Reversing alarm device based on image processing Download PDFInfo
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- CN109131075B CN109131075B CN201811096423.2A CN201811096423A CN109131075B CN 109131075 B CN109131075 B CN 109131075B CN 201811096423 A CN201811096423 A CN 201811096423A CN 109131075 B CN109131075 B CN 109131075B
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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
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
Abstract
The invention discloses a reversing alarm device based on image processing, which is characterized in that a real-time image during reversing is acquired through an automobile camera, an infrared linear laser transmitter is adopted, the distance between an automobile and an obstacle can be more accurately measured through image processing, and the influence of large error of the traditional distance measuring method on the reversing process is reduced; the invention also sends out an alarm through the voice alarm system, and the design of the brake module can effectively avoid the misoperation of a driver in the process of backing a car, so that the backing process is safer; the invention can deal with different road conditions and environments by adjusting different safe distances, so that a driver can easily face various road conditions to carry out backing operation, and the manual control module of the device can carry out manual correction on misjudgment of the device by the driver, thereby ensuring the flexibility of the device in use and enhancing the practicability of the device.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a reversing alarm device based on image processing.
Background
With the development of society, people have various traveling modes, and automobiles are more and more popular and become an indispensable part of life. Therefore, driving safety of the automobile becomes more important. This operation of reversing the vehicle is inevitably performed during driving of the vehicle. In the process of backing up the vehicle, even though the driver has excellent driving skill, the driver cannot be guaranteed to operate successfully every time, and the process of backing up the vehicle is more troublesome for some new drivers with insufficient driving ages. The main factor causing errors in the process of backing the car is to remove the hardware reasons of the car, wherein the most important factor is the error estimation of the distance between the driving car and the obstacle behind the car by the driver. The main reasons for estimation errors are as follows: (1) in the process of backing a car, a driver is not concentrated and does not see obstacles clearly; (2) the driver has insufficient experience and cannot accurately judge the actual distance between the automobile and the obstacle according to the situation; (3) the driver cannot accurately recognize the obstacle due to the surrounding environment at that time, and the estimation of the distance between the obstacles is erroneous. According to statistics, with the popularization of automobiles, the incidence rate of domestic traffic accidents is always high, and the accidents caused by improper car backing are also more than ten thousand. Therefore, the addition of an electronic auxiliary reversing device on the automobile is valuable.
The existing backing auxiliary electronic products are mainly divided into two types, namely backing images and backing radars. For the image of backing a car, the main mode of realizing the auxiliary backing a car is to provide the real-time image of backing a car for the driver. The device mainly relies on the experience of the driver to judge the road condition after backing a car, so the judgment result is influenced by the subjective thought of the driver to a great extent, and the accurate road condition information cannot be obtained. For the reversing radar, although the device can accurately detect the obstacles behind the vehicle, visual blind areas exist to a certain degree, and according to survey, the installed reversing radar only reacts to the obstacles with the distance of 70-43 cm in both SUV and common household cars.
Therefore, the development of a car backing alarm device capable of solving the defects of the existing car backing auxiliary products is a problem that needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
In view of the above, the present invention provides a reversing alarm device based on image processing.
In order to achieve the purpose, the invention adopts the following technical scheme:
a car backing alarm device based on image processing comprises: the system comprises a main control module, an image acquisition module, an infrared laser emission module, a serial port communication module and a voice alarm module;
the main control module is electrically connected with the serial port communication module, the serial port communication module is respectively and electrically connected with the image acquisition module, the infrared laser emission module and the voice alarm module, the serial port communication module is used for receiving or sending a control signal of the main control module, and the main control module controls the operation of the reversing alarm device through the serial port communication module;
the infrared laser emitting module is used for emitting positioning laser, the image acquisition module is used for carrying out image acquisition on the positioning laser and an external environment during backing, the main control module is used for carrying out image processing on acquired image data, the actual distance between a vehicle and an obstacle is detected by measuring the distance between the positioning laser, and the voice alarm module carries out voice alarm when the actual distance is smaller than a preset safety distance.
The beneficial effects of adopting the above technical scheme are: aiming at the defects of the existing reversing aid product, the invention can simultaneously solve the defects that reversing images are mainly judged by a driver and reversing radars have visual blind areas, detect the height of an obstacle to the maximum extent, and adjust the angle formed between positioning lasers emitted by an infrared laser emitting module according to different actual conditions, thereby setting different safety distances, calculating the actual distance between a vehicle and the obstacle through the distance between the positioning lasers, and more comprehensively assisting the reversing process of the driver.
Preferably, infrared laser emission module includes an infrared style of calligraphy laser emitter, the location laser of an infrared style of calligraphy laser emitter transmission is thrown on the barrier, the plain noodles that location laser formed include first plain noodles and second plain noodles, first plain noodles are parallel with ground, a horizontal light section that first plain noodles were formed on projecting the barrier is first light section, the second plain noodles with first plain noodles forms the plain noodles contained angle, a horizontal light section that second plain noodles were formed on projecting ground is the second light section, first light section with the second light section is parallel.
Preferably, the reversing alarm device further comprises an angle adjusting module, wherein the angle adjusting module presets an alarm threshold value by adjusting the angle of the included angle of the smooth surfaces, changes the angle of the second smooth surface, and keeps the first smooth surface horizontal.
Preferably, when an intersection line parallel to the first optical segment and generated between the obstacle and the ground coincides with the second optical segment, the vehicle is at a safety critical point, and at this time, the distance between the first optical segment and the second optical segment is an alarm threshold value and is preset into the main control module.
Preferably, the image acquisition module comprises a camera, images formed by the first optical segment, the second optical segment and the external environment are acquired by the camera in real time, the main control module comprises a single chip microcomputer, the single chip microcomputer performs image processing on the images obtained by the camera, so that a real-time distance between the first optical segment and the second optical segment is obtained, and the real-time distance is compared with the alarm threshold value.
Preferably, the image processing method includes: carrying out gray level processing on the image obtained by the image acquisition module to obtain a gray level image with the brightness value of 0-255 after the gray level processing, carrying out filtering processing on the gray level image, then carrying out edge detection, and finally carrying out binarization on the image to extract the first light segment and the second light segment.
The beneficial effects of adopting the above technical scheme are: the invention skillfully combines the image processing technology and the laser ranging technology, is applied to the backing process, not only can accurately calculate the actual distance between the vehicle and the barrier, but also can avoid the danger of the driver when backing by subjective distance judgment; and the method for automatically presetting the safety distance is very convenient and fast, and the practicability is strong.
Preferably, the reversing alarm device further comprises a brake module;
the brake module passes through serial ports communication module with host system electric connection for control vehicle automatic braking anticollision, the brake module sets up the brake threshold value according to the alarm threshold value, and with the brake threshold value predetermine extremely host system.
It needs to be further explained that: the braking threshold value is set according to different conditions, and the braking threshold value and the alarm threshold value can be set in a fixed proportion, for example, the braking threshold value is 0.5 times of the alarm threshold value.
Preferably, the voice alarm module gives an alarm when the real-time distance is smaller than an alarm threshold value, and if the vehicle continues to back up, the brake module automatically controls the vehicle to brake when the real-time distance is smaller than the brake threshold value.
Preferably, the reversing alarm device further comprises a manual control module;
the manual control module passes through serial port communication module with host system electric connection, manual control module is used for when the wrong warning appears in the audio alert module manual control the closing and the start-up of audio alert module.
Preferably, the main control module calculates the actual distance between the vehicle and the obstacle according to a similar principle through the real-time distance between the first optical segment and the second optical segment.
According to the technical scheme, compared with the prior art, the invention discloses the reversing alarm device based on image processing, the reversing alarm device acquires real-time images during reversing through the automobile camera, adopts the infrared linear laser transmitter, can more accurately measure the distance between the vehicle and the obstacle through image processing, and reduces the influence of large error on the reversing process in the traditional distance measuring method; the invention also sends out an alarm through the voice alarm system, and the design of the brake module can effectively avoid the misoperation of a driver in the process of backing a car, so that the backing process is safer; the invention can deal with different road conditions and environments by adjusting different safe distances, so that a driver can easily face various road conditions to carry out backing operation, and the manual control module of the device can carry out manual correction on misjudgment of the device by the driver, thereby ensuring the flexibility of the device in use and enhancing the practicability of the device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of the structure provided by the present invention;
FIG. 2 is a schematic view of an infrared in-line laser emitter according to the present invention;
FIG. 3 is a schematic diagram illustrating the principle of changing the safety distance provided by the present invention;
FIG. 4 is a schematic view of light movement during reversing according to the present invention;
FIG. 5 is a flow chart of image processing provided by the present invention;
fig. 6 illustrates the working process provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a reversing alarm device based on image processing, which comprises the following components in part by weight as shown in figure 1: the system comprises a main control module, an image acquisition module, an infrared laser emission module, a serial port communication module and a voice alarm module;
the main control module is electrically connected with the serial port communication module, the serial port communication module is respectively and electrically connected with the image acquisition module, the infrared laser emission module and the voice alarm module, the serial port communication module is used for receiving or sending a control signal of the main control module, and the main control module controls the running of the reversing alarm device through the serial port communication module;
the infrared laser emitting module is used for emitting positioning laser, the image acquisition module is used for carrying out image acquisition on the positioning laser and an external environment when backing a car, the main control module carries out image processing on acquired image data, the actual distance between a vehicle and an obstacle is detected by measuring the distance between the positioning laser, and the voice alarm module carries out voice alarm when the actual distance is smaller than a preset safety distance.
The reversing alarm device also comprises a brake module; the brake module is electrically connected with the main control module through the serial port communication module and is used for controlling automatic braking and collision avoidance of the vehicle, the brake module sets a brake threshold value according to the alarm threshold value, and the brake threshold value is preset to the main control module.
The reversing alarm device also comprises a manual control module; the manual control module is electrically connected with the main control module through the serial port communication module and is used for manually controlling the voice alarm module to be closed and started when the voice alarm module gives an alarm when a fault occurs.
As shown in fig. 2, the infrared laser emitting module includes an infrared linear laser emitter, the positioning laser emitted by the infrared linear laser emitter is projected on the barrier, the optical surface formed by the positioning laser includes a first optical surface and a second optical surface, the first optical surface is parallel to the ground, a horizontal optical segment formed by the first optical surface projected on the barrier is a first optical segment, mark a in fig. 2 is a, the second optical surface forms an optical surface included angle with the first optical surface, a horizontal optical segment formed by the second optical surface projected on the ground is a second optical segment, mark B in fig. 2, and the first optical segment a is parallel to the second optical segment B.
As shown in fig. 3, the reversing alarm device further includes an angle adjusting module, the angle adjusting module presets an alarm threshold by adjusting an included angle of the light surfaces, the angle of the second light surface is changed, and the first light surface is kept horizontal. Wherein a is a first smooth surface, b is a second smooth surface, and b' is the second smooth surface after the angle is changed, when the included angle of the smooth surfaces is increased, the alarm threshold value is reduced, otherwise, the included angle is increased.
As shown in fig. 4, when an intersection line parallel to the first optical segment and generated between the obstacle and the ground coincides with the second optical segment, the vehicle is at a safety critical point, and at this time, a distance between the first optical segment and the second optical segment is an alarm threshold and is preset in the main control module, where the first optical surface is marked as a, the second optical surface is marked as b, the first optical surface is marked as a 'after reversing, and the second optical surface is marked as b' after reversing. The distance between the vehicle and the obstacle can be measured by measuring the distance between the first light segment and the second light segment by the principle of similar triangle.
The image acquisition module comprises a camera, images formed by the first optical section, the second optical section and the external environment are acquired in real time through the camera, the main control module comprises a single chip microcomputer, the single chip microcomputer performs image processing on the images obtained by the camera, so that the real-time distance between the first optical section and the second optical section is obtained, and the real-time distance is compared with the alarm threshold value.
As shown in fig. 5, the image processing method includes: carrying out gray level processing on the image obtained by the image acquisition module to obtain a gray level image with the brightness value of 0-255 after the gray level processing, carrying out filtering processing on the gray level image, then carrying out edge detection, and finally carrying out binarization on the image to extract a first light segment and a second light segment.
The voice alarm module gives an alarm when the real-time distance is smaller than the alarm threshold value, and if the vehicle continues to back up, the brake module automatically controls the vehicle to brake when the real-time distance is smaller than the brake threshold value.
As shown in fig. 6, the working process of the present invention is:
the method comprises the steps that an infrared linear laser transmitter is arranged at the bottom of a vehicle, a first smooth surface which is parallel to the ground and is transmitted by the infrared linear laser transmitter is firstly used for directly projecting a first optical section, a smooth surface included angle is formed between a second smooth surface and the first smooth surface, the second smooth surface projects a second optical section, a camera collects image data behind the vehicle in real time and detects whether a pair of parallel lasers can be detected, if the parallel lasers cannot be detected, the height of an obstacle behind the vehicle is judged to be lower than that of the laser transmitter, the height of the obstacle is judged to be safe, the vehicle is continuously backed, and the detection of the parallel lasers is continuously carried out;
if a pair of parallel lasers is detected, the image acquisition module performs image processing on the acquired real-time image, obtains the real-time actual distance between the two lasers after the image processing, and further judges whether the laser reaches the alarm position.
If the vehicle does not reach the alarm position, the vehicle continues to back, if the vehicle reaches the alarm position, the voice alarm module alarms, if the vehicle continues to back after alarming, whether the vehicle reaches the brake position is judged according to the real-time actual distance between the two lasers obtained through calculation, if the vehicle reaches the brake position, the brake module automatically brakes, if the vehicle does not reach the brake position, the real-time actual distance between the two lasers is continuously calculated, and whether the vehicle reaches the brake position is further judged.
It needs to be further explained that: the braking threshold value is set according to different conditions, and the braking threshold value and the alarm threshold value can be set in a fixed proportion, for example, the braking threshold value is 0.5 times of the alarm threshold value.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It should be noted that, because of different brand types of automobiles, some automobiles cannot be connected to the brake module, and in the case that the brake module cannot be connected, the distance between the automobile and the obstacle can be reflected by setting different alarm tones, so as to further remind the driver of stopping the backing behavior.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. A car backing alarm device based on image processing is characterized by comprising: the system comprises a main control module, an image acquisition module, an infrared laser emission module, a serial port communication module and a voice alarm module;
the main control module is electrically connected with the serial port communication module, the serial port communication module is respectively and electrically connected with the image acquisition module, the infrared laser emission module and the voice alarm module, the serial port communication module is used for receiving or sending a control signal of the main control module, and the main control module controls the operation of the reversing alarm device through the serial port communication module;
the infrared laser emitting module is used for emitting positioning laser, the image acquisition module is used for acquiring images of the positioning laser and an external environment during backing, the main control module is used for processing the acquired image data, the actual distance between a vehicle and an obstacle is detected by measuring the distance between the positioning laser, and the voice alarm module is used for giving a voice alarm when the actual distance is smaller than a preset safety distance;
the infrared laser emission module comprises an infrared linear laser emitter, positioning laser emitted by the infrared linear laser emitter is projected on a barrier, the light surface formed by the positioning laser comprises a first light surface and a second light surface, the first light surface is parallel to the ground, a horizontal light section formed by the first light surface projected on the barrier is a first light section, the second light surface and the first light surface form a light surface included angle, a horizontal light section formed by the second light surface projected on the ground is a second light section, and the first light section is parallel to the second light section;
the reversing alarm device also comprises an angle adjusting module, wherein the angle adjusting module presets an alarm threshold value by adjusting the included angle of the smooth surfaces, changes the angle of the second smooth surface, and keeps the first smooth surface horizontal;
when an intersection line parallel to the first light section and generated between the barrier and the ground is superposed with the second light section, the vehicle is at a safety critical point, and the distance between the first light section and the second light section is an alarm threshold value and is preset into the main control module;
the image acquisition module comprises a camera, images formed by the first optical section, the second optical section and an external environment are acquired in real time through the camera, the main control module comprises a single chip microcomputer, the single chip microcomputer performs image processing on the images obtained by the camera, so that a real-time distance between the first optical section and the second optical section is obtained, and the real-time distance is compared with the alarm threshold value;
the image processing method comprises the following steps: carrying out gray level processing on the image obtained by the image acquisition module to obtain a gray level image with the brightness value of 0-255 after the gray level processing, carrying out filtering processing on the gray level image, then carrying out edge detection, and finally carrying out binarization on the image to extract the first light segment and the second light segment.
2. The image processing-based reversing alarm device according to claim 1, further comprising a brake module;
the brake module passes through serial ports communication module with host system electric connection for control vehicle automatic braking anticollision, the brake module sets up the brake threshold value according to the alarm threshold value, and with the brake threshold value predetermine extremely host system.
3. The reversing alarm device based on image processing of claim 2, wherein the voice alarm module alarms when the real-time distance is smaller than the alarm threshold value, and if the vehicle continues reversing, the brake module automatically controls the vehicle to brake when the real-time distance is smaller than the brake threshold value.
4. The reversing alarm device based on the image processing according to any one of claims 1 to 3, characterized by further comprising a manual control module;
the manual control module passes through serial port communication module with host system electric connection, manual control module is used for when the wrong warning appears in the audio alert module manual control the closing and the start-up of audio alert module.
5. The image processing-based reversing alarm device according to claim 1, wherein the main control module calculates an actual distance between the vehicle and the obstacle according to a similarity principle through a real-time distance between the first optical segment and the second optical segment.
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| CN110936892B (en) * | 2019-12-11 | 2023-04-25 | 广州优云机械制造有限责任公司 | Car is with turning a car and is put in storage auxiliary device |
| CN111583718A (en) * | 2020-05-29 | 2020-08-25 | 江铃汽车股份有限公司 | Automobile reversing early warning method and system and vehicle-mounted terminal |
| CN112896044A (en) * | 2021-01-13 | 2021-06-04 | 北华航天工业学院 | Backing system and method based on laser structure grating grid image analysis |
| CN115042757A (en) * | 2022-06-27 | 2022-09-13 | 中国第一汽车股份有限公司 | Automatic emergency braking method and device for backing car, electronic equipment and storage medium |
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