CN109305171A - A kind of front vehicles driving posture observation device and its method - Google Patents
A kind of front vehicles driving posture observation device and its method Download PDFInfo
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- CN109305171A CN109305171A CN201811296402.5A CN201811296402A CN109305171A CN 109305171 A CN109305171 A CN 109305171A CN 201811296402 A CN201811296402 A CN 201811296402A CN 109305171 A CN109305171 A CN 109305171A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000000007 visual effect Effects 0.000 claims abstract description 32
- 238000007781 pre-processing Methods 0.000 claims description 5
- 238000013507 mapping Methods 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 3
- 206010044565 Tremor Diseases 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 11
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 2
- 241000736199 Paeonia Species 0.000 description 1
- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 230000003542 behavioural effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 230000035484 reaction time Effects 0.000 description 1
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Classifications
-
- 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
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
Abstract
A kind of front vehicles driving posture observation device of the present invention and its method, road information is obtained by the visual sensor being installed in the vehicle, acquired road information is handled by data processing unit, obtains lane line matched curve and front truck front-wheel touchdown point coordinate position pfc, and pass through analysis pfcThe driving status that front vehicles are judged to the shortest distance L of lane line matched curve gives warning in advance to this vehicle driver by the warning indicator for installing in the car when front vehicles are in dangerous driving status；Apparatus of the present invention are simple, method efficiently and accurately, can quickly identify front truck driving posture, reduce traffic risk.
Description
Technical field
The present invention relates to ride safety of automobile fields, and in particular to a kind of front vehicles driving posture observation device and its side
Method.
Background technique
With developing by leaps and bounds for China's economy, car ownership cumulative year after year, but due to the driving technology of driver and
The irregular of quality causes various accidents to occur.When driver on a highway when driving, need spiritual attention height
Correct response is made when concentrating, and driver being required to encounter emergency, this needs higher driving technology, and driver more needs
What is wanted is the reaction time, so vehicle auxiliary early warning system highlights larger effect.
It is higher when danger coefficient is compared to low speed at this time when driver's driving vehicle is in fast state, thus driver
It is necessary to be observed in real time during traveling the driving posture of front vehicles, moved to make correctly driving
Make, avoids dangerous generation.When being in fast state, the driving posture of front vehicles is not sometimes because the attention of driver collects
In, or because around front truck object of reference it is less, be difficult to distinguish sometimes, it is this especially when slowly deviation occurs for front truck
Erroneous judgement can bring larger danger to front vehicle；A kind of front truck is disclosed application No. is 201510364375.0 Chinese patent to drive
The person's of sailing unsafe driving behavioral value method and device, the technical solution application limitation is higher, cannot be applicable in vehicle driving and exist
Situation on crankcase ventilaton, vehicle driving will not keep straight-line travelling when on road, when the course angle of Ben Che and front truck occurs
Variation or vehicle driving are in bend, distance inaccuracy of the front truck obtained by the technical solution away from lane line, and device is pacified
It fills complex.
Summary of the invention
It is more without acquiring the purpose of the present invention is to provide a kind of front vehicles driving posture observation device and its method
Front truck and Ben Che driving parameters, road information only need to be collected by visual sensor, and view-based access control model algorithm is to road
Information and front truck driving condition are handled, and obtain road information and front truck front-wheel contacts to earth location information, based on this to preceding garage
The state of sailing is judged, the accuracy of judgement is improved.
To achieve the goals above, the technical scheme adopted by the invention is as follows: a kind of front vehicles driving status observation dress
It sets, including is mounted on the intracorporal visual sensor of vehicle and data processing unit, the output end of visual sensor connects data processing
The input terminal of unit, wherein
Visual sensor acquires and exports the road information of front vehicles；
Data processing unit handles the road information from visual sensor, exports the driving status of front truck.
Further, the visual sensor is mounted on the position directly above of front windshield of vehicle；Visual sensor packet
Camera and picture processing chip are included, wherein camera acquires road information, and picture processing chip is to the collected road of camera
Road information carries out image preprocessing, exports lane line information and front truck front-wheel touchdown location information.
It further, further include being mounted on the intracorporal warning indicator of vehicle, the warning indicator response data processing is single
Member carries out warning note, the input terminal of the output end connection warning indicator of data processing unit；Current vehicle travelling state is unstable
Clocked flip warning indicator sends warning message.
A kind of observation method of front vehicles driving status observation device, comprising the following steps:
Step 1, visual sensor according to the frequency collection front vehicles of setting driving information；
Step 2, visual sensor carries out image preprocessing, obtains lane line matched curve f (t) and front truck front-wheel touchdown point
Coordinate position pfc；
Step 3, data processing unit calculates front truck front-wheel touchdown point coordinate position pfcTo lane line matched curve f's (t)
Shortest distance L, and export the driving status of front vehicles.
Further, in the step 1, the driving information of front vehicles includes lane line information and front truck front-wheel touchdown point
Location information, wherein when front truck present position is in the right front of this vehicle, then front truck front-wheel touchdown location is the touching of front truck the near front wheel
Place position；When front truck present position is in the left front of this vehicle, then front truck front-wheel touchdown location is front truck off-front wheel touchdown point
Position.
Further, in the step 1, the frame per second of the visual sensor acquisition image is at least 30 width/second.
Further, the step 2 method particularly includes: the picture processing chip in visual sensor become by inverse perspective
It changes method lane line information and front truck front-wheel touchdown location information are handled to obtain binary image, then passes through minimum two
Multiplication is based on B-spline curves and fits lane line, and draws front truck front-wheel by Hough transformation and contact to earth location point, obtains lane line
Matched curve f (t) and front truck front-wheel touchdown point coordinate position pfc。
Further, the step 3 method particularly includes: as L≤0, data processing unit directly exports front vehicles
For unstable state；As L > 0, data processing unit analyzes the pace of change and variation width of L at set time intervals
Degree, and be compared with the threshold value of setting, when any of the pace of change of L or amplitude of variation are more than threshold value, output front
Vehicle is unstable state.
Further, the pace of change threshold value of the L is 0.3m/s, and amplitude of variation threshold value is 0.4m.
Further, the step 3 further includes, when data processing unit output front vehicles are unstable state, counting
Warning indicator alert is triggered according to processing unit.
Compared with prior art, the present invention at least has the following beneficial effects:
A kind of front vehicles driving status observation device of the present invention acquires front vehicles by set visual sensor
Road information, wherein camera keeps picture continuous according to certain frequency collection image information；By picture processing chip into
Row processing obtains lane line matched curve and front truck front-wheel touchdown point coordinate position；By set data processing unit to preceding
The shortest distance of Chinese herbaceous peony wheel touchdown point coordinate position to lane line matched curve is analyzed, and the row of front vehicles is judged and export
State is sailed, when front vehicles play pendulum, warning reminding is carried out by the warning indicator connected, reminds and drives
Member pays attention to evacuation, prevents dangerous generation.The configuration of the present invention is simple, it is easy to use.
A kind of observation method of front vehicles driving status observation device of the present invention, both can be before other straight road adjacent lane
The vehicle of side, also can recognize the vehicle in front of crankcase ventilaton adjacent lane, and this method has more versatility；The method of the present invention is in work
When making, without acquiring the driving parameters of more front truck and Ben Che, the road information of front truck need to be only acquired by visual sensor,
And view-based access control model algorithm handles road information and front truck driving condition, road information and front truck front-wheel after combination processing
Whether vehicle travelling state is stable before the location information that contacts to earth judges, such as judges that state is unstable for front truck driving posture, then will judgement
As a result it is sent to warning indicator, warning indicator reminds driver's front vehicles driving posture unstable after receiving judging result
It is fixed, forewarning function is played to driver, traffic risk is reduced, is simple and efficient.
Detailed description of the invention
Fig. 1 is a kind of front vehicles driving posture observation device structural schematic diagram provided by the invention；
Fig. 2 is a kind of front vehicles driving posture observation method flow chart provided by the invention；
Fig. 3 is for the present invention to the observation schematic diagram of front vehicles under rectilinear stretch operating condition；
Fig. 4 is for the present invention to the observation schematic diagram of front vehicles under left turn lane operating condition；
Fig. 5 is the present invention under left turn lane operating condition, this vehicle positioned at left back side recognizes lane line and front truck is left front
Take turns touchdown location schematic diagram；
Fig. 6 is the present invention under left turn lane operating condition, positioned at right lateral side side this vehicle recognize lane line and front truck it is right before
Take turns touchdown location schematic diagram；
For the position Fig. 7 present invention under right-turn lane operating condition, this vehicle for being located at two sides lane observes schematic diagram to front truck；
Fig. 8 is the present invention under right-turn lane operating condition, positioned at right lateral side side this vehicle recognize lane line and front truck it is right before
Take turns touchdown location schematic diagram；
Fig. 9 is the present invention under right-turn lane operating condition, this vehicle positioned at left back side recognizes lane line and front truck is left front
Take turns touchdown location schematic diagram.
Specific embodiment
In order to which the technological means for realizing the present invention is easy to understand, with reference to the accompanying drawing, this hair is further described
It is bright.
Such as Fig. 1, a kind of front vehicles driving posture observation device, including right above being installed among front windshield of vehicle
The visual sensor 1 for obtaining road information of position is installed on front windshield of vehicle centre position directly above for locating
It manages the data processing unit 2 of data and is installed on by instrument board for reminding the warning indicator 3 of driver's front truck driving posture；
Visual sensor 1 is made of camera 101 and picture processing chip 102, the output end and data of visual sensor 1
The input terminal of processing unit 2 is electrically connected；The output end of data processing unit 2 is electrically connected with the input terminal of warning indicator 3.
It is a kind of front vehicles driving posture observation method flow chart of the present invention such as Fig. 2, comprising the following steps:
Step 1, road information acquisition, including lane line are carried out to front truck according to the frequency of setting by visual sensor 1
Information and front truck front-wheel touchdown location information；It include that vehicle is in rectilinear stretch, left turn lane and right-hand rotation vehicle in the present invention
The case where three kinds of operating conditions in road, three kinds of operating conditions are respectively as shown in Fig. 3, Fig. 4 and Fig. 7, wherein when front vehicles are located at left front,
Visual sensor 1 acquires the touchdown location information of front vehicles off-front wheel, as shown in Figure 6 and Figure 8；When front vehicles are located at the right side
When front, visual sensor 1 acquires the touchdown location information of front vehicles the near front wheel, as shown in figs. 5 and 9；
The frequency of taking pictures of visual sensor 1 can be adjusted according to the actual situation, in a preferred embodiment of the invention,
It is 30 width/second that visual sensor 1, which acquires road information image frame per second,.
Step 2, the road information of acquisition is handled, specifically: camera 101 collects road information, at image
It manages chip 102 and image preprocessing is carried out to the collected road information of camera 101, and pass through inverse perspective mapping method for lane
Line information and front truck front-wheel touchdown location information are transformed to " getting a bird's eye view model ", can intuitive, Quan Mianbiao by " getting a bird's eye view model "
It is at this time binary picture by the digital picture obtained after inverse perspective mapping up to lane line feature and front truck front-wheel touchdown location
Picture, then B-spline curves are based on by least square method and fit lane line, and front truck front-wheel is drawn by Hough transformation and is contacted to earth position
It sets a little, obtains lane line matched curve f (t) and front truck the near front wheel touchdown point coordinate position pfclOr front truck off-front wheel touchdown point is sat
Cursor position pfcr,Wherein A, D are the beginning and end of curve, B, C control
The shape of batten, if being f to match pointi(t), correspondingd(Qj,Qj-1) it is Euclidean
Distance.
Step 3, differentiate front truck driving posture, specifically: data processing unit 2 receives the processing of picture processing chip 102
The front truck the near front wheel touchdown point coordinate position p obtained afterwardsfclOr front truck off-front wheel touchdown point coordinate position pfcrAnd curve f (t),
And the shortest distance for calculating front truck front-wheel touchdown location to curve is L, wherein when right front, L is that front truck is left for current parking stall
Front-wheel touchdown point coordinate position pfclTo the shortest distance L of lane line matched curve f (t)fcl, as shown in figs. 5 and 9；Work as front truck
When positioned at left front, L is front truck off-front wheel touchdown point coordinate position pfcrThe shortest distance to lane line matched curve f (t) is
Lfcr, as shown in Figure 6 and Figure 8；
Data processing unit 2 analyzes L value and its variation, if the value of L less than zero, shows front truck wheel when driving
Crimping is offset to this vehicle place lane, then judges that front truck driving posture is unstable, send warning indicator for judging result
3；If the value of L is greater than zero, shows that front truck is in traveling in lane line, then continues the pace of change and amplitude of variation that judge L value,
In a preferred embodiment of the invention, when L value pace of change is more than 0.3m/s or amplitude of variation is more than 0.4m, then garage before judging
Unsteady attitude is sailed, sends warning indicator 3 for judging result；Driver's front truck is reminded to travel appearance by warning indicator 3
State is unstable.
In a preferred embodiment of the invention, data processing unit 2 is calculated and works as according to every half second calculating frequency
Shortest distance L of the preceding moment front truck front-wheel apart from lane linetValue, by current LtValue and last moment are to be calculated before half second
Lt, value compares and analyzes, and obtains front truck front-wheel at a distance of in the change in location speed and amplitude of variation of lane line.
Fig. 3 is for the present invention to the observation schematic diagram of front vehicles under rectilinear stretch operating condition；Fig. 4 is the present invention in left-hand rotation vehicle
To the observation schematic diagram of front vehicles under road operating condition；The position Fig. 7 present invention is located at two sides lane under right-turn lane operating condition
This vehicle observes schematic diagram to front truck；
When work, camera 101 collects road information, 102 pairs of picture processing chip acquisitions in the form of digital picture
To image information handled, get lane line information and front truck front-wheel touchdown location information, by inverse perspective mapping,
The lane line curve and front truck front-wheel touchdown location that least square method is fitted, and send signal to data processing unit
2, touchdown location is obtained by calculation to the shortest distance L of curve in data processing unit 2, the value of L is analyzed, to the traveling of front truck
Posture is judged, when L pace of change and larger amplitude of variation, then judges that front truck driving posture is unstable, by judging result
It is sent to warning indicator 3, reminds driver's front truck driving posture unstable by warning indicator 3, pays attention to early warning.
Embodiments of the present invention are expounded in conjunction with attached drawing above, but the present invention is not limited to above-mentioned specific reality
Mode is applied, above-mentioned specific embodiment is only schematical, and it is guiding, and not restrictive, do not departing from the present invention
Under the premise of spirit and scope, the present invention be will have various changes and improvements, these changes and improvements belong to claimed
In range.The scope of the present invention is defined by the appended claims and its equivalents.
Claims (10)
1. a kind of front vehicles driving status observation device, which is characterized in that including being mounted on the intracorporal visual sensor of vehicle (1)
With data processing unit (2), the input terminal of output end connection data processing unit (2) of visual sensor (1), wherein
Visual sensor (1) acquires and exports the road information of front vehicles；
Data processing unit (2) processing comes from the road information of visual sensor (1), exports the driving status of front truck.
2. a kind of front vehicles driving status observation device as described in claim 1, which is characterized in that the visual sensor
(1) it is mounted on the position directly above of front windshield of vehicle；Visual sensor (1) includes camera (101) and image procossing core
Piece (102), wherein camera (101) acquires road information, and picture processing chip (102) is to camera (101) collected road
Road information carries out image preprocessing, exports lane line information and front truck front-wheel touchdown location information.
3. a kind of front vehicles driving status observation device as described in claim 1, which is characterized in that further include being mounted on vehicle
Intracorporal warning indicator (3), warning indicator (3) the response data processing unit (2) carry out warning note, data processing
The input terminal of output end connection warning indicator (3) of unit (2)；Current vehicle travelling state shakiness clocked flip warning indicator
(3) warning message is sent.
4. a kind of observation method of front vehicles driving status observation device as described in any one of claims 1 to 3, feature
It is, comprising the following steps:
Step 1, visual sensor (1) according to the frequency collection front vehicles of setting driving information；
Step 2, visual sensor (1) carries out image preprocessing, obtains lane line matched curve f (t) and front truck front-wheel touchdown point
Coordinate position pfc；
Step 3, data processing unit (2) calculates front truck front-wheel touchdown point coordinate position pfcMost to lane line matched curve f (t)
Short distance L, and export the driving status of front vehicles.
5. a kind of observation method of front vehicles driving status observation device as claimed in claim 4, which is characterized in that described
In step 1, the driving information of front vehicles includes lane line information and front truck front-wheel touchdown location information, wherein works as front truck
Present position is in the right front of this vehicle, then front truck front-wheel touchdown location is front truck the near front wheel touchdown location；Locating for front truck
Position is in the left front of this vehicle, then front truck front-wheel touchdown location is front truck off-front wheel touchdown location.
6. a kind of observation method of front vehicles driving status observation device as claimed in claim 4, which is characterized in that described
In step 1, the frame per second of visual sensor (1) the acquisition image is at least 30 width/second.
7. a kind of observation method of front vehicles driving status observation device as claimed in claim 4, which is characterized in that described
Step 2 method particularly includes: the picture processing chip (102) in visual sensor (1) is by inverse perspective mapping method to lane
Line information and front truck front-wheel touchdown location information are handled to obtain binary image, then are based on B sample by least square method
Curve matching goes out lane line, and draws front truck front-wheel by Hough transformation and contact to earth location point, obtains lane line matched curve f
(t) and front truck front-wheel touchdown point coordinate position pfc。
8. a kind of observation method of front vehicles driving status observation device as claimed in claim 4, which is characterized in that described
Step 3 method particularly includes: as L≤0, it is unstable state that data processing unit (2), which directly exports front vehicles,；As L > 0
When, data processing unit (2) analyzes the pace of change and amplitude of variation of L, and the threshold value with setting at set time intervals
It is compared, when any of the pace of change of L or amplitude of variation are more than threshold value, output front vehicles are unstable state.
9. a kind of observation method of front vehicles driving status observation device as claimed in claim 8, which is characterized in that described
The pace of change threshold value of L is 0.3m/s, and amplitude of variation threshold value is 0.4m.
10. a kind of observation method of front vehicles driving status observation device as claimed in claim 8 or 9, which is characterized in that
The step 3 further includes, when data processing unit (2) output front vehicles are unstable state, data processing unit (2) touching
Send out warning indicator (3) alert.
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| CN201811296402.5A CN109305171A (en) | 2018-11-01 | 2018-11-01 | A kind of front vehicles driving posture observation device and its method |
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| CN110210363A (en) * | 2019-05-27 | 2019-09-06 | 中国科学技术大学 | A kind of target vehicle crimping detection method based on vehicle-mounted image |
| CN112802341A (en) * | 2020-12-30 | 2021-05-14 | 中山联合汽车技术有限公司 | Method for measuring position and attitude of front vehicle |
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