CN109747644A - Vehicle tracking anti-collision early warning method, device, controller, system and vehicle - Google Patents
Vehicle tracking anti-collision early warning method, device, controller, system and vehicle Download PDFInfo
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Abstract
The invention discloses a kind of vehicle tracking anti-collision early warning method, device, controller, system and vehicles, pre-process according to most preferably rule is agreed with to vehicle driving video, determine target object；Vehicle Speed is obtained, the interval time of two field pictures in vehicle acceleration and vehicle driving video, the distance of calculating vehicle to target object；Judge that vehicle is possible with the presence or absence of hitting according to Safety distance model, and if so, issuing warning signal.Useful information is extracted by obtaining running car video and carrying out analysis, to judge automobile current state, it is equipped with warning function simultaneously, driver can be reminded to make a response in time after judging current state, reduce automobile collision preventing incidence, the problem of solving existing anti-collision device for automobile shortcoming warning function, cannot reminding driver's dangerous information in time, the safety of the invention of relatively existing anti-collision device for automobile greatly improves.
Description
Technical field
The present invention relates to field of automobile safety more particularly to a kind of vehicle tracking anti-collision early warning method, device, controller,
System and vehicle.
Background technique
Automobile quantity in China's sharply increases at present, and traffic accidents occurrence frequency is also being continuously increased, traffic safety
Problem is more and more prominent, and anti-collision system for automobile design (Collision Avoidance System, CAS) seems more especially at this time
It is important.CAS is to improve one, vehicle safety field important technology, and key is to reliably detect the feelings in vehicle driving
Condition reminds driver to take workaround in time.
Existing anti-collision device for automobile is usually high by the number for being mounted on the camera at each position of automobile, connecting with camera
CD writer and the video identification software sharing with analysis video for identification, digital high-definition CD writer clearly is mounted on automobile master control
In, video identification software peace is also contained in automobile master control and is shown on automobile display screen.But existing anti-collision device for automobile
It is short of warning function, driver's dangerous information cannot be reminded in time, illusion driver does not pay attention to the information on display screen, then endangers
Danger not can avoid.In this regard, needing one kind can be with the anti-collision device for automobile of early warning in real life, and solves existing automobile and prevent
The problem of collision device is short of warning function, cannot remind driver's dangerous information in time.
Summary of the invention
The present invention provides a kind of vehicle tracking anti-collision early warning method, device, controller, system and vehicles, it is intended to solve
The problem of existing anti-collision device for automobile is short of warning function, cannot remind driver's dangerous information in time.
To achieve the above object, the present invention provides a kind of vehicle tracking anti-collision early warning methods, comprising:
Vehicle driving video is pre-processed according to most preferably rule is agreed with, determines target object；
Vehicle Speed is obtained, the interval time of two field pictures in vehicle acceleration and vehicle driving video, calculates vehicle
Arrive target object distance；
Judge that vehicle is possible with the presence or absence of hitting according to Safety distance model, and if so, issuing warning signal.
Further, the basis is most preferably agreed with rule and is pre-processed to the vehicle driving video of acquisition, determines target
Object, comprising:
Vehicle driving video is obtained, selecting video frame determines the sum of any rectangular area brightness；
The brightness value of the brightness value of all subregions of current block and undetermined piece of all subregions is sought into absolute difference, is determined absolute
The smallest current block subregion of difference and undetermined piece of subregion are optimal agree with；
Motion vector is obtained according to the optimal current block subregion agreed with and undetermined piece of subregion, is determined according to motion vector
Target object.
Further, in the acquisition Vehicle Speed, vehicle acceleration and vehicle driving video between two field pictures
Every the time, the distance of calculating vehicle to target object, comprising:
Obtain the Vehicle Speed v that vehicle speed sensor obtains0The vehicle obtained with vehicle acceleration sensor accelerates
Spend a；
According to the interval time t of two field pictures in vehicle driving video, pass through calculating formula x=v0t+at2/ 2, which obtain vehicle, arrives
The distance x of target object.
Further, described to judge that vehicle is possible with the presence or absence of hitting according to Safety distance model, and if so, issuing
Pre-warning signal, comprising:
Speed v before acquisition vehicle brakingc, vehicle braking time td, target object and vehicle stop after both distance d, root
According to Safety distance model S=vctdSafe distance is calculated in+d；
When the distance of vehicle to target object is less than safe distance, then early warning letter may be issued by determining that vehicle exists to hit
Number.
Further, this method further include:
Stop sending warning information after detecting safety signal.
To achieve the above object, most preferably agree with rule choosing the present invention also provides a kind of vehicle tracking anti-collision early warning method
Selection method, comprising:
Determine the calculating formula of the sum of any rectangular area brightness, quadratic sum and variance in video frame；
Determine absolute difference summation agree with rule, the absolute difference of subregion sum summation agree with rule, subregion variance it is absolute
Difference summation agrees with rule and subregion variance and the summation of subregion absolute difference agrees with the calculating formula of rule；
Agree with a computation complexity for agreeing with rule of rule calculating formula judgement and average compressibility according to fixed four kinds
It can value；
It determines according to computation complexity and average compression performance value and most preferably agrees with rule.
To achieve the above object, the present invention also provides a kind of vehicle tracking anti-collision prewarning apparatus, comprising:
Video processing unit most preferably agrees with rule for basis and pre-processes to vehicle driving video, determines object
Body；
Metrics calculation unit, for obtaining Vehicle Speed, two field pictures in vehicle acceleration and vehicle driving video
Interval time, calculate vehicle to target object distance；
Analysis unit, for judging that vehicle is possible with the presence or absence of hitting according to Safety distance model, and if so,
It issues warning signal.
To achieve the above object, the present invention also provides a kind of vehicle tracking anti-collision early warning controllers, which is characterized in that packet
It includes processor, memory and storage in the memory and is configured as the computer program executed by the processor,
The processor realizes the vehicle tracking anti-collision early warning method as described in any one embodiment when executing the computer program.
To achieve the above object, the present invention also provides a kind of vehicle tracking anti-collision early warning systems, comprising: controller, view
Frequency collector, velocity sensor, acceleration transducer；Wherein,
The video collector connect with the controller and is used to collected vehicle driving video being sent to institute
State controller；
The velocity sensor, connect with the controller and the Vehicle Speed information for being used to will test is sent
To the controller；
The acceleration transducer, connect with the controller and the vehicle acceleration information for being used to will test is sent
To the controller；
The controller, including processor, memory and storage in the memory and are configured as by described
The computer program that device executes is managed, the processor realizes the vehicle as described in any embodiment when executing the computer program
Track anti-collision early warning method.
To achieve the above object, the present invention also provides a kind of vehicles, including vehicle tracking anticollision as described embodiments
Early warning system.
Compared with prior art, a kind of vehicle tracking anti-collision early warning method disclosed by the invention, device, controller, system
And vehicle, it is set simultaneously by obtaining running car video and carrying out analysis extraction useful information to judge automobile current state
There is warning function, driver can be reminded to make a response in time after judging current state, reduces automobile collision preventing incidence, solution
The problem of existing anti-collision device for automobile of having determined is short of warning function, cannot remind driver's dangerous information in time, it is relatively existing
Anti-collision device for automobile safety of the invention greatly improve.Also, running car video of the present invention can be driving
The video of recorder record, using automobile data recorder, this existing weaponry and equipment positions automobile position, greatly reduces this hair
Bright implementation cost, it is minimum to the change of automobile itself, so that application range of the invention is extremely wide.Meanwhile to view in the present invention
The processing of frequency is carried out according to rule is most preferably agreed with, this kind, which agrees with rule, can greatly reduce computation complexity, improve this hair
Bright response speed guarantees that early warning is timely, further improves safety of the invention.
Detailed description of the invention
Fig. 1 is a kind of one embodiment flow chart of vehicle tracking anti-collision early warning method of the present invention；
Fig. 2 is the implementation for most preferably agreeing with rule selection method that the present invention is suitable for vehicle tracking anti-collision early warning method
Example flow chart；
Fig. 3 is a kind of one embodiment structural block diagram of deep learning model compression device of the present invention；
Fig. 4 is a kind of structural block diagram of one embodiment of vehicle tracking anti-collision early warning system of the present invention.
Specific embodiment
As shown in Figure 1, a kind of vehicle tracking anti-collision early warning method provided by the invention, comprising: agree with rule according to best
Vehicle driving video is pre-processed, determines target object；Obtain Vehicle Speed, vehicle acceleration and vehicle driving view
The interval time of two field pictures in frequency, the distance of calculating vehicle to target object；Whether vehicle is judged according to Safety distance model
It is possible in the presence of hitting, and if so, issuing warning signal.A kind of vehicle tracking anti-collision early warning method disclosed by the invention, passes through
It obtains running car video and carries out analysis and extract useful information, to judge automobile current state, while being equipped with warning function,
Driver can be reminded to make a response in time after judging current state, reduce automobile collision preventing incidence, solve existing
The problem of anti-collision device for automobile is short of warning function, cannot remind driver's dangerous information in time, relatively existing automobile collision preventing
Device safety of the invention greatly improves.
Further, it states and the vehicle driving video of acquisition is pre-processed according to most preferably agreeing with rule, determine object
Body, comprising: obtain vehicle driving video, selecting video frame determines the sum of any rectangular area brightness；By all sub-districts of current block
The brightness value of the brightness value in domain and undetermined piece of all subregions seeks absolute difference, determine the smallest current block subregion of absolute difference and to
Determining block subregion is optimal agree with；Motion vector, root are obtained according to the optimal current block subregion agreed with and undetermined piece of subregion
Target object is determined according to motion vector.
In a preferred embodiment of the invention, select to carry out video it is pretreated most preferably agree with rule for subregion with
Absolute difference summation agree with rule.The algorithm that video processing technique is used in the embodiment is that a kind of fast motion estimation is newly calculated
Method, the algorithm center of gravity are placed on improvement and agree in rule, and on unconventional change search strategy.Common rule of agreeing with is block
In all pixel be calculated and compared, and the in fact difference very little of each region adjacent pixel, so that between them
There are great quantities of spare information content.Based on this, the present embodiment is on the basis of region is agreed with first by current female region segmentation at perhaps
Mostly with fix pattern arrangement subregion, then calculate each sub-regions pixel and and variance, regard subregion as entirety,
Recycle what is proposed to agree with rule removes to agree with each sub-regions and candidate's subregion and and variance.What the present embodiment proposed
The method for dividing sub-district domain structure calculates the sum of the absolute difference of several adjacent pixels with variance as a whole, together
The summation of Shi Zaiyu absolute difference agrees with rule, the summation of the absolute difference of subregion sum agrees with rule, the summation of the absolute difference of subregion variance
Agree with rule and subregion variance and the summation of subregion absolute difference agrees with rule and performance is comprehensively compared, it is multiple that calculating can be greatly reduced
Miscellaneous degree improves the response speed of this method, guarantees that early warning is timely, further improves the safety of this method.
Further, in the acquisition Vehicle Speed, vehicle acceleration and vehicle driving video between two field pictures
Every the time, the distance of calculating vehicle to target object, comprising: obtain the Vehicle Speed v that vehicle speed sensor obtains0With
The vehicle acceleration a that vehicle acceleration sensor obtains；According to the interval time t of two field pictures in vehicle driving video, pass through meter
Formula x=v0t+at2/ 2 obtain vehicle to target object distance x.
In a preferred embodiment of the invention, the Vehicle Speed, vehicle acceleration and vehicle driving video
It can be obtained by the velocity sensor, acceleration sensor and automobile data recorder that automobile itself carries, using existing weaponry and equipment to vapour
Truck position is positioned, and implementation cost of the invention is greatly reduced, minimum to the change of automobile itself, so that of the invention answers
It is extremely wide with range.
Further, described to judge that vehicle is possible with the presence or absence of hitting according to Safety distance model, and if so, issuing
Pre-warning signal, comprising: obtain speed v before vehicle brakingc, vehicle braking time td, target object and vehicle stop after both away from
From d, according to Safety distance model S=vctdSafe distance is calculated in+d；When the distance of vehicle to target object is less than safety
Distance then determines that vehicle may be issued warning signal in the presence of shock.
In a preferred embodiment of the invention, shock possibility is judged whether there is by security model, and if so,
It issues warning signal, the pre-warning signal includes being always on indicator light, yowl buzzer and the vibration mode being added in steering wheel
Sustained vibration finally operates automobile by driver and carries out braking processing.
A specific embodiment of the invention is as follows:
Vehicle driving video is obtained, a wherein frame is chosen, is set as N × M video frame, if f (m, n) is present frame (m, n) point
The brightness at place, I (m, n) are the sum of the brightness for be diagonal line place rectangular region from origin to (m, n).
Then have
If Rf(m, n) is the sum of the row brightness of current region, i.e.,
Defining brightness value outside rectangular area is 0, i.e. Rf(- 1, n)=0, If(- 1, n)=0.
It is obtained by (1) (2) formula
Rf(m, n)=Rf(m-1,n)+f(m,n)
If(m, n)=I (m, n-1)+Rf(m,n)
Then the sum of brightness of any rectangular area D BSfIt can be expressed as
It can be seen that by above formula, each BS has only used 2 subtractions, 1 sub-addition operation.
According to the absolute difference of subregion sum summation agree with rule, using all subregion brightness value summations in female region as
One parameter, then with the brightness value for all subregions that current block is divided compared with undetermined piece of all subregions, absolutely
The smallest to the sum of difference is optimal agree with.
Wherein BSC(Sk) and BSr(Sk) respectively represent k-th of subregion in current region and region undetermined brightness value it
With.
According to the time interval and automobile itself existing velocity sensor, acceleration sensor between two field pictures, x is utilized
=v0t+at2/ 2 (wherein v0For initial velocity, t is time interval, and a is acceleration magnitude) can calculate target shell away from
From according to Safety distance model S=vctd+d(vcSpeed before indicating rear car braking, after d two vehicles of expression stop between two vehicles
Distance, S are safe distance) a possibility that judging whether there is shock.This possibility if it exists, then issue warning signal, packet
It includes and is always on indicator light, yowl buzzer and the vibration mode sustained vibration being added in steering wheel are finally operated by driver
Automobile carries out braking processing.
A kind of vehicle tracking anti-collision early warning method provided by the invention, further includes: stop hair after detecting safety signal
Send warning information.In a preferred embodiment of the invention, after issuing warning signal, driver's processing is waited, is being detected
Stop early warning after to safety signal, safety signal of the present invention can be the letter for detecting that driver is automatically processed
Number, think to hit dangerous releasing after driver carries out braking processing, stops early warning, can also be and detect vehicle to target
The distance of object is greater than safe distance, determines and stops early warning after hitting dangerous release, support vehicles safety.
As shown in Fig. 2, most preferably agreeing with rule selecting party the present invention also provides a kind of vehicle tracking anti-collision early warning method
Method, comprising: determine the calculating formula of the sum of any rectangular area brightness, quadratic sum and variance in video frame；Determine that absolute difference is summed
Agree with rule, the summation of the absolute difference of subregion sum agrees with rule, the summation of the absolute difference of subregion variance agrees with rule and subregion
Variance and the summation of subregion absolute difference agree with the calculating formula of rule；Agree with rule calculating formula according to fixed four kinds and judges a contract
Legal computation complexity then and average compression performance value；Most preferably agreed with according to computation complexity and average compression performance value determination
Rule.A kind of this method available comprehensive performance (i.e. the comprehensive consideration of calculation amount and compression performance) it is best agree with rule
Algorithm (most preferably agrees with rule), and what is obtained most preferably agrees with rule applied to vehicle tracking anti-collision early warning method, this can be improved
The response speed of method guarantees that early warning is timely, further improves safety of the invention.
Described one embodiment for most preferably agreeing with rule selection method is as follows:
Step S100 determines the calculating formula of the sum of any rectangular area brightness, quadratic sum and variance in video frame；
Define place mat:
Assuming that there is one N × M video frame, if f (m, n) is the brightness at present frame (m, n) point, I (m, n) be from origin to
(m, n) is the sum of the brightness of rectangular region where diagonal line.
Then have
If Rf(m, n) is the sum of the row brightness of current region, i.e.,
Defining brightness value outside rectangular area is 0, i.e. Rf(- 1, n)=0, If(- 1, n)=0.
It is obtained by (1) (2) formula
Rf(m, n)=Rf(m-1,n)+f(m,n)
If(m, n)=I (m, n-1)+Rf(m,n)
Then the sum of brightness of any rectangular area D BSfIt can be expressed as
It can be seen that by above formula, each BS has only used 2 subtractions, 1 sub-addition operation.
And the quadratic sum BS of any rectangular area2 FIt may be expressed as:
A square need due to calculating a pixel value are done multiplying 1 time, if 1 multiplying need to do 3 arithmetical operations,
So calculate If 2Only need 3 × M × n times arithmetical operation.
The variance of any rectangular area D can be obtained according to (4) formula:
Wherein, NDIndicate the total number-of-pixels of rectangular area.
Step S200 determines that absolute difference summation agrees with rule, the summation of the absolute difference of subregion sum agrees with rule, subregion side
The absolute difference summation of difference agrees with rule and subregion variance and the summation of subregion absolute difference agrees with the calculating formula of rule；
Agree with rule in four kinds of regions:
Usual rule: absolute difference summation
With between current region and region undetermined brightness value absolute difference summation, the sum of absolute difference minimum (MIN) that
Region is exactly optimal.
Wherein fc(x, y) and fr(x, y) respectively indicates the brightness value of current region and region undetermined.This method agrees with precision
It is higher, but calculation amount should not be underestimated.Therefore the proposition of this algorithm agrees with female region segmentation at multiple subregions to complete block, is first
It is uniform multiple subregions by female region division, it is rear to propose that place mat calculates the summation and variance of each subregion using S100
As a region fit parameters.
Rule 1: the absolute difference summation of subregion sum
Using all subregion brightness value summations in female region as a parameter, then divided with current block all
For the brightness value of subregion compared with undetermined piece of all subregions, the smallest the sum of absolute difference is optimal agrees with.
Wherein BSc(Sk) and BSr(Sk) respectively represent k-th of subregion in current region and region undetermined brightness value it
With.
Rule 2: the absolute difference summation of subregion variance
It is summed using the variance absolute difference of the variance of each subregion in female region subregion corresponding with mother region undetermined,
Reckling of summing is optimal agrees with.
WhereinWithIt indicates the variance of k-th of subregion in current region and region undetermined, utilizes (5) formula
It is easy to get.
Rule 3: subregion variance and the summation of subregion absolute difference
(2) two kinds of the rule mixing principle (1) agrees with criterion.
Wherein λ is to agree with specific gravity, NsFor the sum of all pixels of each subregion.
Step S300 agrees with the computation complexity peace that the judgement of rule calculating formula agrees with rule according to fixed four kinds
Equal compression performance value；
Four kinds are agreed with rule performance comparison:
By comprising the different time and spatially the motion image sequence of standardized images sequence is split, in difference point
It cuts block number and the step S200 3 kinds of rules mentioned and full search policy calculation is obtained into average compression performance number now.Separately make base
Agree with criterion computation complexity in undivided and segmented (the 3 kinds of rules) of full search strategy and compare for totally 4 kinds.
Step S400 is determined according to computation complexity and average compression performance value and is most preferably agreed with rule；
Comparison according to S300 selects one kind not reducing larger compression performance simultaneously, and computational complexity will not rise
Too many rule, as most preferably agrees with rule.It can be obtained by S300, segmentation is thinner, and compression performance steps up, but computation complexity
It is inevitable to increase therewith, still need to weigh between compression performance and calculation amount, that is, select a kind of do not reducing larger compression
Simultaneously, computational complexity will not rise too much performance.In the present embodiment, combining step S300 is obtained, using 4 pieces of patterns,
The absolute difference summation of subregion sum agrees with that rule comprehensive performance is best, finally makes the absolute difference of subregion sum in undivided situation
Performance comparison is compressed under summation (4 pieces), show that the absolute difference summation compression performance of subregion sum is in close proximity to based on full search
The undivided method of strategy.
As shown in figure 3, being a kind of vehicle tracking anti-collision prewarning apparatus the present invention provides another embodiment, comprising:
Video processing unit most preferably agrees with rule for basis and pre-processes to vehicle driving video, determines object
Body；
Metrics calculation unit, for obtaining Vehicle Speed, two field pictures in vehicle acceleration and vehicle driving video
Interval time, calculate vehicle to target object distance；
Analysis unit, for judging that vehicle is possible with the presence or absence of hitting according to Safety distance model, and if so,
It issues warning signal.
Further, the video processing unit includes:
First processing module, for obtaining vehicle driving video, selecting video frame, determine any rectangular area brightness it
With；
Second processing module, for by the brightness value of the brightness value of all subregions of current block and undetermined piece of all subregions
Absolute difference is sought, determines that the smallest current block subregion of absolute difference and undetermined piece of subregion are optimal agree with；
Third processing module, for obtaining movement arrow according to the optimal current block subregion agreed with and undetermined piece of subregion
Amount, determines target object according to motion vector.
Further, the metrics calculation unit includes:
Data acquisition module, the Vehicle Speed v obtained for obtaining vehicle speed sensor0Accelerate to sense with vehicle
The vehicle acceleration a that device obtains；
Data computation module passes through calculating formula x=for the interval time t according to two field pictures in vehicle driving video
v0t+at2/ 2 obtain vehicle to target object distance x.
Further, the analysis unit includes:
Calculation of Safety Distance module, for obtaining speed v before vehicle brakingc, vehicle braking time td, target object and vehicle
Stop after both distance d, according to Safety distance model S=vctdSafe distance is calculated in+d；
Apart from comparison module, it is less than safe distance for the distance when vehicle to target object, then determines that vehicle exists and hit
Hitting may issue warning signal.
Further, the present invention also provides a kind of vehicle tracking anti-collision prewarning apparatus, the analysis unit is also wrapped
It includes, early warning stopping modular, sends warning information for stopping after detecting safety signal.
A kind of vehicle tracking anti-collision prewarning apparatus that the embodiment of the present invention supplies, can be realized described in any of the above-described embodiment
All processes of vehicle tracking anti-collision early warning method, the technical effect of effect and the realization of modules, unit in device
It is corresponding identical as the technical effect of effect and the realization of vehicle tracking anti-collision early warning method described in above-described embodiment respectively, this
In repeat no more.
The embodiment of the invention also provides the present invention also provides a kind of vehicle tracking anti-collision early warning controller, feature exists
In in the memory and being configured as the computer executed by the processor including processor, memory and storage
Program, the processor realize the vehicle tracking anti-collision early warning as described in any one embodiment when executing the computer program
Method.
As shown in figure 4, the embodiment of the invention also provides a kind of vehicle tracking anti-collision early warning systems, comprising: controller, view
Frequency collector, velocity sensor, acceleration transducer；Wherein,
The video collector connect with the controller and is used to collected vehicle driving video being sent to institute
State controller；
The velocity sensor, connect with the controller and the Vehicle Speed information for being used to will test is sent
To the controller；
The acceleration transducer, connect with the controller and the vehicle acceleration information for being used to will test is sent
To the controller；
The controller, including processor, memory and storage in the memory and are configured as by described
The computer program that device executes is managed, the processor realizes the vehicle as described in any embodiment when executing the computer program
Track anti-collision early warning method.Alternatively, the processor is realized in above-mentioned each Installation practice respectively when executing the computer program
Module/unit function.
Illustratively, the computer program can be divided into one or more module/units, one or more
A module/unit is stored in the memory, and is executed by the processor, to complete the present invention.It is one or more
A module/unit can be the series of computation machine program instruction section that can complete specific function, and the instruction segment is for describing institute
State implementation procedure of the computer program in the vehicle tracking anti-collision early warning system.
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
The various functions of vehicle tracking anti-collision prewarning apparatus.The memory can mainly include storing program area and storage data area,
In, storing program area can application program needed for storage program area, at least one function (such as sound-playing function, image
Playing function etc.) etc.；Storage data area, which can be stored, uses created data (such as audio data, phone directory according to mobile phone
Deng) etc..In addition, memory may include high-speed random access memory, it can also include nonvolatile memory, such as firmly
Disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital,
SD) block, flash card (Flash Card), at least one disk memory, flush memory device or other volatile solid-states
Part.
Wherein, if the integrated module/unit of the vehicle tracking anti-collision prewarning apparatus is in the form of SFU software functional unit
Realize and when sold or used as an independent product, can store in a computer readable storage medium.Based on this
The understanding of sample, the present invention realize all or part of the process in above-described embodiment method, can also be referred to by computer program
Relevant hardware is enabled to complete, the computer program can be stored in a computer readable storage medium, the computer journey
Sequence is when being executed by processor, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes calculating
Machine program code, the computer program code can for source code form, object identification code form, executable file or it is certain in
Between form etc..The computer-readable medium may include: any entity or dress that can carry the computer program code
It sets, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software
Distribution medium etc..It should be noted that the content that the computer-readable medium includes can be according to making laws in jurisdiction
Requirement with patent practice carries out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent practice, computer
Readable medium does not include electric carrier signal and telecommunication signal.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.In addition, device provided by the invention
In embodiment attached drawing, the connection relationship between module indicate between them have communication connection, specifically can be implemented as one or
A plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, it can understand
And implement.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of vehicle tracking anti-collision early warning method characterized by comprising
Vehicle driving video is pre-processed according to most preferably rule is agreed with, determines target object；
Vehicle Speed is obtained, the interval time of two field pictures in vehicle acceleration and vehicle driving video calculates vehicle and arrives
The distance of target object；
Judge that vehicle is possible with the presence or absence of hitting according to Safety distance model, and if so, issuing warning signal.
2. according to right want 1 described in a kind of vehicle tracking anti-collision early warning method, which is characterized in that the best method of agreement of basis
Then the vehicle driving video of acquisition is pre-processed, determines target object, comprising:
Vehicle driving video is obtained, selecting video frame determines the sum of any rectangular area brightness；
The brightness value of the brightness value of all subregions of current block and undetermined piece of all subregions is sought into absolute difference, determines absolute difference most
Small current block subregion and undetermined piece of subregion is optimal agree with；
Motion vector is obtained according to the optimal current block subregion agreed with and undetermined piece of subregion, target is determined according to motion vector
Object.
3. a kind of vehicle tracking anti-collision early warning method according to claim 1, which is characterized in that the acquisition vehicle driving
The interval time of two field pictures in speed, vehicle acceleration and vehicle driving video calculates distance of the vehicle to target object, packet
It includes:
Obtain the Vehicle Speed v that vehicle speed sensor obtains0The vehicle acceleration a obtained with vehicle acceleration sensor；
According to the interval time t of two field pictures in vehicle driving video, pass through calculating formula x=v0t+at2/ 2 obtain vehicle to target
The distance x of object.
4. a kind of vehicle tracking anti-collision early warning method according to claim 1, which is characterized in that described according to safe distance
Model judges that vehicle is possible with the presence or absence of hitting, and if so, issuing warning signal, comprising:
Speed v before acquisition vehicle brakingc, vehicle braking time td, target object and vehicle stop after both distance d, according to peace
Full distance model S=vctdSafe distance is calculated in+d；
When vehicle to target object distance be less than safe distance, then determine vehicle in the presence of hit may issue warning signal.
5. a kind of vehicle tracking anti-collision early warning method according to claim 1, which is characterized in that further include:
Stop sending warning information after detecting safety signal.
6. a kind of most preferably agree with rule selection method suitable for any vehicle tracking anti-collision early warning method of claim 1-5,
It is characterised by comprising:
Determine the calculating formula of the sum of any rectangular area brightness, quadratic sum and variance in video frame；
Determine absolute difference summation agree with rule, the absolute difference of subregion sum summation agree with rule, the absolute difference of subregion variance is asked
With agree with rule and subregion variance and the summation of subregion absolute difference agrees with the calculating formula of rule；
Agree with the computation complexity and averagely compression performance value that the judgement of rule calculating formula agrees with rule according to fixed four kinds；
It determines according to computation complexity and average compression performance value and most preferably agrees with rule.
7. a kind of vehicle tracking anti-collision prewarning apparatus characterized by comprising
Video processing unit most preferably agrees with rule for basis and pre-processes to vehicle driving video, determines target object；
Metrics calculation unit, for obtaining Vehicle Speed, in vehicle acceleration and vehicle driving video between two field pictures
Every the time, the distance of calculating vehicle to target object；
Analysis unit, for judging that vehicle is possible with the presence or absence of hitting according to Safety distance model, and if so, issuing
Pre-warning signal.
8. a kind of vehicle tracking anti-collision early warning controller, which is characterized in that including processor, memory and be stored in described deposit
In reservoir and it is configured as the computer program executed by the processor, the processor executes real when the computer program
The now vehicle tracking anti-collision early warning method as described in any one of claim 1 to 5.
9. a kind of vehicle tracking anti-collision early warning system characterized by comprising controller, video collector, velocity sensor,
Acceleration transducer；Wherein,
The video collector connect with the controller and is used to collected vehicle driving video being sent to the control
Device processed；
The velocity sensor, connect with the controller and the Vehicle Speed information for being used to will test is sent to institute
State controller；
The acceleration transducer, connect with the controller and the vehicle acceleration information for being used to will test is sent to institute
State controller；
The controller, including processor, memory and storage in the memory and are configured as by the processor
The computer program of execution, the processor are realized when executing the computer program such as any one of claim 1 to 5 institute
The vehicle tracking anti-collision early warning method stated.
10. a kind of vehicle, which is characterized in that including vehicle tracking anti-collision early warning system as claimed in claim 9.
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