CN110260839B - Target distance measuring system - Google Patents
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- CN110260839B CN110260839B CN201910346719.3A CN201910346719A CN110260839B CN 110260839 B CN110260839 B CN 110260839B CN 201910346719 A CN201910346719 A CN 201910346719A CN 110260839 B CN110260839 B CN 110260839B
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Abstract
The invention relates to a target distance measuring system, comprising: the railing detection equipment is arranged in the vehicle and used for detecting the left railing region and the right railing region of the bicubic interpolation image based on railing imaging characteristics and outputting the number of pixel points from the rightmost pixel point of the left railing region to the leftmost pixel point of the right railing region as representative number; and the distance identification equipment is used for performing mean calculation on the depth of field of the left hand side rail area and the right hand side rail area in the bicubic interpolation image respectively to obtain a representative depth of field value, and determining the distance between the front rails based on the representative depth of field value and the representative number. The target distance measuring system is safe, reliable and convenient to use. Because the numerical value obtained by subtracting the width of the preset vehicle left side rear-view mirror from the distance between the front handrails and then subtracting the width of the preset vehicle right side rear-view mirror is less than or equal to the preset vehicle body width, the alarm is difficult to pass, and therefore the accident that the vehicle collides the handrails is avoided.
Description
Technical Field
The invention relates to the field of target detection, in particular to a target distance measuring system.
Background
The target detection, also called target extraction, is an image segmentation based on target geometry and statistical characteristics, which combines the segmentation and identification of targets into one, and the accuracy and real-time performance of the method are important capabilities of the whole system. Especially, in a complex scene, when a plurality of targets need to be processed in real time, automatic target extraction and identification are particularly important.
With the development of computer technology and the wide application of computer vision principle, the real-time tracking research on the target by using the computer image processing technology is more and more popular, and the dynamic real-time tracking and positioning of the target has wide application value in the aspects of intelligent traffic systems, intelligent monitoring systems, military target detection, surgical instrument positioning in medical navigation operations and the like.
Disclosure of Invention
The invention needs to have the following key invention points:
(1) when the numerical value obtained by subtracting the width of the preset vehicle left side rear-view mirror from the distance between the front handrails and then subtracting the width of the preset vehicle right side rear-view mirror is less than or equal to the preset vehicle body width, playing a voice alarm file related to the difficulty in passing, thereby avoiding the accident that the vehicle collides the handrails;
(2) the filtering mechanisms with different operand sizes are selected based on the pixel clock frequency of the image to be processed, and the filtering mechanism with small operand is selected when the pixel clock frequency of the image is relatively fast, so that the filtering effect is ensured, and the excessive filtering operand in unit time is avoided.
According to an aspect of the present invention, there is provided a target distance measurement system, the system including:
the railing detection device is arranged in the vehicle, is connected with the bicubic interpolation device, and is used for detecting the left railing region and the right railing region of the bicubic interpolation image based on railing imaging characteristics and outputting the number of pixel points from the rightmost pixel point of the left railing region to the leftmost pixel point of the right railing region as representative number;
the distance identification equipment is connected with the railing detection equipment and used for carrying out mean value calculation on the depth of field of the left railing area and the right railing area in the bicubic interpolation image respectively to obtain a representative depth of field value and determining the distance between the railings in front based on the representative depth of field value and the representative number;
the traffic analysis equipment is connected with the distance identification equipment and is used for sending a first control signal when the value obtained by subtracting the width of a preset vehicle left side rearview mirror from the distance between the front handrails and then subtracting the width of the preset vehicle right side rearview mirror is smaller than or equal to the width of a preset vehicle body, and otherwise, sending a second control signal;
the voice alarm equipment is arranged in the vehicle, is connected with the traffic analysis equipment, and is used for playing the voice alarm file related to the traffic difficulty when receiving the first control signal and stopping playing the voice alarm file related to the traffic difficulty when receiving the second control signal;
the embedded capturing system is packaged at the front end of the vehicle and is used for carrying out image capturing operation on a scene in front of the vehicle so as to obtain and output a corresponding scene image in front of the vehicle;
the frequency acquisition equipment is arranged in the vehicle, is connected with the embedded capture system and is used for receiving the scene image in front of the vehicle and detecting the pixel clock frequency of the scene image in front of the vehicle so as to obtain the corresponding current pixel clock frequency;
the command extraction equipment is connected with the frequency acquisition equipment and is used for sending a first driving command when the frequency of the current pixel clock exceeds the limit;
the command extraction device is further configured to issue a second drive command when the current pixel clock frequency is not exceeded.
The target distance measuring system is safe, reliable and convenient to use. Because the numerical value obtained by subtracting the width of the preset vehicle left side rear-view mirror from the distance between the front handrails and then subtracting the width of the preset vehicle right side rear-view mirror is less than or equal to the preset vehicle body width, the alarm is difficult to pass, and therefore the accident that the vehicle collides the handrails is avoided.
Drawings
Embodiments of the invention will now be described with reference to the accompanying drawings, in which:
fig. 1 is a configuration view of a balustrade to which a target interval measuring system according to an embodiment of the present invention is applied.
Detailed Description
An embodiment of the target distance measuring system of the present invention will be described in detail below with reference to the accompanying drawings.
The road railing is a traffic safety facility arranged at the outer side of a road shoulder, a traffic separation belt, a sidewalk curb and the like. The collision energy is absorbed through self-deformation or vehicle climbing, so that the driving direction of the vehicle is changed, the vehicle is prevented from going out of the road or entering an opposite lane, and the injury to passengers is reduced to the maximum extent.
Road railings are used to protect vehicles and occupants from collisions with natural or artificial objects located beside the road. It is important to note that a vehicle striking a roadway barrier can damage both the vehicle/passenger and the barrier itself. The damage caused by hitting the guard rail is usually less severe than hitting the part behind the guard rail, and the road railings therefore represent a compromise between these two considerations. In addition to protecting vehicles, road railings are also used to shield pedestrians, maintenance/construction personnel, or cyclists from errant traffic. In its most basic form, road railings are designed to prevent a vehicle leaving a roadway from hitting a stationary object. The guard rail first blocks an accident vehicle and then redirects it. Because of the variability of vehicle impacts and the destructive effects at high speeds, a comprehensive full-scale destructive test should be introduced to ensure the safe reliability of the road rail to be used. There are a wide variety of sizes and shapes of barriers that can be used. The choice of barrier type depends on a number of factors including the environment in which the road is located and the speed and traffic volume.
At present, the railing effect of road both sides is different, and some be used for keeping apart the vehicle that traveles in opposite directions, and some are to restricting the vehicle type of passing to avoid too wide vehicle business turn over specific area, when passing on the road that has the railing, vehicle driver must have certain visual inspection experience and just can the manual work judge out the position that the place ahead railing is injectd and whether can pass.
In order to overcome the defects, the invention builds a target distance measuring system, and can effectively solve the corresponding technical problem.
Fig. 1 is a configuration view of a balustrade to which a target interval measuring system according to an embodiment of the present invention is applied.
A target distance measurement system shown according to an embodiment of the present invention includes:
the railing detection device is arranged in the vehicle, is connected with the bicubic interpolation device, and is used for detecting the left railing region and the right railing region of the bicubic interpolation image based on railing imaging characteristics and outputting the number of pixel points from the rightmost pixel point of the left railing region to the leftmost pixel point of the right railing region as representative number;
the distance identification equipment is connected with the railing detection equipment and used for carrying out mean value calculation on the depth of field of the left railing area and the right railing area in the bicubic interpolation image respectively to obtain a representative depth of field value and determining the distance between the railings in front based on the representative depth of field value and the representative number;
the traffic analysis equipment is connected with the distance identification equipment and is used for sending a first control signal when the value obtained by subtracting the width of a preset vehicle left side rearview mirror from the distance between the front handrails and then subtracting the width of the preset vehicle right side rearview mirror is smaller than or equal to the width of a preset vehicle body, and otherwise, sending a second control signal;
the voice alarm equipment is arranged in the vehicle, is connected with the traffic analysis equipment, and is used for playing the voice alarm file related to the traffic difficulty when receiving the first control signal and stopping playing the voice alarm file related to the traffic difficulty when receiving the second control signal;
the embedded capturing system is packaged at the front end of the vehicle and is used for carrying out image capturing operation on a scene in front of the vehicle so as to obtain and output a corresponding scene image in front of the vehicle;
the frequency acquisition equipment is arranged in the vehicle, is connected with the embedded capture system and is used for receiving the scene image in front of the vehicle and detecting the pixel clock frequency of the scene image in front of the vehicle so as to obtain the corresponding current pixel clock frequency;
the command extraction equipment is connected with the frequency acquisition equipment and is used for sending a first driving command when the frequency of the current pixel clock exceeds the limit;
the command extraction device is also used for sending out a second driving command when the current pixel clock frequency is not over-limit;
the command execution device is arranged in the vehicle, is respectively connected with the frequency acquisition device and the command extraction device, and is used for supplying power to the arithmetic mean filtering device when receiving a first driving command and supplying power to the wavelet filtering device when receiving a second driving command;
the arithmetic mean filtering equipment is respectively connected with the command execution equipment and the frequency acquisition equipment and is used for executing arithmetic mean filtering processing on the received image of the scene before the vehicle in a power-on state so as to obtain and output a corresponding customized filtering image;
the wavelet filtering equipment is respectively connected with the command execution equipment and the frequency acquisition equipment and is used for executing wavelet filtering processing on the received image of the scene in front of the vehicle in a power-on state so as to obtain and output a corresponding customized filtering image;
a bicubic interpolation device connected to the arithmetic mean filtering device and the wavelet filtering device, respectively, for performing bicubic interpolation processing based on an 8 pixel by 8 pixel neighborhood on the customized filtered image sent by the arithmetic mean filtering device or the wavelet filtering device to obtain and output a corresponding bicubic interpolated image;
wherein the command execution device is further configured to stop providing the arithmetic mean filtering device with power supply when receiving the first driving command;
wherein the command execution device is further configured to stop providing the power supply for the wavelet filtering when the second driving command is received.
Next, a detailed description of the structure of the target distance measurement system of the present invention will be continued.
The target distance measuring system may further include:
and the quartz oscillation equipment is respectively connected with the wavelet filtering equipment, the command execution equipment, the frequency acquisition equipment and the bicubic interpolation equipment and is used for respectively providing time sequence signals for the wavelet filtering equipment, the command execution equipment, the frequency acquisition equipment and the bicubic interpolation equipment.
The target distance measuring system may further include:
and the edge detection equipment is connected with the embedded capturing system and used for receiving the scene image before the vehicle and carrying out edge detection on the scene image before the vehicle so as to obtain each edge pixel point and each non-edge pixel point in the scene image before the vehicle.
The target distance measuring system may further include:
and the mean value analysis equipment is connected with the edge detection equipment, performs mean value calculation on each edge pixel point in the scene image before the vehicle to obtain an edge mean value, and also performs mean value calculation on each non-edge pixel point in the scene image before the vehicle to obtain a non-edge mean value.
The target distance measuring system may further include:
and the mode selection device is connected with the mean value analysis device and used for acquiring the edge mean value and the non-edge mean value, calculating the result of dividing the edge mean value by the non-edge mean value to be used as a mode reference value, sending a first mode selection signal when the mode reference value does not exceed a limit amount, and sending a second mode selection signal when the mode reference value exceeds the limit amount.
The target distance measuring system may further include:
and the first filtering device is respectively connected with the mode selection device and the edge detection device and is used for transforming the image of the scene in front of the vehicle to a frequency domain from a spatial domain when receiving the first mode selection signal, setting high-frequency components which are larger than a preset cut-off frequency in the transformed signal to be zero and reserving other frequency components to obtain a processed signal, and performing inverse transformation from the frequency domain to the spatial domain on the processed signal to obtain a first filtering image.
The target distance measuring system may further include:
and the second filtering device is respectively connected with the mode selection device and the edge detection device and is used for transforming the image of the scene in front of the vehicle to a frequency domain from a spatial domain when receiving the second mode selection signal, reducing high-frequency components which are larger than a preset cut-off frequency in the transformed signal to be one N of an original value and reserving other frequency components to obtain a processed signal, and performing inverse transformation from the frequency domain to the spatial domain on the processed signal to obtain a second filtering image, wherein N is an integer and is inversely proportional to the mode reference value.
The target distance measuring system may further include:
and the filtering output equipment is respectively connected with the frequency acquisition equipment, the first filtering equipment and the second filtering equipment, and is used for taking the first filtering image or the second filtering image as a filtering output image and replacing the filtering output image with the image of the scene in front of the vehicle and sending the image to the frequency acquisition equipment.
In the target distance measurement system:
the first filtering device comprises a spatial domain transformation unit, a frequency domain transformation unit and a cutoff processing unit, wherein the spatial domain transformation unit is used for transforming the image of the scene in front of the vehicle to a frequency domain from a spatial domain when receiving the first mode selection signal, the cutoff processing unit is used for setting high-frequency components larger than a preset cutoff frequency in the transformed signal to be zero and reserving other frequency components to obtain a processed signal, and the frequency domain transformation unit is used for performing inverse transformation from the frequency domain to the spatial domain on the processed signal to obtain a first filtering image;
the first filtering device, the second filtering device, the edge detection device, the mean value analysis device, the mode selection device and the filtering output device are respectively realized by SOC chips of different models.
In addition, the term Wavelet (Wavelet) is a small waveform as the name implies. By "small" it is meant that he has attenuating properties; the term "wave" refers to its wave nature, the amplitude of which is in the form of an oscillation between positive and negative phases. Compared with Fourier transform, the wavelet transform is a local analysis of time (space) frequency, and the wavelet transform gradually refines signals (functions) in a multi-scale mode through telescopic translation operation, finally achieves time subdivision at high frequency and frequency subdivision at low frequency, can automatically adapt to the requirement of time-frequency signal analysis, can focus on any details of signals, solves the problem of difficulty of Fourier transform, and becomes a major breakthrough in a scientific method following the Fourier transform. Wavelet transforms have been known as "mathematical microscopes".
The application of wavelet analysis is closely coupled with the theoretical study of wavelet analysis. He has achieved remarkable achievements in the field of the scientific and technical information industry. Electronic information technology is an important area of six high and new technologies, and its important aspect is image and signal processing. Nowadays, signal processing has become an important part of the modern scientific and technical work, and the purpose of signal processing is: accurate analysis, diagnosis, encoding compression and quantization, fast transfer or storage, accurate reconstruction (or recovery). From a mathematical point of view, the signal and image processing can be considered as signal processing (the image can be considered as a two-dimensional signal) together, and can be attributed to the signal processing problem in many applications of many analyses in wavelet analysis. For signals whose properties are stable and invariant over time, the ideal tool for processing remains fourier analysis. However, most of the signals in practical applications are unstable, and a tool particularly suitable for unstable signals is wavelet analysis.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Although the present invention has been described with reference to the above embodiments, it should be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be subject to the scope defined by the claims of the present application.
Claims (6)
1. A target spacing measurement system, the system comprising:
the railing detection device is arranged in the vehicle, is connected with the bicubic interpolation device, and is used for detecting the left railing region and the right railing region of the bicubic interpolation image based on railing imaging characteristics and outputting the number of pixel points from the rightmost pixel point of the left railing region to the leftmost pixel point of the right railing region as representative number;
the distance identification equipment is connected with the railing detection equipment and used for carrying out mean value calculation on the depth of field of the left railing area and the right railing area in the bicubic interpolation image respectively to obtain a representative depth of field value and determining the distance between the railings in front based on the representative depth of field value and the representative number;
the traffic analysis equipment is connected with the distance identification equipment and is used for sending a first control signal when the value obtained by subtracting the width of a preset vehicle left side rearview mirror from the distance between the front handrails and then subtracting the width of the preset vehicle right side rearview mirror is smaller than or equal to the width of a preset vehicle body, and otherwise, sending a second control signal;
the voice alarm equipment is arranged in the vehicle, is connected with the traffic analysis equipment, and is used for playing the voice alarm file related to the traffic difficulty when receiving the first control signal and stopping playing the voice alarm file related to the traffic difficulty when receiving the second control signal;
the embedded capturing system is packaged at the front end of the vehicle and is used for carrying out image capturing operation on a scene in front of the vehicle so as to obtain and output a corresponding scene image in front of the vehicle;
the frequency acquisition equipment is arranged in the vehicle, is connected with the embedded capture system and is used for receiving the scene image in front of the vehicle and detecting the pixel clock frequency of the scene image in front of the vehicle so as to obtain the corresponding current pixel clock frequency;
the command extraction equipment is connected with the frequency acquisition equipment and is used for sending a first driving command when the frequency of the current pixel clock exceeds the limit;
the command extraction device is also used for sending out a second driving command when the current pixel clock frequency is not over-limit;
the command execution device is arranged in the vehicle, is respectively connected with the frequency acquisition device and the command extraction device, and is used for supplying power to the arithmetic mean filtering device when receiving a first driving command and supplying power to the wavelet filtering device when receiving a second driving command;
the arithmetic mean filtering equipment is respectively connected with the command execution equipment and the frequency acquisition equipment and is used for executing arithmetic mean filtering processing on the received image of the scene before the vehicle in a power-on state so as to obtain and output a corresponding customized filtering image;
the wavelet filtering equipment is respectively connected with the command execution equipment and the frequency acquisition equipment and is used for executing wavelet filtering processing on the received image of the scene in front of the vehicle in a power-on state so as to obtain and output a corresponding customized filtering image;
a bicubic interpolation device connected to the arithmetic mean filtering device and the wavelet filtering device, respectively, for performing bicubic interpolation processing based on an 8 pixel by 8 pixel neighborhood on the customized filtered image sent by the arithmetic mean filtering device or the wavelet filtering device to obtain and output a corresponding bicubic interpolated image;
wherein the command execution device is further configured to stop providing the arithmetic mean filtering device with power supply when receiving the first driving command;
wherein the command execution device is further configured to stop providing the power supply for the wavelet filtering when the second driving command is received.
2. The target spacing measurement system of claim 1, wherein said system further comprises:
and the quartz oscillation equipment is respectively connected with the wavelet filtering equipment, the command execution equipment, the frequency acquisition equipment and the bicubic interpolation equipment and is used for respectively providing time sequence signals for the wavelet filtering equipment, the command execution equipment, the frequency acquisition equipment and the bicubic interpolation equipment.
3. The target spacing measurement system of claim 2, further comprising:
and the edge detection equipment is connected with the embedded capturing system and used for receiving the scene image before the vehicle and carrying out edge detection on the scene image before the vehicle so as to obtain each edge pixel point and each non-edge pixel point in the scene image before the vehicle.
4. The target spacing measurement system of claim 3, further comprising:
and the mean value analysis equipment is connected with the edge detection equipment, performs mean value calculation on each edge pixel point in the scene image before the vehicle to obtain an edge mean value, and also performs mean value calculation on each non-edge pixel point in the scene image before the vehicle to obtain a non-edge mean value.
5. The target spacing measurement system of claim 4, wherein said system further comprises:
and the mode selection device is connected with the mean value analysis device and used for acquiring the edge mean value and the non-edge mean value, calculating the result of dividing the edge mean value by the non-edge mean value to be used as a mode reference value, sending a first mode selection signal when the mode reference value does not exceed a limit amount, and sending a second mode selection signal when the mode reference value exceeds the limit amount.
6. The target spacing measurement system of claim 5, wherein said system further comprises:
and the first filtering device is respectively connected with the mode selection device and the edge detection device and is used for transforming the image of the scene in front of the vehicle to a frequency domain from a spatial domain when receiving the first mode selection signal, setting high-frequency components which are larger than a preset cut-off frequency in the transformed signal to be zero and reserving other frequency components to obtain a processed signal, and performing inverse transformation from the frequency domain to the spatial domain on the processed signal to obtain a first filtering image.
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