CN112908035A - Automobile auxiliary driving system based on visible light communication and implementation method - Google Patents
Automobile auxiliary driving system based on visible light communication and implementation method Download PDFInfo
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- CN112908035A CN112908035A CN202110077613.5A CN202110077613A CN112908035A CN 112908035 A CN112908035 A CN 112908035A CN 202110077613 A CN202110077613 A CN 202110077613A CN 112908035 A CN112908035 A CN 112908035A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
Abstract
The invention discloses an automobile auxiliary driving system based on visible light communication and an implementation method thereof, wherein the system comprises a transmitting end and a receiving end, wherein the transmitting end comprises a vehicle-mounted tail LED tail lamp connected with a vehicle-mounted electronic controller ECU (electronic control Unit), and the LED tail lamp is connected with an instruction input module, a signal coding module, a signal frequency modulation module and an LED driving circuit module which are connected with and controlled by the vehicle-mounted electronic controller ECU; the receiving end comprises a vehicle driving recorder connected with the vehicle-mounted electronic controller ECU, and the vehicle driving recorder is connected with a video collector, a frequency adjusting module, a video processing module and an instruction output module which are connected and controlled by the vehicle-mounted electronic controller ECU. The communication system is low in cost and convenient and quick to arrange. The invention also discloses a realization method of the automobile auxiliary driving system based on the visible light communication, which can accelerate the recognition speed of the front and rear automobile behaviors, reduce the accident rate and further ensure the road traffic safety.
Description
Technical Field
The invention relates to a visible light communication technology, in particular to an automobile driving assisting system based on visible light communication and an implementation method.
Background
With the increasing social economy, the demand of people on household automobiles is gradually increased, so that road congestion and frequent traffic accidents are caused, the intelligent automobile technology is developed, the intelligent automobile is an integrated system integrating the functions of environmental perception, planning decision, multi-level auxiliary driving and the like, the intelligent automobile integrates the technologies of computer, modern sensing, information fusion, communication, artificial intelligence, automatic control and the like, and is a typical high and new technology integrated body.
Visible Light Communication (VLC) is a new wireless optical Communication technology developed after a white Light LED lamp is widely used, and the VLC refers to a technology that, by using the characteristics that an LED device is easy to modulate and can switch between on and off at a high speed, a signal is modulated, then a high-speed modulated optical carrier signal is emitted through an LED, air is used as a transmission medium, and a photoelectric conversion device such as a photoelectric detector is used to receive the optical carrier signal, demodulate the signal and obtain information. With the development of VLC technology, an image sensor that can also acquire visible light information is drawing attention of researchers, and Optical Camera Communication (OCC) technology is now available.
The receiving end of the OCC technology captures and records high-frequency flash-off optical signal data information which is sent by the sending end and cannot be perceived by human eyes by utilizing a rolling shutter working mode of the CMOS image sensor, and the data information contained in the high-frequency flash-off optical signal data information can be demodulated and restored through subsequent image analysis processing.
Disclosure of Invention
The invention aims to provide an automobile driving assisting system based on visible light communication and an implementation method thereof, aiming at the defects of the prior art. The communication system is low in cost and convenient and quick to arrange. The method can accelerate the recognition speed of the behavior of the front and the rear vehicles, reduce the accident rate and further ensure the road traffic safety.
The technical scheme for realizing the purpose of the invention is as follows:
an automobile driving assisting system based on visible light communication comprises a transmitting end and a receiving end which are arranged on each automobile, wherein the transmitting end and the receiving end of a front automobile and the receiving end of a rear automobile of adjacent automobiles in the same direction on the same road are in a transmitting and receiving state with a theoretically optimal angle, the transmitting end comprises an on-board tail LED tail lamp connected with an on-board electronic controller ECU, and the LED tail lamp is connected with an instruction input module, a signal coding module, a signal frequency modulation module and an LED driving circuit module which are connected and controlled by the on-board electronic controller ECU; the receiving end comprises a vehicle driving recorder connected with the vehicle-mounted electronic controller ECU, and the vehicle driving recorder is connected with a video collector, a frequency adjusting module, a video processing module and an instruction output module which are connected with and controlled by the vehicle-mounted electronic controller ECU.
The command input module inputs command signals into the transmitting terminal, the command signals are divided into two types, one is a command for reminding a rear vehicle when a driver controls the vehicle to change the motion state, the command comprises braking, steering and fault parking, the command is generated and sent by an on-board electronic controller ECU, and the other is a command for reminding the rear vehicle by manual input of the driver, such as 'the vehicle is stopped ahead to bypass', 'the vehicle is parked to pay attention', and the like. Please give the model or chip: the AN430LCD touch screen and the AN706FPGA module are used for coding and modulating the input instruction signal.
The signal frequency modulation module is used for respectively modulating different instruction signals into signals with different frequencies so as to prepare for high-frequency flickering of the LED in the next step.
The LED driving circuit module amplifies the modulation signal firstly, and then loads the modulation signal on the LED tail lamp to enable the LED tail lamp to shine and communicate because the modulation signal is very weak and is not enough to drive the LED to shine after the signal is modulated.
The video collector adopts the roll-up shutter working mode of the CMOS image sensor to collect optical signals, captures and records high-frequency flash-off optical signals transmitted from the transmitting terminal, and the acquisition frequency of the frequency adjusting module is an integer inverse multiple of the flash frequency of the LED tail lamp at the transmitting terminal, and specifically comprises the following steps: the generation of each column of pixels on the image sensor comprises an exposure duration teAnd a data read-out duration trThe data are read in sequence, only one column can be read at each moment, after the column is read, the next exposure process can be started, the brightness of the LED is changed, the camera generates a picture with light and dark stripes, and the information modulated on the LED tail lamp can be demodulated by processing and converting the picture.
The frequency adjusting module adjusts the acquisition frequency of the video acquisition device to be an integer inverse multiple of the LED flicker frequency of the transmitting terminal.
The video processing module is provided with functional units for tail lamp identification, tail lamp tracking and instruction identification, identifies corresponding instructions from tail lamp flashing information in a video, combines a frame difference method and a background difference method by adopting the video processing module, and adds a tail lamp area comparison and calibration method to improve the accuracy and the application range of tail lamp detection of a moving vehicle, and specifically comprises the following steps: the video is composed of multi-frame images, two continuous frames of images are selected, difference processing is carried out on the two continuous frames of images and a background model frame image respectively, then two difference results are processed in an AND mode, so that the information weight of a tail lamp area of a moving vehicle is increased, meanwhile, relatively static background noise is removed, the obtained tail lamp area of the vehicle simultaneously contains tail lamp outline and tail lamp flicker information, and then a tail lamp area calibration mechanism is added, so that a complete dynamic area of the tail lamp of the vehicle can be obtained, and the method comprises the following steps:
1. acquiring a video sequence, performing background modeling by adopting a statistical average method, selecting the first five frames of images, calculating a pixel average value serving as a background model and recording as D (x, y);
2. randomly selecting two continuous frames of images from a video sequence, and recording the L-th frame as fL(x, y) frame L +1 is fL+1(x,y)；
3. Calculating the frame difference F between the L frame image and the background frameL(x, y), frame difference F between the L +1 th frame image and the background frameL+1(x, y) obtaining the moving object contour of two continuous frames;
4. performing AND operation on frame difference results of two continuous frames to obtain a complete moving target area;
5. and 4, correcting and selecting the foreground image of the target area obtained in the step 4, determining the detected target position, taking all the detected target positions as areas to be corrected, calculating the size of the circumscribed rectangle of each area to be corrected, including the width and the height of the rectangular frame, correcting the target area again by adopting the width and the height of the rectangular frame, and taking the circumscribed rectangle left after the correction as the moving target area.
The instruction output module outputs the corresponding instruction to the vehicle-mounted electronic controller ECU, and the vehicle-mounted electronic controller ECU is used as a control core of the automobile and executes a corresponding decision after receiving the instruction, so that the current state of the automobile is changed or controlled.
An implementation method of a vehicle driving assistance system based on visible light communication comprises the vehicle driving assistance system based on visible light communication, and the method comprises the following steps:
1) in two adjacent vehicles on the road, the front vehicle inputs a command signal to be transmitted to the rear vehicle to the transmitting end through the command input module;
2) the instruction signals sequentially pass through the signal coding module, the signal frequency modulation module and the LED driving circuit module, different instructions generate pulse light signals with different frequencies, and the LEDs are driven to emit visible light signals which can be recognized by a rear vehicle;
3) the receiving end in the rear car adjusts the acquisition frequency through a frequency adjusting module by capturing video information sent by the front car through a camera sensor in the video acquisition device, and the video processing module tracks the tail lamp and identifies instruction information and outputs the instruction information through an instruction output module;
4) and after receiving the instruction information, the ECU of the vehicle-mounted electronic controller in the rear vehicle immediately takes action of response measures to the instruction, so that the vehicle performs operations of speed reduction, braking, avoidance and the like before the reaction time of the driver, and the auxiliary driving of the vehicle is completed.
This technical scheme is not enough to current vehicle security of traveling to combine optical camera communication technology, integrate VLC technique to the car tail lamp, and integrate OCC technique to the smart machine of the vehicle event data recorder built-in camera on the car, can let the front and back car transmit instantaneous transmission instruction in the road, let the back car automatically do the operation that is faster than driver reaction rate, thereby guarantee the security that the vehicle traveled.
The communication system has low cost and convenient deployment. The method can reduce the road traffic accident rate, improve the vehicle safety coefficient and ensure the life safety of personnel.
Drawings
FIG. 1 is a schematic diagram of a system according to an embodiment;
FIG. 2 is a diagram illustrating an exemplary system application scenario;
FIG. 3 is a schematic diagram of a shutter camera receiving principle of the shutter of the rolling shutter door in the embodiment;
fig. 4 is a schematic diagram of a video target recognition and tracking process in the embodiment.
Detailed Description
The invention will be further elucidated with reference to the drawings and examples, without however being limited thereto.
Example (b):
referring to fig. 1, an automobile driving assistance system based on visible light communication includes a transmitting end and a receiving end arranged on each automobile, and the transmitting end and the receiving end of a front automobile and the receiving end of a rear automobile of adjacent automobiles in the same direction on the same road are both in a transmitting and receiving state with a theoretically optimal angle, wherein the transmitting end includes a vehicle-mounted tail LED tail lamp connected with an electronic control unit ECU on the automobile, and the LED tail lamp is connected with an instruction input module, a signal coding module, a signal frequency modulation module and an LED driving circuit module which are connected and controlled by the electronic control unit ECU on the automobile; the receiving end comprises a vehicle driving recorder connected with the vehicle-mounted electronic controller ECU, and the vehicle driving recorder is connected with a video collector, a frequency adjusting module, a video processing module and an instruction output module which are connected with and controlled by the vehicle-mounted electronic controller ECU.
As shown in fig. 2, the present example is an actual road scene graph applied to a road based on a visible light automobile auxiliary driving system, in urban road traffic, rear-end collisions occur frequently, and the reaction of a driver is not timely one of the largest factors causing the rear-end collisions, however, an intelligent automobile equipped with the system of the present example can recognize the deceleration action of a preceding automobile before the driver, and performs corresponding deceleration immediately, so as to avoid the occurrence of the rear-end collisions, and can also accurately recognize other instructions sent by the preceding automobile, and transmit the other instructions to the driver, so as to achieve the purpose of transmitting information.
The instruction input module inputs instruction signals into the transmitting terminal, the instruction signals are divided into two types, one is AN instruction for reminding a rear vehicle when a driver controls the vehicle to change the motion state, the instruction comprises braking, steering and fault parking, the instruction is generated and sent by AN on-board electronic controller ECU, the other is AN instruction for reminding the rear vehicle by the driver, for example, "the front vehicle is stopped to bypass", "the vehicle is parked to pay attention", and the like, and the instruction input module adopts AN AN430LCD touch screen and AN AN706FPGA module.
The signal coding module carries out coding modulation on the input command signal, and the signal coding module adopts AX309FPGA
And (5) developing a plate.
The signal frequency modulation module is used for respectively modulating different instruction signals into signals with different frequencies for the next step of LED
High frequency flicker is prepared, and the signal frequency modulation module of the embodiment adopts an AX309FPGA development board.
The LED driving circuit module is characterized in that the modulation signal is very weak and is not enough to drive an LED to shine after the signal is modulated, so that the modulation signal is amplified firstly, and then the modulation signal is loaded on the LED tail lamp to enable the LED tail lamp to shine and communicate, and the LED driving circuit module adopts an AX309FPGA development board.
The video collector adopts the roll-up shutter working mode of the CMOS image sensor to collect optical signals, captures and records high-frequency flash-off optical signals transmitted from the transmitting terminal, and the acquisition frequency of the frequency adjusting module is an integer inverse multiple of the flash frequency of the LED tail lamp at the transmitting terminal, and specifically comprises the following steps: as shown in FIG. 3, the generation of each column of pixels on the image sensor includes an exposure duration teAnd a data read-out duration trThe data are read in sequence, only one column can be read at each moment, after the column is read, the next exposure process can be started, the brightness of the LED is changed, the camera generates a picture with light and dark stripes, and the information modulated on the LED tail lamp can be demodulated by processing and converting the picture.
The frequency adjusting module adjusts the acquisition frequency of the video acquisition device to be AN integer inverse multiple of the LED flicker frequency of the transmitting end, and the frequency adjusting module adopts AN AN560FPGA module.
The video processing module adopts an AX309FPGA development board, is provided with functional units of tail lamp identification, tail lamp tracking and identification instructions, identifies corresponding instructions from tail lamp flicker information in a video, combines a frame difference method and a background difference method, and adds a tail lamp area comparison and calibration method to improve the accuracy and the application range of tail lamp detection of a moving vehicle, and specifically comprises the following steps: the video is composed of multiple frames of images, two consecutive frames of images are selected, difference processing is carried out on the two frames of images and a background model frame image respectively, then two difference results are processed in an AND mode, so that the information weight of a tail lamp area of a moving vehicle is increased, meanwhile, relatively static background noise is removed, the obtained tail lamp area of the vehicle simultaneously comprises tail lamp outline and tail lamp flicker information, and then a tail lamp area calibration mechanism is added, so that a complete dynamic area of the tail lamp of the vehicle can be obtained, as shown in FIG. 4, the method comprises the following steps:
1. acquiring a video sequence, performing background modeling by adopting a statistical average method, selecting the first five frames of images, calculating a pixel average value serving as a background model and recording as D (x, y);
2. randomly selecting two continuous frames of images from a video sequence, and recording the L-th frame as fL(x, y), secondL +1 frame is fL+1(x,y)；
3. Calculating the frame difference F between the L frame image and the background frameL(x, y), frame difference F between the L +1 th frame image and the background frameL+1(x, y) obtaining the moving object contour of two continuous frames;
4. performing AND operation on frame difference results of two continuous frames to obtain a complete moving target area;
5. and 4, correcting and selecting the foreground image of the target area obtained in the step 4, determining the detected target position, taking all the detected target positions as areas to be corrected, calculating the size of the circumscribed rectangle of each area to be corrected, including the width and the height of the rectangular frame, correcting the target area again by adopting the width and the height of the rectangular frame, and taking the circumscribed rectangle left after the correction as the moving target area.
The instruction output module outputs the corresponding instruction to the vehicle-mounted electronic controller ECU, and the vehicle-mounted electronic controller ECU is used as a control core of the automobile and executes a corresponding decision after receiving the instruction, so that the current state of the automobile is changed or controlled.
An implementation method of a vehicle driving assistance system based on visible light communication comprises the vehicle driving assistance system based on visible light communication, and the method comprises the following steps:
1) in two adjacent vehicles on the road, the front vehicle inputs a command signal to be transmitted to the rear vehicle to the transmitting end through the command input module;
2) the instruction signals sequentially pass through the signal coding module, the signal frequency modulation module and the LED driving circuit module, different instructions generate pulse light signals with different frequencies, and the LEDs are driven to emit visible light signals which can be recognized by a rear vehicle;
3) the receiving end in the rear car adjusts the acquisition frequency through the frequency adjusting module according to the video information sent by the front car and captured by the camera sensor in the video acquisition device, the video processing module tracks the tail lamp and identifies the instruction information, and the instruction information is output through the instruction output module;
4) and after receiving the instruction information, the ECU of the vehicle-mounted electronic controller in the rear vehicle immediately takes action of response measures to the instruction, so that the vehicle performs operations of speed reduction, braking, avoidance and the like before the reaction time of the driver, and the auxiliary driving of the vehicle is completed.
Claims (4)
1. An automobile driving assisting system based on visible light communication is characterized by comprising a transmitting end and a receiving end which are arranged on each automobile, wherein the transmitting end and the receiving end of a front automobile and the receiving end of a rear automobile of adjacent automobiles in the same direction on the same road are in a transmitting and receiving state with a theoretically optimal angle, the transmitting end comprises an automobile-mounted tail LED tail lamp connected with an automobile-mounted electronic controller ECU, and the LED tail lamp is connected with an instruction input module, a signal coding module, a signal frequency modulation module and an LED driving circuit module which are connected with and controlled by the automobile-mounted electronic controller ECU; the receiving end comprises a vehicle driving recorder connected with the vehicle-mounted electronic controller ECU, and the vehicle driving recorder is connected with a video collector, a frequency adjusting module, a video processing module and an instruction output module which are connected with and controlled by the vehicle-mounted electronic controller ECU.
2. The visible light communication-based automobile driving assistance system according to claim 1, wherein the video collector collects the optical signal in a rolling shutter operation mode of a CMOS image sensor, and the collection frequency is an integer inverse multiple of a flicker frequency of the emitting end LED tail lamp.
3. The visible light communication-based automobile driving assisting system according to claim 1, wherein the video processing module is provided with functional units of tail light identification, tail light tracking and identification instructions.
4. A method for implementing a vehicle driving assistance system based on visible light communication, comprising the vehicle driving assistance system based on visible light communication of any one of claims 1 to 3, the method comprising the following steps:
1) in two adjacent vehicles in front and back on a road, a front vehicle inputs a command signal to be transmitted to a rear vehicle to a transmitting end through a command input module;
2) the instruction signals sequentially pass through the signal coding module, the signal frequency modulation module and the LED driving circuit module, different instructions generate pulse light signals with different frequencies, and the LEDs are driven to emit visible light signals which can be recognized by a rear vehicle;
3) the receiving end in the rear vehicle adjusts the acquisition frequency through a frequency adjusting module according to the video information of the front vehicle captured by a camera sensor in a video acquisition device, and a video processing module tracks the tail light of the front vehicle, identifies the instruction information sent by the tail light of the front vehicle and outputs the instruction information through an instruction output module;
4) and after receiving the instruction information, the ECU of the vehicle-mounted electronic controller in the rear vehicle immediately takes a countermeasure action to the instruction to finish the auxiliary driving of the vehicle.
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