CN114220267A - Road shooting method and system based on vehicle OBD - Google Patents
Road shooting method and system based on vehicle OBD Download PDFInfo
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- CN114220267A CN114220267A CN202111538389.1A CN202111538389A CN114220267A CN 114220267 A CN114220267 A CN 114220267A CN 202111538389 A CN202111538389 A CN 202111538389A CN 114220267 A CN114220267 A CN 114220267A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
- H04N5/91—Television signal processing therefor
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
- H04N5/91—Television signal processing therefor
- H04N5/92—Transformation of the television signal for recording, e.g. modulation, frequency changing; Inverse transformation for playback
Abstract
The invention relates to a road shooting method and a system based on vehicle OBD, wherein the method comprises the following steps: s1: acquiring vehicle-mounted camera data of a vehicle, and acquiring an image coverage distance of a vehicle-mounted camera based on the vehicle-mounted camera data; s2: acquiring an initial sampling time interval, and acquiring shutter data of a vehicle-mounted camera of the vehicle and vehicle speed data in OBD data based on the initial sampling time interval; s3: correcting the vehicle speed data; s4: acquiring a vehicle running distance between two shutter data based on the corrected vehicle speed data; s5: and comparing the vehicle running distance with the image coverage distance, correcting the initial sampling time interval based on the comparison result, acquiring a correction time interval, and shooting the road based on the correction time interval. Compared with the prior art, the invention can effectively avoid the phenomenon of missed detection caused by over-high speed, can reduce the sampling frequency slowly in a low-speed state and avoid the accumulation of a large amount of repeated data.
Description
Technical Field
The invention relates to the field of road inspection, in particular to a road shooting method and a road shooting system based on vehicle OBD.
Background
Along with the development of the automobile industry, more and more automobiles have frequent faults, the flexibility of the faults of the existing vehicle-mounted terminal in a detection system is not enough, the installation and the deployment of the vehicle-mounted terminal are inconvenient, and in addition, the communication information of the existing vehicle-mounted terminal is limited, so that the vehicle owner cannot be updated and reminded in time. And the road transportation has the advantages of rapidness, convenience and direct door-to-door effect, and plays an extremely important role in national economic development, and when a road is newly built, the original road must be maintained and maintained to ensure the driving safety and reduce the operation cost.
However, in the image-based road detection process, there are some problems worth optimizing, such as the failure of effective matching between the shooting frequency of the camera and the detected vehicle speed. In the current road detection system based on images, the shooting frequency of a camera is only dependent on the sampling interval of the camera, and once the sampling interval of the camera is lower than the detection vehicle speed, the condition of missing detection may occur. And other equipment is assisted by a camera to shoot through additionally arranging a wheel encoder, a fixed-distance shooting function can be basically realized, and the condition of missing detection is avoided.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a road shooting method and system based on vehicle OBD.
The purpose of the invention can be realized by the following technical scheme:
a road shooting method based on vehicle OBD comprises the following steps:
s1: acquiring vehicle-mounted camera data of a vehicle, and acquiring an image coverage distance of a vehicle-mounted camera based on the vehicle-mounted camera data;
s2: acquiring an initial sampling time interval, and acquiring shutter data of a vehicle-mounted camera of the vehicle and vehicle speed data in OBD data based on the initial sampling time interval;
s3: correcting the vehicle speed data;
s4: acquiring a vehicle running distance between two shutter data based on the corrected vehicle speed data;
s5: and comparing the vehicle running distance with the image coverage distance, correcting the initial sampling time interval based on the comparison result, acquiring a correction time interval, and shooting the road based on the correction time interval.
Preferably, the step S1 of acquiring the vehicle-mounted camera image coverage distance is:
L＝X2-X1
wherein L is the image coverage distance, X1For the nearest visible distance, X, of the vehicle-mounted camera2The farthest visible distance is the vehicle-mounted camera.
Preferably, the obtaining formula of the initial sampling time interval is as follows:
ΔT＝a·L/(v0)
wherein, Δ T is the initial sampling time interval, a is the conversion parameter, L is the image coverage distance, v0Is the calibration speed.
Preferably, the step S2 of acquiring shutter data and vehicle speed data includes:
the method comprises the steps of simultaneously triggering a shutter of the vehicle-mounted camera and an OBD data acquisition interface based on an initial sampling time interval, and acquiring vehicle speed information of a vehicle based on shutter data and OBD data of the vehicle-mounted camera acquired by the OBD data acquisition interface.
Preferably, the formula for correcting the vehicle speed in step S3 is as follows:
v′＝v+va
wherein v' is the corrected vehicle speed, v is the vehicle speed, vaThe expected value of the difference between the vehicle speed and the actual vehicle speed in the OBD data is obtained.
Preferably, the formula of the step S4 for obtaining the driving distance of the vehicle is as follows:
s＝v′·ΔT
wherein s is the vehicle running distance, v' is the corrected vehicle speed, and Δ T is the initial sampling time interval.
Preferably, the formula for obtaining the correction time interval in step S5 is:
where Δ T' is the correction time interval, L is the image coverage distance, LmaxIs the upper limit of the image coverage distance, LminFor the lower limit of the image coverage distance, α is a redundancy coefficient, and β is a complementary coefficient.
Preferably, the upper limit of the image coverage distance is 0.6-1.0 times of the image coverage distance, and the lower limit of the image coverage distance is 0.2-0.4 times of the image coverage distance.
Preferably, the value range of the redundancy coefficient alpha is 0.6-1.0, and the value of the supplementary coefficient beta is 1.0-1.4.
A road shooting system based on vehicle OBD comprises an image coverage distance acquisition module, a data acquisition module, a vehicle speed correction module, a running distance acquisition module and a time interval correction module,
the image coverage distance acquisition module is used for acquiring vehicle-mounted camera data of a vehicle and acquiring the image coverage distance of the vehicle-mounted camera based on the vehicle-mounted camera data;
the data acquisition module is used for acquiring an initial sampling time interval and acquiring shutter data of a vehicle-mounted camera of the vehicle and vehicle speed data in OBD data based on the initial sampling time interval;
the vehicle speed correction module is used for correcting vehicle speed data;
the driving distance acquisition module is used for acquiring the vehicle driving distance between two times of shutter data based on the corrected vehicle speed data;
the time interval correction module is used for comparing the vehicle running distance with the image coverage distance, correcting the initial sampling time interval based on the comparison result, acquiring a correction time interval, and shooting the road based on the correction time interval.
Compared with the prior art, the invention has the following advantages:
1) according to the invention, the sampling time interval of the vehicle-mounted camera is corrected in real time based on the vehicle-mounted camera data and the vehicle OBD data, the problem that the shooting frequency of the camera and the detected vehicle speed cannot be effectively matched in the image-based road detection system can be solved, the vehicle OBD is fused into the road shooting method, the function that the image sampling frequency can be automatically corrected along with the increase and decrease of the vehicle speed is realized, the coverage rate of the road surface image in the road detection process is ensured, the phenomenon of detection omission caused by the excessively fast vehicle speed can be effectively avoided, the sampling frequency can be reduced slowly in the low-speed state, and the large accumulation of repeated data is avoided.
2) According to the invention, the correction is carried out based on the OBD data characteristics in the processing process, the acquired vehicle speed and vehicle running distance data can be ensured to be more accurate, and the reliability of the sampling frequency after correction is improved.
3) The invention does not need a distance shooting system based on a wheel encoder, can adopt a control terminal form, and has the advantages of relatively low price, more convenient installation and convenient use.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of obtaining an image coverage distance according to the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. Note that the following description of the embodiments is merely a substantial example, and the present invention is not intended to be limited to the application or the use thereof, and is not limited to the following embodiments.
Examples
A road shooting method based on vehicle OBD is shown in figure 1, and comprises the following steps:
s1: vehicle-mounted camera data of a vehicle is acquired, and an image coverage distance of a vehicle-mounted camera is acquired based on the vehicle-mounted camera data.
In this embodiment, the OBD buses of the vehicle-mounted camera and the vehicle are connected to the same control terminal, the vehicle-mounted camera and the OBD data are acquired, and the image coverage distance of the camera is acquired based on the vehicle-mounted camera, and the vehicle-mounted camera adopts an industrial camera capable of triggering a shutter by a system command, and the allowable shooting frequency of the industrial camera should not be lower than the highest sampling frequency of the OBD data, and both the allowable shooting frequency and the sampling frequency should not be lower than the RTK sampling frequency.
In this embodiment, as shown in fig. 2, the coverage distance for acquiring the vehicle-mounted camera image is:
L＝X2-X1
wherein L is the image coverage distance, X1For the nearest visible distance, X, of the vehicle-mounted camera2The farthest visible distance of the vehicle-mounted camera is, specifically, the image coverage distance of the camera refers to a visible range along the vehicle driving direction in an image shot by the vehicle-mounted camera, and the image coverage distance can be obtained through actual measurement by the following steps: starting the vehicle-mounted camera, adjusting the visual angle of the vehicle-mounted camera to keep the visual angle of the vehicle-mounted camera straight with the road surface, placing the scale along the driving direction of the vehicle, and reading the scale reading X nearest to the vehicle-mounted camera within the visual range of the vehicle-mounted camera1Scale reading X with the nearest visual distance and the farthest distance for the vehicle-mounted camera2Farthest visible distance, X, for the vehicle-mounted camera1And X2And performing difference calculation on the reading, wherein the difference result is the image coverage distance of the camera.
S2: acquiring an initial sampling time interval:
ΔT＝a·L/(v0)
wherein, Δ T is the initial sampling time interval, a is the conversion parameter, L is the image coverage distance, v0Is the calibration speed. Specifically, in the present embodiment, the image coverage distance unit is meter, v0Taking 80km/h and converting to m/s, a takes 0.8, so the initial sampling interval represents the sampling interval time satisfying the moving distance of 0.8L at 80 km/h.
And simultaneously triggering a shutter of the vehicle-mounted camera and an OBD data acquisition interface based on the initial sampling time interval, and acquiring the speed information of the vehicle based on the shutter data and the OBD data of the vehicle-mounted camera acquired by the OBD data acquisition interface. And is less than the actual vehicle speed since the actual vehicle speed obtained by the OBD system will typically automatically truncate the fractional part.
S3: and (3) correcting the vehicle speed data:
v′＝v+va
wherein v' is the corrected vehicle speed, v is the vehicle speed, vaThe expected value of the difference between the vehicle speed and the actual vehicle speed in the OBD data is generally 0.5.
S4: acquiring a vehicle travel distance between two shutter data based on the corrected vehicle speed data:
s＝v′·ΔT
wherein s is the vehicle running distance, v' is the corrected vehicle speed, and Δ T is the initial sampling time interval.
S5: comparing the vehicle running distance with the image covering distance, if the vehicle running distance is less than or equal to the upper limit of the image covering distance and more than or equal to the lower limit of the image covering distance of the camera, the shooting meets the requirement, otherwise, correcting the initial sampling time interval based on the comparison result to obtain a corrected time interval:
where Δ T' is the correction time interval, L is the image coverage distance, LmaxIs the upper limit of the image coverage distance, LminFor the lower limit of the image coverage distance, α is a redundancy coefficient, and β is a complementary coefficient.
The upper limit of the image coverage distance is 0.6-1.0 times of the image coverage distance, the lower limit of the image coverage distance is 0.2-0.4 times of the image coverage distance, the redundancy coefficient alpha is 0.6-1.0, and the supplement coefficient beta is 1.0-1.4. Specifically, in the present embodiment, LmaxTaking 0.8L, Lmin0.3L of beta-cyclodextrin was taken, alpha was taken as 0.8 and beta was taken as 1.2.
The invention also provides a road shooting system based on the vehicle OBD, which is characterized by comprising an image coverage distance acquisition module, a data acquisition module, a vehicle speed correction module, a driving distance acquisition module and a time interval correction module,
the image coverage distance acquisition module is used for acquiring vehicle-mounted camera data of a vehicle and acquiring the image coverage distance of a vehicle-mounted camera based on the vehicle-mounted camera data;
the data acquisition module is used for acquiring an initial sampling time interval and acquiring shutter data of a vehicle-mounted camera of the vehicle and vehicle speed data in OBD data based on the initial sampling time interval;
the vehicle speed correction module is used for correcting vehicle speed data;
the driving distance acquisition module is used for acquiring the vehicle driving distance between two times of shutter data based on the corrected vehicle speed data;
the time interval correction module is used for comparing the vehicle running distance with the image coverage distance, correcting the initial sampling time interval based on the comparison result, acquiring a correction time interval, and shooting the road based on the correction time interval.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A road shooting method based on vehicle OBD is characterized by comprising the following steps:
s1: acquiring vehicle-mounted camera data of a vehicle, and acquiring an image coverage distance of a vehicle-mounted camera based on the vehicle-mounted camera data;
s2: acquiring an initial sampling time interval, and acquiring shutter data of a vehicle-mounted camera of the vehicle and vehicle speed data in OBD data based on the initial sampling time interval;
s3: correcting the vehicle speed data;
s4: acquiring a vehicle running distance between two shutter data based on the corrected vehicle speed data;
s5: and comparing the vehicle running distance with the image coverage distance, correcting the initial sampling time interval based on the comparison result, acquiring a correction time interval, and shooting the road based on the correction time interval.
2. The method for capturing images of a road according to claim 1, wherein the step S1 of acquiring the vehicle-mounted camera image coverage distance is as follows:
L＝X2-X1
wherein L is the image coverage distance, X1For the nearest visible distance, X, of the vehicle-mounted camera2The farthest visible distance is the vehicle-mounted camera.
3. The method for capturing road images based on the vehicle OBD as claimed in claim 1, wherein the initial sampling time interval is obtained by the following formula:
ΔT＝a·L/(v0)
wherein, Δ T is the initial sampling time interval, a is the conversion parameter, L is the image coverage distance, v0Is the calibration speed.
4. The method for capturing images of a road based on an OBD of a vehicle as claimed in claim 1, wherein the step of obtaining shutter data and vehicle speed data in step S2 is specifically as follows:
the method comprises the steps of simultaneously triggering a shutter of the vehicle-mounted camera and an OBD data acquisition interface based on an initial sampling time interval, and acquiring vehicle speed information of a vehicle based on shutter data and OBD data of the vehicle-mounted camera acquired by the OBD data acquisition interface.
5. The method for capturing images of roads based on an OBD of a vehicle as claimed in claim 1, wherein the formula for correcting the vehicle speed in step S3 is:
v′＝v+va
wherein v' is the corrected vehicle speed, v is the vehicle speed, vaThe expected value of the difference between the vehicle speed and the actual vehicle speed in the OBD data is obtained.
6. The method for capturing road images based on vehicle OBD as claimed in claim 1, wherein the step S4 is to obtain the formula of the vehicle travel distance as follows:
s＝v′·ΔT
wherein s is the vehicle running distance, v' is the corrected vehicle speed, and Δ T is the initial sampling time interval.
7. The vehicle OBD-based road photographing method according to claim 1, wherein the time interval correction in step S5 is obtained by the formula:
where Δ T' is the correction time interval, L is the image coverage distance, LmaxIs the upper limit of the image coverage distance, LminFor the lower limit of the image coverage distance, α is a redundancy coefficient, and β is a complementary coefficient.
8. The vehicle OBD-based road shooting method according to claim 7, wherein the upper limit of the image coverage distance is 0.6-1.0 times of the image coverage distance, and the lower limit of the image coverage distance is 0.2-0.4 times of the image coverage distance.
9. The vehicle OBD-based road shooting method according to claim 7, wherein the value range of the redundancy coefficient alpha is 0.6-1.0, and the value of the supplementary coefficient beta is 1.0-1.4.
10. A road shooting system based on vehicle OBD is characterized by comprising an image coverage distance acquisition module, a data acquisition module, a vehicle speed correction module, a driving distance acquisition module and a time interval correction module,
the image coverage distance acquisition module is used for acquiring vehicle-mounted camera data of a vehicle and acquiring the image coverage distance of the vehicle-mounted camera based on the vehicle-mounted camera data;
the data acquisition module is used for acquiring an initial sampling time interval and acquiring shutter data of a vehicle-mounted camera of the vehicle and vehicle speed data in OBD data based on the initial sampling time interval;
the vehicle speed correction module is used for correcting vehicle speed data;
the driving distance acquisition module is used for acquiring the vehicle driving distance between two times of shutter data based on the corrected vehicle speed data;
the time interval correction module is used for comparing the vehicle running distance with the image coverage distance, correcting the initial sampling time interval based on the comparison result, acquiring a correction time interval, and shooting the road based on the correction time interval.
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