CN114648887A - Roadside object-rushing warning method, system and device based on luminous marking - Google Patents
Roadside object-rushing warning method, system and device based on luminous marking Download PDFInfo
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
- G08B5/38—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources using flashing light
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- 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
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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
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Abstract
The invention relates to the technical field of intelligent traffic, and aims to provide a roadside rushing-out object warning system based on a luminous marking, which can accurately sense an object to be rushed out through a roadside video pile, remind a driver of a vehicle running on a road through the color change and the flickering effect of the road marking, realize early warning on an automatically driven vehicle under the support of the V2X technology, effectively avoid dangerous accidents and improve traffic safety.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a roadside flushed object warning method, system and device based on a luminous marking.
Background
With the acceleration of urbanization process in China, the quantity of automobile reserves is continuously increased, but the problem of increasing traffic safety is followed. In urban or town roads, many road sections have the problem of poor driving sight distance due to limited terrain conditions or roadside building shelters. In some regions, parking spaces are also arranged along the road direction on the roadside for parking vehicles due to limited parking resources. In the two scenes, the sight of the driver of the running vehicle is shielded by the barrier, so that the driver cannot know the condition in the sight blind area. If pedestrians, non-motor vehicles or animals suddenly rush out of the sight line blind area, the drivers are likely to be unreactive and unable to avoid, and therefore traffic accidents are caused.
Although some existing automobile manufacturers equip the automobile with a driving auxiliary system for the problem, the millimeter wave radar installed on the automobile head is used for detecting the obstacle in front of the road, and if the distance from the obstacle in front is smaller than the safe distance through calculation of the data analysis module, the automobile is actively braked to ensure safety. However, this system is not predictive enough. Only after an obstacle is present in the detection range of the radar, the system will start to evaluate whether measures need to be taken for the obstacle. For faster objects that suddenly appear from blind areas, the reaction force of the system is often insufficient.
Disclosure of Invention
The invention aims to provide a roadside rushing-out object warning method, a system and a device based on a light-emitting marking, which can detect rushing-out objects in a blind area of a driver sight and warn the driver of rushing-out objects through the light-emitting marking.
In order to achieve the purpose, the invention provides the following scheme:
a roadside rushing-out object warning method based on a luminous marking line comprises the following steps:
s1, acquiring video data and delimiting an interest area;
s2, comparing two adjacent video frame images in the interest area according to a preset frame rate to obtain a first judgment result;
s3, if the first judgment result is that the two video frame images have difference, executing S4; if the first determination result is that the two video frame images have no difference, returning to S2;
s4, judging whether the difference is a shadow or not to obtain a second judgment result;
if the second determination result is a shadow, returning to the step S2;
if the second determination result is not the shadow, obtaining that the difference between the two video frame images is a moving object, and executing S5;
s5, judging whether the moving object is a rushing object or not to obtain a third judgment result;
if the third judgment result is that the object is rushed out, the motion state of the rushed out object is sent to a light-emitting marking device, and the light-emitting marking device emits light or flickers;
if the third determination result is not the object to be ejected, the process returns to S2.
Optionally, after S5, the method for warning an object further includes:
sending the motion parameters of the punched-out object to a V2X signal transmission device;
and the V2X signal transmission equipment sends the motion parameters of the rushing-out object to an automatic driving vehicle, and the automatic driving vehicle adjusts the driving state according to the motion parameters.
Optionally, the determining whether the moving object is a rushing-out object specifically includes:
calculating an instantaneous velocity of the moving object;
judging whether the instantaneous speed of the moving object is smaller than a first set value or not;
if the instantaneous speed of the moving object is less than a first set value, the moving object is not a rushing-out object;
and if the instantaneous speed of the moving object is greater than or equal to a first set value, the moving object is a rushing-out object.
Optionally, after the "if the instantaneous speed of the moving object is greater than or equal to the first set value, the moving object is a rushing-out object", the object warning method further includes: judging the state of the punched object, wherein the state of the punched object comprises a fast speed and a slow speed, and the judging the state of the punched object comprises the following steps:
if the instantaneous speed of the moving object is less than or equal to a second set value, the moving object is a slow-speed rushing-out object;
and if the instantaneous speed of the moving object is greater than a second set value, the moving object is a fast-rushing object.
Optionally, the emitting or flashing of the light-emitting reticle device specifically includes:
if the punched object is a slow-speed punched object, the color of the light-emitting marking device is changed into a preset color I and the light-emitting marking device does not flicker;
and if the rushing-out object is a quick rushing-out object, the color of the light-emitting marking equipment is changed into a second preset color, and the light-emitting marking equipment flickers at a preset frequency.
Based on the method, the invention also provides a roadside rushing-out object warning system based on the luminous marking line, which comprises:
the interest area dividing module is used for acquiring video data and dividing an interest area;
the first judgment result determining module is used for comparing two adjacent video frame images in the interest area according to a preset frame rate to obtain a first judgment result;
the difference judgment module enters a second judgment result determination module if the first judgment result shows that the two video frame images have difference; if the first judgment result is that the two video frame images have no difference, returning to the first judgment result determination module;
the second judgment result determining module is used for judging whether the difference is a shadow or not to obtain a second judgment result; if the second judgment result is a shadow, returning to the first judgment result determination module; if the second judgment result is not a shadow, the difference between the two video frame images is obtained as a moving object, and the moving object enters a third judgment result determination module;
the third judgment result determining module is used for judging whether the moving object is a rushing object or not to obtain a third judgment result; if the third judgment result is that the object is rushed out, the motion state of the rushed out object is sent to the light-emitting marking module; if the third judgment result is not that the object is flushed out, returning to the first judgment result determination module;
the luminous marking module emits light or flickers to warn a driver that an object is rushed out.
Optionally, the object warning system further comprises:
the motion parameter sending module is used for sending the motion parameters of the flushed object to V2X signal transmission equipment;
and the driving state adjusting module is used for receiving the motion parameters of the rushing-out object and adjusting the driving state of the vehicle according to the motion parameters.
Based on the method, the invention also provides a roadside rushing-out object warning device based on the luminous marking line, and the object warning device comprises:
the roadside video pile is used for acquiring video data, defining an interest area and comparing two adjacent video frame images in the interest area according to a preset frame rate to judge whether an object is rushed out; if the object is not flushed out, continuously comparing two adjacent video frame images in the interest area according to a preset frame rate; if the rushing-out object exists, judging the state of the rushing-out object, and sending the state of the rushing-out object and the motion parameters of the rushing-out object;
and the light-emitting marking equipment is connected with the roadside video pile, is used for receiving the motion parameters of the rushing-out object, and is used for emitting light or flickering to warn a driver of the rushing-out object.
Optionally, the object warning device further comprises:
and the V2X signal transmission equipment is connected with the roadside video pile and used for receiving the motion parameters of the punched object and sending the motion parameters to the automatic driving vehicle, and the automatic driving vehicle adjusts the driving state according to the motion parameters.
Optionally, the light-emitting reticle device specifically includes:
the marking controller is connected with the roadside video pile and used for receiving the motion state of the punched object and sending a working instruction according to the motion state of the punched object;
and the LED luminous marking is connected with the marking controller and used for receiving the working instruction sent by the marking controller to emit light or flicker.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a roadside rushing-out object warning method, system and device based on a luminous marking line, which can judge whether a rushing-out object exists or not by acquiring video data, delimiting an interest area and comparing two adjacent video frame images in the interest area according to a preset frame rate; if the object is not flushed out, continuously comparing two adjacent video frame images in the interest area according to a preset frame rate; and if the flushed object exists, judging the status of the flushed object, and sending the status of the flushed object and the motion parameters of the flushed object. The object warning method, the object warning system and the object warning device can accurately sense an object to be rushed out, receive the state of the object through the light-emitting marking equipment arranged on a road, and remind a driver of a vehicle running on the road of change or flicker of the color of the light-emitting marking equipment.
In addition, the method and the system can realize early warning of the automatic driving vehicle under the support of the V2X technology, effectively avoid dangerous accidents and improve traffic safety.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of a roadside impact object warning method based on a luminous marking provided by the present invention;
FIG. 2 is a structural diagram of a roadside impact object warning system based on a luminous marking provided by the present invention;
fig. 3 is a first schematic view of an embodiment of a roadside impact object warning device based on a light-emitting marking according to the present invention;
fig. 4 is a schematic diagram of a roadside impact object warning device based on a light-emitting marking according to an embodiment of the present invention.
Description of the symbols: the system comprises an interest region defining module-1, a first judgment result determining module-2, a difference judging module-3, a second judgment result determining module-4, a third judgment result determining module-5, a light-emitting marking module-6, a roadside video pile-7, a light-emitting marking device-8, a V2X signal transmission device-9, an automatic driving vehicle-10, a sight blind area-11 and an obstacle-12.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a roadside flushed object warning method, system and device based on a luminous marking, which can accurately sense an object to be flushed through a roadside video pile and remind a driver of a vehicle running on a road through the color change and the flicker effect of the road marking.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1-4 of the drawings, the method for warning objects rushing out from the road side based on the luminous marked line includes:
and S1, acquiring the video data and delimiting the interest area.
And S2, comparing two adjacent video frame images in the interest area according to a preset frame rate to obtain a first judgment result.
S3, if the first judgment result is that the two video frame images have difference, executing S4; if the first determination result is that there is no difference between the two video frame images, the process returns to S2.
S4, judging whether the difference is a shadow or not to obtain a second judgment result; if the second determination result is a shadow, returning to the step S2; if the second determination result is not a shadow, the difference between the two video frame images is obtained as a moving object, and S5 is executed.
S5, judging whether the moving object is a rushing object or not to obtain a third judgment result; if the third judgment result is that the object is rushed out, the motion state of the rushed out object is sent to a light-emitting marking device, and the light-emitting marking device emits light or flickers; if the third determination result is not the object to be ejected, the process returns to S2.
Specifically, S1 is to define an area of interest within the monitoring range of the roadside video pile 7 camera, that is, a sidewalk area within 2m of the road edge.
Specifically, S2 compares two adjacent video frame images according to a preset frame rate based on an edge calculation function, for the real-time video data acquired by the camera of the roadside video pile 7.
Specifically, in step S3, if there is a difference between pixel configurations in the interest areas of two adjacent frames of images, the target detection is performed by using a deep learning algorithm. If the algorithm judges that the reason causing the difference of the pixels in the interest areas of the two frames of images is the shadow of the object, the subsequent steps are not carried out, and the comparison of the two adjacent video frame images is continuously repeated according to the preset frame rate.
Specifically, if the algorithm determines that the cause of the difference in the detection results is not the shadow of the object, S4 indicates that an object that has not appeared in the previous frame appears in the next frame, or the position of the same object in the next frame changes from the previous frame image, and then it is determined that the object is a moving object in the region of interest, and the process proceeds to S5.
Specifically, after S5, the object warning method further includes: sending the motion parameters of the punched-out object to a V2X signal transmission device 9; the V2X signal transmission device 9 transmits the motion parameter of the impact object to the autonomous vehicle 10, and the autonomous vehicle 10 adjusts the driving state according to the motion parameter.
Specifically, the determining whether the moving object is a rushing-out object specifically includes the following steps: calculating an instantaneous velocity of the moving object; judging whether the instantaneous speed of the moving object is smaller than a first set value or not; if the instantaneous speed of the moving object is less than a first set value, the moving object does not rush out the object; and if the instantaneous speed of the moving object is greater than or equal to a first set value, the moving object is a rushing-out object.
Specifically, the object warning method further includes, after the "if the instantaneous speed of the moving object is greater than or equal to a first set value, the moving object is a rushing-out object": judging the state of the punched-out object, wherein the state of the punched-out object comprises a fast speed and a slow speed, and the judging of the state of the punched-out object comprises the following steps: if the instantaneous speed of the moving object is less than or equal to a second set value, the moving object is a slow-speed rushing-out object; and if the instantaneous speed of the moving object is greater than a second set value, the moving object is a fast-rushing object.
Specifically, the moving speed and direction of the moving object are calculated based on an edge algorithm. A coordinate system is established by taking the roadside video pile 7 as an original point, the axes pointing to the downstream and the upstream of the road along the tangential direction of the road are respectively in the positive direction of an X axis and in the negative direction, and the axes pointing to the roadside and the sidewalk side perpendicular to the tangential direction of the road are respectively in the positive direction of a Y axis and in the negative direction. Based on the continuous target images obtained by the camera of the roadside video pile 7 in the step one, perspective transformation is realized by using an algorithm, and the images are converted into top views, so that the moving distance of the object in the front frame and the rear frame is measured. And dividing the moving distance of the object in the two frames by the time of each frame to calculate the instantaneous speed of the object. And if the instantaneous speed component of the moving object in the positive direction of the Y axis is less than 0.5m/s, the moving object is not considered as a rushing-out object, and the comparison of the interest areas in the two adjacent frames of images is continuously repeated. And if the instantaneous speed component of the moving object in the positive direction of the Y axis is more than or equal to 0.5m/s and less than 1.5m/s, judging that the object is a slow-speed rushing-out object. And if the speed component of the moving object in the positive direction of the Y axis is more than or equal to 1.5m/s, judging that the object is a fast-speed rushing-out object.
Specifically, the emitting or flashing of the light-emitting reticle device 8 specifically includes: if the rushing-out object is a slow rushing-out object, the color of the light-emitting marking equipment 8 is changed into a preset color I, and the light-emitting marking equipment does not flicker; if the object rushing out is a fast object rushing out, the color of the light-emitting marking device 8 is changed into a second preset color, and the light-emitting marking device flickers at a preset frequency.
Specifically, after the reticle controller of the light-emitting reticle device 8 receives the motion state information of the flushed object, the color and the flashing form of the LED light-emitting reticle are adjusted according to the motion speed of the object. If the object is a slow-speed object, the color of the LED luminous marking line is changed into orange, but the LED luminous marking line does not flicker; if the object is rapidly rushed out, the color of the LED luminous marking line is changed into red, and the LED luminous marking line flickers at the frequency of 1Hz to remind a driver of paying attention to deceleration and avoidance.
Specifically, the V2X signal transmission device 9 transmits motion parameters for the autonomous vehicle in the cellular network to rush out an object, and the autonomous system adjusts the operation strategy of the autonomous vehicle 10 according to the speed and direction of the object to perform corresponding deceleration or avoidance measures.
Referring to fig. 2-4 of the drawings, the object warning system for roadside rushing out of an object based on a light-emitting reticle according to the present invention includes: the system comprises an interest region defining module 1, a first judgment result determining module 2, a difference judging module 3, a second judgment result determining module 4, a third judgment result determining module 5 and a light-emitting marking module 6.
The interest area delimiting module 1 is used for acquiring video data and delimiting an interest area.
The first determination result determining module 2 is configured to compare two adjacent video frame images in the interest region according to a preset frame rate to obtain a first determination result.
The difference determination module 3 includes: if the first judgment result is that the two video frame images have difference, entering a second judgment result determination module 4; and if the first judgment result is that the two video frame images have no difference, returning to the first judgment result determining module 2.
The second determination result determining module 4 is configured to determine whether the difference is a shadow, so as to obtain a second determination result; the method specifically comprises the following steps: if the second judgment result is a shadow, returning to the first judgment result determining module 2; if the second determination result is not a shadow, the difference between the two video frame images is obtained as a moving object, and the moving object enters a third determination result determination module 5.
The third determination result determining module 5 is configured to determine whether the moving object is a rushing object, so as to obtain a third determination result; the method specifically comprises the following steps: if the third judgment result is that the object is rushed out, the motion state of the rushed out object is sent to the light-emitting marking module 6; and if the third judgment result is not the object rushing out, returning to the first judgment result determining module 2.
The luminous marking module 6 is used for emitting light or twinkling to warn a driver that an object is rushed out.
Specifically, the object warning system further comprises: the device comprises a motion parameter sending module and a driving state adjusting module.
The motion parameter sending module is used for sending the motion parameters of the flushed objects to the V2X signal transmission equipment 9; the driving state adjusting module is used for receiving the motion parameters of the rushing-out object and adjusting the driving state of the vehicle according to the motion parameters.
Referring to fig. 3 and 4 of the drawings, the present invention provides a roadside rushing-out object warning device based on a light-emitting reticle, including: roadside video posts 7 and light emitting reticle equipment 8.
The roadside video pile 7 is used for acquiring video data, defining an interest area and comparing two adjacent video frame images in the interest area according to a preset frame rate to judge whether an object is rushed out; if the object is not rushed out, continuously comparing two adjacent video frame images in the interest area according to a preset frame rate; and if the punched objects exist, judging the states of the punched objects, and sending the states of the punched objects and the motion parameters of the punched objects.
The light-emitting marking equipment 8 is connected with the roadside video pile 7, and the light-emitting marking equipment 8 is used for receiving the movement parameters of the rushing object and giving out light or flickering to warn a driver of the rushing object.
Specifically, the roadside video pile 7 is installed on a blind sight area 11 of a driver, which is formed by terrain limitation, building obstruction or roadside parking, and is used for detecting whether an object rushes out from the blind sight area 11.
Specifically, the camera of the roadside video pile 7 is a camera based on edge calculation.
Specifically, for the blind sight zone 11 formed by terrain limitation and building obstruction, the detection range of the roadside video pile 7 at least covers the sidewalk area from the farthest visual point of the road to within 10m downstream of the farthest visual point of the road. To the sight blind area 11 that forms because of the roadside parking, the detection range of roadside wisdom video stake 7 should cover two adjacent parking stalls at least.
Specifically, the object warning device further includes: and the V2X signal transmission equipment 9 is connected with the roadside video pile 7 and used for receiving the motion parameters of the punched-out object and sending the motion parameters to the automatic driving vehicle 10, and the automatic driving vehicle 10 adjusts the driving state according to the motion parameters.
Specifically, the light-emitting reticle device 8 specifically includes: the marking controller is connected with the roadside video pile 7 and used for receiving the motion state of the flushed object and sending a working instruction according to the motion state of the flushed object; and the LED luminous marking is connected with the marking controller and used for receiving the working instruction sent by the marking controller to emit light or flicker.
Specifically, for a sight line blind area 11 formed by terrain limitation and building shielding, the light-emitting marking devices 8 are installed on a lane boundary line closest to a road side edge of the blind area, the starting point of installation is located at the farthest point which can be reached by sight lines of drivers in normal driving, and three groups of light-emitting marking devices 8 are sequentially installed. For the blind sight areas 11 formed by roadside parking, the light-emitting marking devices 8 are installed on the side boundaries of the parking spaces, and one group of light-emitting marking devices 8 are installed in each parking space. The luminous marking 8 equipment is used for sending safety warning to a driver.
Specifically, the light-emitting marking equipment further comprises a concrete protective layer which is light-transmitting and used for protecting the LED light-emitting marking.
Specifically, the size of the LED luminous marked line is 4m × 0.15m × 0.02m or 6m × 0.15m × 0.02m, and the LED luminous marked line can be buried after milling and planing an original pavement. When not electrified, the appearance of the road sign is consistent with that of a common road sign. The brightness, the color and the flicker form of the LED luminous marking can be adjusted by the marking controller.
Specifically, the V2X signal transmission device 9 is installed on the roadside for communication with an autonomous vehicle.
Specifically, the roadside intelligent video pile 7, the light-emitting marking device 8 and the V2X signal transmission device 9 are communicated with one another based on a wireless local area network.
Specifically, the roadside intelligent video stub 7 transmits the motion state information of the flushed object to the marking controller of the light-emitting marking device 8 through the wireless local area network, and the roadside intelligent video stub 7 transmits the speed and direction data of the flushed object to the V2X signal transmission device 9.
Specifically, the V2X signaling device 9 communicates with the autonomous vehicle 10 over a cellular network.
Compared with the prior art, the roadside impact object warning method, the system and the device based on the luminous marked lines are strong in pertinence, good in predictability, wide in application range and future-oriented. The area which is limited by the terrain, sheltered by buildings or parked at the roadside is a high risk area where the collision accident of objects and running vehicles occurs, and the warning system arranged aiming at the high risk area can improve the effect of solving the accident black spot more obviously. And when the moving object is still positioned on the sidewalk, whether the moving object possibly rushes out can be judged in advance through the motion state of the moving object, and more abundant reaction time is reserved for a driver or an automatic driving system. The running is not limited by the running speed of the running vehicle, and the warning signal for flushing out the object can be sent out in time for vehicles with any running speed. In consideration of the trend of future vehicle automation, the roadside rushing-out object warning method, system and device based on the luminous marked line, provided by the invention, not only comprise a V2X signal transmission device capable of transmitting rushing-out object information, but also comprise a variable luminous marked line capable of being used for machine vision guidance, and multiple information sources enhance the robustness of an automatic driving system.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A roadside rushing-out object warning method based on a luminous marking line is characterized by comprising the following steps:
s1, acquiring video data and delimiting an interest area;
s2, comparing two adjacent video frame images in the interest area according to a preset frame rate to obtain a first judgment result;
s3, if the first judgment result is that the two video frame images have difference, executing S4; if the first determination result is that the two video frame images have no difference, returning to the step S2;
s4, judging whether the difference is a shadow or not to obtain a second judgment result;
if the second determination result is a shadow, returning to the step S2;
if the second determination result is not the shadow, obtaining that the difference between the two video frame images is a moving object, and executing S5;
s5, judging whether the moving object is a rushing object or not to obtain a third judgment result;
if the third judgment result is that the object is rushed out, the motion state of the rushed out object is sent to a light-emitting marking device, and the light-emitting marking device emits light or flickers;
if the third determination result is not the object to be ejected, the process returns to S2.
2. The method for warning the object rushing out from the road side based on the light-emitting reticle of claim 1, wherein after S5, the method further comprises:
sending the motion parameters of the punched-out object to a V2X signal transmission device;
and the V2X signal transmission equipment sends the motion parameters of the rushing-out object to an automatic driving vehicle, and the automatic driving vehicle adjusts the driving state according to the motion parameters.
3. The roadside rushing-out object warning method based on the light-emitting marked line as claimed in claim 1, wherein the determining whether the moving object is a rushing-out object specifically comprises the steps of:
calculating an instantaneous velocity of the moving object;
judging whether the instantaneous speed of the moving object is smaller than a first set value or not;
if the instantaneous speed of the moving object is less than a first set value, the moving object is not a rushing-out object;
and if the instantaneous speed of the moving object is greater than or equal to a first set value, the moving object is a rushing-out object.
4. The method of claim 3, further comprising, after the step of determining that the moving object is a rushing object if the instantaneous speed of the moving object is greater than or equal to a first predetermined value, the step of alerting the moving object by the object alerting method: judging the state of the punched object, wherein the state of the punched object comprises a fast speed and a slow speed, and the judging the state of the punched object comprises the following steps:
if the instantaneous speed of the moving object is less than or equal to a second set value, the moving object is a slow-speed rushing-out object;
and if the instantaneous speed of the moving object is greater than a second set value, the moving object is a fast-rushing object.
5. The method for warning objects rushing out from the road side based on the light-emitting reticle of claim 4, wherein the step of emitting light or flashing the light-emitting reticle device specifically comprises:
if the rushing-out object is a slow rushing-out object, the color of the light-emitting marking equipment is changed into a preset color I and does not flicker;
and if the rushing-out object is a quick rushing-out object, the color of the light-emitting marking equipment is changed into a second preset color, and the light-emitting marking equipment flickers at a preset frequency.
6. The utility model provides a roadside dash out object warning system based on luminous marking, its characterized in that, object warning system includes:
the interest area delimiting module is used for acquiring video data and delimiting an interest area;
the first judgment result determining module is used for comparing two adjacent video frame images in the interest area according to a preset frame rate to obtain a first judgment result;
the difference judgment module is used for entering a second judgment result determination module if the first judgment result shows that the two video frame images have difference; if the first judgment result is that the two video frame images have no difference, returning to the first judgment result determination module;
the second judgment result determining module is used for judging whether the difference is a shadow or not to obtain a second judgment result; if the second judgment result is a shadow, returning to the first judgment result determination module; if the second judgment result is not a shadow, the difference between the two video frame images is obtained as a moving object, and the moving object enters a third judgment result determination module;
the third judgment result determining module is used for judging whether the moving object is a rushing object or not to obtain a third judgment result; if the third judgment result is that the object is rushed out, the motion state of the rushed out object is sent to the light-emitting marking module; if the third judgment result is not that the object is flushed out, returning to the first judgment result determination module;
the light-emitting marking module emits light or flickers to warn a driver that an object is rushed out.
7. The light-emitting reticle-based roadside rush-out object warning system of claim 6 further comprising:
the motion parameter sending module is used for sending the motion parameters of the flushed object to V2X signal transmission equipment;
and the driving state adjusting module is used for receiving the motion parameters of the rushing-out object and adjusting the driving state of the vehicle according to the motion parameters.
8. The utility model provides a roadside dash out object warning device based on luminous marking, its characterized in that, object warning device includes:
the roadside video pile is used for acquiring video data, defining an interest area and comparing two adjacent video frame images in the interest area according to a preset frame rate to judge whether an object is rushed out; if the object is not flushed out, continuously comparing two adjacent video frame images in the interest area according to a preset frame rate; if the rushing-out object exists, judging the state of the rushing-out object, and sending the state of the rushing-out object and the motion parameters of the rushing-out object;
and the light-emitting marking equipment is connected with the roadside video pile, is used for receiving the motion parameters of the rushing-out object, and is used for emitting light or flickering to warn a driver of the rushing-out object.
9. The roadside rushing-out object warning device based on the light-emitting marked line as claimed in claim 8, wherein the object warning device further comprises:
and the V2X signal transmission equipment is connected with the roadside video pile and used for receiving the motion parameters of the punched object and sending the motion parameters to the automatic driving vehicle, and the automatic driving vehicle adjusts the driving state according to the motion parameters.
10. The roadside rushing-out object warning device based on the light-emitting reticle of claim 8, wherein the light-emitting reticle equipment specifically comprises:
the marking controller is connected with the roadside video pile and used for receiving the motion state of the punched object and sending a working instruction according to the motion state of the punched object;
and the LED luminous marking is connected with the marking controller and used for receiving the working instruction sent by the marking controller to emit light or flicker.
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| CN202210300653.6A CN114648887A (en) | 2022-03-24 | 2022-03-24 | Roadside object-rushing warning method, system and device based on luminous marking |
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| CN202210300653.6A CN114648887A (en) | 2022-03-24 | 2022-03-24 | Roadside object-rushing warning method, system and device based on luminous marking |
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