CN1845199A - Motor vehicle peccancy behavior automatic shooting device and method mounted on bus - Google Patents

Motor vehicle peccancy behavior automatic shooting device and method mounted on bus Download PDF

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Publication number
CN1845199A
CN1845199A CN 200510063875 CN200510063875A CN1845199A CN 1845199 A CN1845199 A CN 1845199A CN 200510063875 CN200510063875 CN 200510063875 CN 200510063875 A CN200510063875 A CN 200510063875A CN 1845199 A CN1845199 A CN 1845199A
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image
bus
illegal
step
capture
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CN 200510063875
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CN100430971C (en
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宫晓燕
王知学
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中国科学院自动化研究所
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Abstract

The invention relates to image processing technical sphere and especially to an automatic grasp-shoot device for violate rules and regulations installed in the bus, which consists of an image-collecting section and a control section. The automatic grasp-shoot device comprises an image-collecting and analysis unit, a communication cell, a master processing element, man-machine interface cell and a local storage element, which is installed on the head, on the end part and on the two sides of the bus for automatic grasp shoot of three acts in violation of regulations of vehicles. The three acts in violation of regulations are: whether there are public-transport vehicles breaking rules and regulations to drive on the accommodation road for public transport or not, whether there are vehicles occupying the cycle track or not, whether there are vehicles breaking rules and regulations to bring to rest or not. The front computer-assisted makeup shoots image and automatically identifies whether there are the said three acts in violation of regulations or not in grasp shoot machine. If there, the image of vehicle with act in violation of regulations is registered and stored, and simultaneously the image is delivered to the traffic administration sector by GPRS wireless transport unit. The drives can carry out manual grasp shoot for vehicles with act in violation of regulations by push-button.

Description

安装在公交车上的机动车辆违章行为自动抓拍装置和方法 Mounted on a motor vehicle violations bus apparatus and method for automatic capture

技术领域 FIELD

本发明涉及图象处理技术领域,特别是一种安装在公交车上的违章自动抓拍装置和方法,通过DSP芯片对图象信号进行处理。 The present invention relates to the field of image processing technology, in particular, mounted in a violation of the bus automatically capture apparatus and method, an image signal processed by the DSP chip.

背景技术 Background technique

目前,为实现公交优先,各大中城市开辟了越来越多的公交专用道,可经常有一些非公交车辆违章占用公交专用道。 At present, for the realization of bus priority, major cities opens up more and more bus lanes, may often have some non-transit vehicles illegally occupied by bus lanes. 如何抓拍这些违章行为呢? How to capture these illegal actions? 目前已有的方法有以下两种:1)固定电子警察:在道路一侧安装摄像头,采用基于图象处理的技术抓拍违章车辆;2)移动电子警察:把摄像头安装在移动的巡逻车内,对违章车辆进行抓拍。 There are two conventional methods: 1) a fixed electronic police: the side of the road to install the camera, image processing techniques based capture illegal vehicles; 2) mobile electronic police: the camera installed in the mobile patrol vehicles, of illegal vehicles to capture.

这两种方法都存在不足。 Both of these methods are insufficient. 方法1)需要路面施工,建设周期长。 1) require road construction, long construction period. 而且在非公交车辆比公交车辆体积小很多时,非公交车辆往往被公交车遮挡,抓拍率不高。 But also in the non-transit vehicles much smaller than the volume of public transport vehicles, buses tend to be non-blocking bus, capture rate is not high. 方法2)中的移动电子警察主要安装在警用巡逻车上。 Method 2) is a mobile electronic police mounted on the main police patrol. 可由于巡逻车数量较少,抓拍范围比较小。 Since the number may patrol capture range is relatively small.

发明内容 SUMMARY

本发明的目的在于提供一种安装在公交车上的机动车辆违章行为自动抓拍装置和方法。 Object of the present invention to provide a motor vehicle violations mounted in the bus apparatus and method for automatically capture.

为了解决方法1)和方法2)中的抓拍率不高和抓拍范围小的不足,本发明提供一种安装在公交车上的违章抓拍装置和方法,可自动抓拍或人工抓拍在公交车周围发生的多种违章现象,比如非公交车违章占有公交车道、违章停车、违章换道、违章插车等。 To Solution 1) and method 2 capture rate) is not high and the lack of a small capture range, the present invention provides an apparatus and method illegal capture mounted in the bus, may be automatically or manually capture capture occurs around the bus a variety of illegal behavior, such as illegal possession of non-public delivery of the vehicle bus lanes, illegal parking, illegal lane change, illegal interpolation vehicles. 由于公交车数量众多,车体高度比较高,因此可同时保证抓拍范围和高抓拍率。 Due to the large number of buses, body height is relatively high, so you can capture range and at the same time ensure high capture rates.

本发明的技术构思在于:通过在公交车的不同部位上安装多个摄像头采集其周围的视频;视频采集和分析单元采集和分析公交专用道中的图象信息,得出是否有各种违章行为的结论,并自动抓拍违章车辆的连续几副图象。 Technical concept of the present invention is: a video capture therearound by installing a plurality of cameras at different parts of the bus; video capture and image information analysis unit acquisition and analysis in the bus lane, whether derived in various violations conclusions and automatically capture several successive sub-picture violating vehicle. 比如,非公交车辆在公交车道违章行驶等;存储单元实现对图象和数据的存储;通信单元采用GPRS传输模块向交通管理中心无线传送抓拍的图象和数据,并接收来自交通管理中心的命令;供电单元实现对整个装置的电源管理;人机接口单元是自动抓拍方式的补充,它采用“一键通”的方式。 For example, non-transit vehicles in violation with the busway like; implemented memory and stores the image data; a communication unit uses GPRS transmission module to the traffic management center image capture and transmission of wireless data, and receiving from the vehicle management center command; power supply unit to achieve the management of the entire apparatus; man-machine interface unit are automatically capture a complementary manner, which uses "a key" manner. 公交车的驾驶员如果发现车的周围有违章车辆,那么只需按一下按键,即可抓拍违章车辆;主控处理单元实现对上述所有单元的协调控制。 Bus driver found around the car if there are illegal vehicles, you can simply press a button, you can capture illegal vehicles; master processing unit to achieve coordinated control of all of the above units.

通过DSP芯片对图象信号进行处理,可以自动抓拍违章进入公交车专用道的非公交车辆。 An image signal processed by the DSP chip, can automatically capture the non-violation buses enter the bus lanes.

技术方案本发明解决其技术问题所采用的技术方案是:在公交车的不同部位(头部、尾部、两个侧面)安装CCD摄像头,摄像头可嵌入安装,也可外侧安装。 Technical Solution The present invention solves the technical solution of the technical problem is that: CCD camera installed in different parts of the bus (head, tail, two sides), the camera is mounted can be embedded, may also be installed outside. 视频采集和分析单元对采集到的视频流进行图象处理和分析,得出是否违章车辆的结论。 Video acquisition and analysis unit of the video stream captured image processing and analysis, the conclusion whether illegal vehicles. 如果有,那么把违章车辆的多幅图象连续抓拍下来,并存储在本地存储单元,同时采用GPRS无线传输设备把违章车辆的视频流传送到监控管理中心。 If so, the plurality of image capture on a continuous illegal vehicles, and stored in the local storage unit, while using GPRS wireless transmission device of the video stream to the violating vehicle monitoring and management center. 驾驶员也可以采用按键实现人工抓拍违章车辆。 Key driver may be employed to achieve artificial capture illegal vehicles.

视频采集和分析单元用于采集和分析安装在公交车各个部位的视频流。 Video acquisition and analysis unit for acquiring and analyzing installed in various parts of the bus video stream. 可采用CCD摄像机完成图象的采集。 CCD camera may be used to complete the acquisition of the image. 然后通过视频采集和分析单元的A/D转换芯片把CCD采集来的模拟图象转换为数字图象,然后采用视频采集和分析单元的DSP对数字图象进行处理和分析,判断出是否有违章车辆。 Then through the A / D conversion chip video capture and analysis unit of the CCD to capture an analog image into a digital image and video collection and analysis using the DSP unit of the digital image processing and analysis, it is determined whether there is violation vehicle. 如果有,那么把违章图象存入缓冲存储器,并通知CPLD逻辑控制器,然后由CPLD逻辑控制器通知主控处理单元取违章图象,再由主控处理单元把违章图象存入本地存储单元。 If so, the illegal picture stored in the buffer memory, and notifies the CPLD logic controller, the controller then notifies the main CPLD logic processing unit illegal picture taking, and then the processing unit by the master image stored in the local storage violation unit.

通信单元采用GPRS模块实现无线传输。 GPRS communication module unit using wireless transmission. GPRS的通信速率为115.2kbps,通信单元与主控处理单元采用串行口通信,且传输速率为115.2K。 GPRS communication rate is 115.2kbps, and the main control unit communication processing unit uses serial communication, and the transmission rate is 115.2K. 因此如果传输一副24位真彩图象,且每副图象的大小为768×576×3=1327k,那么传输一副图象的时间是1327k/115.2=11.5s。 Therefore, if the transmission 24 a true color image, and the size of each sub-picture is 768 × 576 × 3 = 1327k, it is time to transfer a picture 1327k / 115.2 = 11.5s. 由于交通管理部门并不需要实时的违章图象传输,因此这个传输速率可以满足要求。 Because of the traffic management department does not require real-time image transmission of illegal, so this transfer rate to meet the requirements. 而且随着GPRS技术和CDMA技术的应用,以后的无线传输速率完全可以达到实时的要求。 Moreover, with the application of GPRS technology and the CDMA technology, after the wireless transmission rate can achieve real-time requirements.

人机接口单元采用按键实现人机交互。 Human-machine interface unit uses a key interacting with a computer. 驾驶员如果发现周围有违章车辆时,只需按下抓拍按键即可,无需做其他操作,不会干扰驾驶员驾驶。 If the driver is found to have illegal vehicles around, simply press the capture button without the need to do other operations, without interfering with the driver's driving.

存储单元分为两块:缓冲存储器和非易失性存储器。 The storage unit is divided into two: a buffer memory and a nonvolatile memory. 缓冲存储器存放违章的图象;非易失性存储器存放程序代码。 Storing the image buffer memory violation; a nonvolatile memory storing program code.

主控处理单元完成对视频采集和分析单元、通信单元、存储单元和人机接口单元的逻辑控制。 Main control unit performs logic control of video acquisition and analysis unit, a communication unit, a storage unit and a man-machine interface unit. 流程如下:视频采集和分析单元把抓拍的图象存入缓冲存储,然后通知CPLD,CPLD通知主控处理单元到缓冲存储取违章图象。 Process is as follows: the video acquisition and analysis unit to capture the image stored in the buffer memory, then notify the CPLD, CPLD notifies the main control processing unit to take the illegal image buffer memory. 主控处理单元把取到的违章图象存入本地存储单元,同时把违章图象通过基于GPRS的无线通信单元发送给远程的监控中心。 Main control unit to take the illegal image into the local storage unit, while the violation image to a remote monitoring center through the wireless communication unit based on GPRS. 如果驾驶员按下抓拍按键,主控处理单元此时通知CPLD让图象采集和处理单元进行抓拍。 If the driver presses the capture key, the master notifies the processing unit case so CPLD image acquisition and processing unit to capture.

电源稳压单元采用车载蓄电池加电源稳压器组成,为上述所有单元供电。 Vehicle battery power supply regulator unit using the power regulator composition added, to supply all of the above units.

一种违章车辆图象的自动抓拍装置,包括图象采集和控制部分,自动抓拍装置由视频采集和分析单元、通信单元、主控处理单元、人机接口单元、本地存储单元组成,视频采集和分析单元实现基于按键的人工抓拍;存储单元实现对违章图片的存储;主控处理单元实现对上述四个单元的协调和控制;其中,视频采集和分析单元和人机接口单元连接于主控处理单元,通信单元和本地存储单元与主控处理单元互联。 An automatic image capture device of illegal vehicles, including image acquisition and a control section automatically capture means by the video acquisition and analysis unit, a communication unit, the master processing units, human-machine interface unit, a local storage units, video capture and based on analysis unit artificial capture key; storage means for storing implemented illegal images; a master processing units to implement coordination and control for the above-mentioned four units; wherein the video capture and analysis unit and a human-machine interface connected to the master processing unit unit, a communication unit and a local storage unit and the main control processing unit interconnected.

图象采集和控制部分由摄像头、GPRS天线、A/D转换器、图象处理器DSP、缓冲存储器、CPLD控制器、主控CPU、人工抓拍按键、非易失性存储器组成。 And a control section of the image pickup camera, GPRS antenna, A / D converter, the DSP image processor, buffer memory, CPLD controller, a host CPU, artificial capture button, a non-volatile memory. 其中,CPLD控制器分别与A/D转换器、图象处理器DSP、缓冲存储器、主控CPU相连,主控CPU与人工抓拍按键、非易失性存储器连接,主控CPU与缓冲存储器和本地存储单元互联。 Wherein, CPLD controller respectively A / D converter, the DSP image processor, cache memory, coupled to the master CPU, the host CPU and artificial capture button, a nonvolatile memory connected to the host CPU and the local buffer memory The storage unit interconnected.

抓拍装置的摄像头安在公交车辆的尾部、头部和右侧,通过自动图象处理辨识3种违章行为,是否有非公交车辆违章行驶在公交专用道,是否有机动车占用自行车道,是否有违章停车,并把违章车辆的连续几幅图象抓拍并存储。 An capture camera means at the end, the head and the right buses, the image processing by an automatic identification of three kinds of violations, if there is a non-illegal driving buses in bus lanes, bicycle lanes if there is a motor vehicle occupied, whether there is violation stop, and the pieces of continuous image capture and storage of illegal vehicles.

由A/D和DSP完成对模拟图象的处理,而由另外的CPU完成对人机接口、GPRS通信和存储的协调处理,由CPLD完成对A/D转换模块、缓冲存储、DSP数据处理器和主控CPU的逻辑控制。 The A / D and DSP performs analog processing on the image, while the other CPU to complete the coordination process for human-machine interface, GPRS communications and stored by the CPLD to complete the A / D converter module, the buffer memory, the data processor DSP and a main logic control of the CPU.

由A/D转换模块将模拟数据转换为数字数据,并送入DSP数据处理器,DSP处理器完成都图象数字数据的处理分析并把结果存入缓存。 The A / D conversion module converts the analog data into digital data, and data into the DSP processor, DSP processor completes processing the digital image data are analyzed and the results stored in the buffer.

把存储的本地的违章图象通过GPRS天线传输方式及时传输到管理部门。 The local violation image memory is transmitted to the transmission antenna via GPRS management timely manner.

可以同时处理放置在车辆不同位置的多路摄像头的信息。 Information can be placed at different locations simultaneously processing multiple vehicle camera.

人机接口可以是通过按键的方式,也可以通过按键加液晶屏显示的方式。 Human-machine interface may be by way of a key, the key may be added by a liquid crystal display screen.

一种违章车辆图象的自动抓拍方法,在公交车的不同部位安装CCD摄像头,摄像头可嵌入安装,也可外侧安装,视频采集和分析单元对采集到的视频流进行图象处理和分析,把违章车辆的多幅图象连续抓拍下来,并存储在本地存储单元,同时采用GPRS无线传输设备把违章车辆的视频流传送到监控管理中心,可同时处理3种违章行为,1)是否有非公交车辆违章行驶在公交专用道,2)是否有违章停车,3)是否有机动车占用自行车道。 Automatic image capture method of one kind of illegal vehicles, CCD camera installed in different parts of the bus, the camera can be mounted embedded, may also be installed outside, video capture and analysis unit of the video stream captured image processing and analysis, the Multiple continuous image capture violating vehicle down, and stored in the local storage unit, while using GPRS wireless transmission device of the video stream to the violating vehicle monitoring and management center, can handle three kinds of illegal acts, 1) if there is a non-bus violation vehicle traveling in the bus lane, 2) whether a parking violation, 3) whether a vehicle occupies bicycle lanes.

有益效果本发明的有益效果是,可有效的抓拍在公交车周围行驶的违章车辆。 Advantageous Effects of the present invention is effective in the capture of illegal vehicles traveling around the bus. 可实现“全民皆警”,对不足的警力做了充足的社会力量层面的补充。 It can be achieved, "the people are the police", for lack of sufficient police made additional social force level.

附图说明 BRIEF DESCRIPTION

图1是本发明的自动抓拍装置结构示意图。 FIG 1 is a schematic view of the apparatus of the present invention automatically capture.

图2是本发明的自动抓拍装置实施示意图。 FIG 2 is automatically capture device of the present embodiment of the invention FIG.

图3是本发明的自动抓拍装置总体构成图。 FIG 3 is a general configuration of the present invention automatically capture apparatus of FIG.

图4是本发明的自动抓拍装置组成图。 FIG 4 is a device according to the present invention is composed of an automatic capture FIG.

图5违章行为1)的图象处理方法流程图。 5 violations FIG. 1) is a flowchart of an image processing method.

图6违章行为2)的图象处理方法流程图。 FIG 6 violations 2) is a flowchart of an image processing method.

图7违章行为3)的图象处理方法流程图。 7 violations FIG. 3) is a flowchart of an image processing method.

具体实施方式 Detailed ways

下面结合附图和实施方式对本发明做进一步说明。 The present invention will be further described in conjunction the accompanying drawings and embodiments.

图1所示的本发明的抓拍装置结构。 Capture device structure of the present invention shown in FIG. 共有抓拍器主体、摄像头、GPRS天线、前端按键、车载电源五部分组成。 Total capture body, camera, GPRS antenna, a front end keys, the onboard power supply of five parts. 抓拍器主体是整个发明的核心,它完成图象采集、处理、分析、存储和传输的工作。 Capture the core of the invention is a body, which complete the image acquisition, processing, analysis, storage and transmission work. 它通过摄像头引入视频,通过GPRS发送图象,通过前端按键实现人工抓拍,车载电源实现对上述所有部分的供电功能。 It is introduced by a video camera, the image transmission by GPRS, achieved through the front artificial capture key, the vehicle-mounted power supply to achieve all of the above function parts.

图2所示的自动抓拍装置实施示意图。 Automatically capture apparatus of FIG. 2 a schematic embodiment shown in FIG. 抓拍器主体放在车内部即可;前端按键放置在驾驶员的旁边;抓拍装置可同时处理4路摄像头的图象,这4个摄像头可分别放在车辆的尾部、头部和两个侧面,这些摄像头的安装高度需要根据公交车辆的高度做出调整。 Capture on the car body to the interior; button placed next to the front end of the driver; image capture device may be processed simultaneously camera 4, four cameras may be placed at the end, and two head side of the vehicle, respectively, the installation of cameras is highly desirable to adjust the height of buses. GPRS天线安装在车顶,位置视具体情况而定。 GPRS antenna mounted on the roof, as the case may be, position.

图3所示本发明的自动抓拍装置总体构成。 FIG invention automatically capture the entire apparatus configuration shown in FIG 3. 包括视频采集和分析单元1、通信单元2、主控处理单元3、人机接口单元4、本地存储单元5和稳压单元。 It includes video acquisition and analysis unit 1, the communication unit 2, the main control processing unit 3, the man-machine interface unit 4, storage unit 5, and the local regulation unit. 视频采集和分析单元1采集并分析有无违章车辆并存储违章车辆的图片;通信单元2传送违章车辆的图片;人机接口单元4实现基于按键的人工抓拍;存储单元5实现对违章图片的存储;主控处理单元3实现对上述四个单元的协调和控制;稳压单元实现对上述所有单元的供电。 Video acquisition and analysis unit 1 analyzes images acquired and stored, and presence or absence of illegal vehicles violating vehicle; transmitting illegal vehicle communication unit 2 images; man-machine interface unit 4 Based on Artificial capture key; storage unit 5 stores implemented illegal picture ; master processing unit 3 to achieve coordination and control for the four unit; power regulation unit is implemented for all of the above elements. 其中,视频采集和分析单元1和人机接口单元4连接于主控处理单元3,通信单元2和本地存储单元5与主控处理单元3互联。 Wherein the video capture and analysis unit and a man-machine interface unit 4 is connected to a main control processing unit 3, a communication unit 2 and the local storage unit 5 and the main control processing unit 3 network.

图4所示的自动抓拍装置组成图。 FIG 4 is composed automatically capture apparatus shown in FIG. 由图象采集和控制部分由摄像头⑥、A/D转换器⑦,图象处理器DSP⑧、缓冲存储器⑨、CPLD控制器(10)、GPRS天线(11)、主控CPU(12)、本地存储单元(13)、非易失性存储器(14)、人工抓拍按键(15)组成,其中,CPLD控制器(10)分别与A/D转换器⑦、图象处理器DSP⑧、缓冲存储器⑨、主控CPU(12)连接,主控CPU(12)与人工按键(15)、非易失性存储器(14)连接,主控CPU(12)与缓冲存储器⑨和本地存储单元(13)互联。 And a control section of the image pickup by the camera ⑥, A / D converter ⑦, the image processor DSP⑧, the buffer memory ⑨, CPLD controller (10), GPRS antenna (11), the main control CPU (12), the local storage means (13), a nonvolatile memory (14), the artificial capture button (15), wherein, CPLD controller (10), respectively, the A / D converter ⑦, the image processor DSP⑧, ⑨ a buffer memory, a main control CPU (12) connected to the main control CPU (12) and press any key (15), a nonvolatile memory (14) connected to the main control CPU (12) ⑨ and the buffer memory and the local memory unit (13) interconnected.

视频采集单元采用CCD采集现场图象并送给A/D芯片进行处理。 Collected using a CCD video capture unit and the live picture to the A / D chip for processing. A/D芯片采用PHILIPIS公司的SAA7111A芯片,7111A芯片有4个模拟通道,通过分时采集4路的图象信号,分时进行处理。 A / D chip PHILIPIS's SAA7111A chip, 7111A chip has four analog channels, time division by time division processing of an image signal acquired four. 可通过编程选择其转换模式,通过I2C总线进行编程,完成其初始化的工作,信号的输出格式也由I2C总线进行控制,采用CCIR601的4∶2∶2格式。 Conversion mode which can be selected by programming, is programmed through the I2C bus, completes its initialization operation, the signal output format is also controlled by an I2C bus using 4:2:2 the CCIR601 format. 这样,现场图象就从模拟数据转换为数字数据,并通过缓存器,送给DSP芯片进行进一步的数字图象处理。 Thus, from the live picture to the analog data into digital data, and through buffer, to the DSP chip for further digital image processing.

DSP数据处理器:此芯片是用来专门进行图象数据处理。 DSP data processor: This chip is used exclusively for image data processing. 采用TI公司生产的TMS320C6412芯片。 TI's TMS320C6412 chip production. 该芯片具有灵活的指令系统和操作性能,支持汇编语言和C语言的单独和混合编程。 The chip having flexible instruction system performance and operation, and support a separate mixing assembly language and C programming language. DSP对放在缓冲存储中的数据进行处理,通过一定的图象处理算法提取违章车辆的信息。 The DSP on the data stored in the buffer is processed, the information extracted by illegal vehicles certain image processing algorithms.

CPLD采用XILINX公司的XC95288XV芯片。 XILINX CPLD uses the company's XC95288XV chip. 编程方式采用原理图和VHDL语言相结合的输入方法,通过专用的下载电缆下载到芯片中。 Programmatically using an input method and a schematic combined VHDL language, downloaded to the chip via a dedicated download cable. 该芯片可以完成整个电路的逻辑关系。 The logic chip can complete the entire circuit.

缓冲器采用TDT公司的TDT72V215L。 Buffer using TDT's TDT72V215L. 由A/D转换芯片转换而来的视频数据进入TDT72V215L,在其中暂时存放。 The A / D conversion chip into the video data converted from TDT72V215L, temporarily stored therein. 当DSP对其进行处理是,可通过重复读指令进行读操作,因为重复指令可把一条多到5个周期的指令变为1个周期的指令,所以DSP一次可以读大量的书籍,从而实现缓冲的功能。 When the DSP process it is read by repeating a read operation instruction, since the instructions may be repeated more than one instruction to the instruction becomes 5 cycles 1 cycle, so that a DSP can read a large number of books, in order to achieve a buffer function.

非易失性存储器用来存放主控CPU的程序代码,采用INTEL的128兆28F128J3A芯片。 The nonvolatile memory used to store program code, host CPU, using the 128 MB 28F128J3A INTEL chips.

本地存储器用来存放由DSP抓拍下来的违章车辆的图片,采用256兆的CF卡。 Local memory is used to store image capture by the DSP down illegal vehicles, the use of the CF card 256 megabytes.

主控CPU用来主控管理DSP处理器、键盘接口、GPRS接口的协调工作,采用CIRRUSLOGIC公司的EP9312ARM9的芯片。 The host CPU to manage the master DSP processor, keyboard interface, coordination GPRS interface, using EP9312ARM9 of CIRRUSLOGIC's chips.

GPRS无线传输模块用来把违章图片传输给管理部门,采用MOTOROLA公司的G20。 GPRS wireless transmission module used to transport illegal images to management, the use of MOTOROLA's G20. 其特点是:内嵌TCP/IP协议,性能优越,体积极小(24.4×48.2×6.0mm)。 Its characteristics are: embedded TCP / IP protocol, superior performance, a very small volume (24.4 × 48.2 × 6.0mm).

本发明可以同时处理多种违章现象:1)在早高峰和晚高峰的时间内,非公交车使用公交车道;2)在非停车点违章停车;3)机动车非法使用自行车道;4)在交通流拥挤时,违章换道和插车。 The present invention can handle a variety of illegal behavior: 1) in the evening and morning peak time peak, using non-public PDI bus lanes; 2) in a non-parking-parking spot; 3) motor bike paths illegal use; 4) when traffic congestion, illegal lane change and plunging.

尾部和头部的摄像头的作用主要是抓拍违章行为1);右侧的摄像头的作用主要是抓拍违章行为2)和3)。 Tail and head effect mainly camera capture violations 1); the right side of the camera acting mainly capture violations 2) and 3).

图5,对于违章行为1)的图象处理算法流程是:首先判断是否在公交专用的时段时,比如是否在7:00-9:00AM内,否则就不进行违章行为1的处理。 5, for violations 1) flow of image processing algorithms are: first determines whether the period during special bus, such as whether the 7: 00-9: 00AM within, or does not perform a process of violations. 如果在这个时段内,判断现在公交车是否行驶在公交专用道内,具体做法就是寻找公交专用道的黄线标志。 If within this period of time, to determine whether the bus is now traveling in a bus lane, the specific approach is to look for the yellow bus lane line mark. 如果在专用道内,那么对公交车尾部和头部摄像头视野那的车辆进行分析,分析其车型,是否有非公交车车辆。 If in the lane, then the head and tail of the bus camera field of view of the head of that vehicle analysis, which models, if there are non-public PDI vehicles. 如果有,那么就连续抓拍几幅违章车辆的图象。 If so, then the continuous image capture pieces of illegal vehicles.

步骤S5.1读取时钟并判断,首先读取主控CPU的时钟,然后判断时间否是在公交车专用道的专用时间段内,如果是,那么进入步骤S5.2,否则重复步骤S5.1;步骤S5.2过滤图象噪声,将公交车尾部和头部的摄像机采集到的图象CB进行基于Kalman的图象滤波,滤去噪声,形成滤波后的图象CBG;步骤S5.3定位专用道标志及判断公交车位置,在图象C中首先进行边缘提取,然后采用基于边缘组成的区域形状判断法,定位出专用道标志线,因为专用道标志线一般为一条粗的黄线,那么在图象C中表现为细长的长方形,而且经常与图象C的长度相等,如果在图象C中没有发现专用道标志,那么返回S5.1;否则,判断公交车是否在专用道行驶,判断规则是:如果专用道标志在图象的左(右)边缘,那么公交车在专用道行驶,并且进入步骤S5.4;否则返回步骤S5.1;步骤S5.4判断是否有非 Step S5.1 and read clock is determined, the CPU first reads the master clock, and then determines whether the time period of the dedicated bus lanes, and if so, proceeds to step S5.2, otherwise repeat Step S5. 1; image noise filtering step S5.2, the collected camera head and the tail of the bus to an image based on the image CB Kalman filtering, the filtered noise, an image is formed CBG filtered; step S5.3 positioning marker lanes and the position of the bus is determined, in the first image C, edge extraction, and then using the determination method is based on the shape of the edge region composed of a lane marker line positioning, because lane marking lines is generally a thick yellow line , then the performance of the image C as an elongated rectangle, and often equal to the length C of the image, if no lane marker in the image C, then returned S5.1; otherwise, it is determined whether or not a dedicated bus Road travel, judgment rule is: if the lane markers on the left (right) edge of the image, then the bus traveling in the lane, and proceed to step S5.4; otherwise it returns to step S5.1; S5.4 step to determine whether there non- 交车在专用道行驶,在图象C中,采用边缘提取,然后采用基于边缘组成的区域形状判断法,判断出是否有车在专用道内,通常小轿车的边缘组成一定面积的矩形J,如果矩形J的面积大于设定置M,那么认为为公交车,否则认为非公交车,如果有非公交车在专用道行驶,并且持续时间超过5秒,那么进入步骤S5.5,否则返回步骤S5.1;步骤S5.5保存图象,将非公交车的连续三帧的违章图象保存到缓冲存储,然后通知CPLD,CPLD通知主控单元把违章图象从缓冲存储转移到本地存储单元,同时清空缓冲存储。 Orthogonal traveling in lanes, the image C, the use of edge detection, and then using the determination method is based on the shape of the edge region composed, it is determined whether the car in the lane, typically consisting of some cars edge rectangular area J, if J is larger than the rectangular setting set M, it is considered as the bus, or that the PDI non-public, non-public Orthogonal if the traveling lane, and the duration of more than 5 seconds, then proceeds to step S5.5, otherwise returns to step S5 .1; step S5.5 save the image, the image will be saved illegal three consecutive frames of the non-public PDI buffer memory, then notify the CPLD, CPLD notifies the main control unit illegal image is transferred from the buffer memory to the local storage unit, while empty the cache.

图6,对于违章行为2)的图象处理算法流程是:首先寻找是否有停止的车辆。 6, for violations 2) image processing algorithms process is: First, find out whether there stopped vehicle. 如果有,则寻找此车辆周围是否有停车牌的标志? If so, find out whether there are signs around the park this vehicle licensing? 如果有,则不为违章停车,否则,连续抓拍几幅违章车辆的图象。 If there is, it is not illegal to stop, otherwise, continuous capture illegal vehicles image pieces. 注意,这种违章行为的抓拍只有在公交车在站牌前暂时停下上下乘客时才能使用。 Note that the capture of such violations only be used when the bus stopped in front of the stop sign being down passengers.

步骤S6.1过滤图象噪声,将公交车右侧摄像机采集到的图象CR进行基于Kalman的图象滤波,滤去噪声,形成滤波后的图象CRG;步骤S6.2判断公交车是否暂时停止运动,采用基于静止参照物的帧间比较判断公交车是否停止运动,通常,公交车进站时要停靠在站牌的附近,因此,方法采用站牌做为静止参照物,通过连续三帧之间进行比较,如果站牌的位置保持不变,那么公交车暂时停止运动,进入步骤S6.3,否则结束;步骤S6.3判断是否有停止的车辆,对图象CBG进行边缘提取,然后采用基于边缘组成的区域形状判断法,判断出是否有车停止,如果有,进入步骤S6.4,否则结束;步骤S6.4判断周围是否有停车牌,对图象CBG进行边缘提取,然后采用基于边缘组成的区域形状判断法,判断是否有停车牌。 Image noise filtering step S6.1, the bus right to the image captured by the camera CR Kalman filtering based on the image, the noise filtered off, the filtered image is formed CRG; step S6.2 is determined whether the bus is temporarily stop motion, a stationary reference frames based comparison determines whether the bus stop motion, typically, when the bus stop to stop in the vicinity of the stop sign, and therefore, the approach stop sign as the stationary reference, by three consecutive frames a comparison between, if the position remains the same stop sign, then the temporary bus stops moving, proceed to step S6.3, otherwise end; step S6.3 determine whether the vehicle is stopped, the image CBG extracting the edge, then shape determination method based edge region composed, determine whether a car is stopped, and if so, proceeds to step S6.4, otherwise ending; determining whether step S6.4 around parking card, for extracting the edge image CBG, then using shape determination method based on the area consisting of the edges, it is determined whether there is a stop sign. 如果有停车牌,那么结束,否则进入步骤S6.5;步骤S6.5保存图象,将非法停车的连续三帧的违章图象保存到缓冲存储,然后通知CPLD,CPLD通知主控单元把违章图象从缓冲存储转移到本地存储单元,同时清空缓冲存储。 If a parking card, is ended, otherwise, step S6.5; S6.5 Save step image, save image illegal illegal parking three consecutive frames to the buffer memory, then notify the CPLD, CPLD notifies the main control unit sets violation image transfer from the buffer memory to the local storage unit, while empty the cache.

图7,对于违章行为3)的图象处理算法流程是:首先定位自行车道的标志。 7, for violations 3) an image processing algorithm flow is: first alignment mark bicycle paths. 关于定位自行车道,由于自行车道的标志不统一,有的路段甚至没有明确标示出来。 About positioning bike trails, bike lanes because the signs are not uniform, and some sections even not clearly marked. 因此,此处采用的方法也不尽统一。 Thus, the method used here is not quite uniform. 在不同的路段采用不同的方法。 Different ways in different sections. 可由于抓拍器本身并不知道具体的位置,因此可与公交车的GPS子系统相结合,定位公交车的位置,在不同的路段采取不同自行车道定位的方法。 Since the snapshot itself can not know the specific position, it may be combined with a GPS subsystem bus, bus position location, bike path positioned adopt different methods in different sections. 如果在自行车道有机动车在持续行驶,那么就连续抓拍几幅违章车辆的图象。 If the vehicle has continued traveling, then a continuous image capture pieces of illegal vehicles in road bike.

步骤S7.1过滤图象噪声,将公交车右侧摄像机采集到的图象CR进行基于Kalman的图象滤波,滤去噪声,形成滤波后的图象CRG;步骤S7.2接收GPS定位信息并调用不同的定位方法,通过安装在公交车的GPS接收器定位当前公交车所处的位置,然后根据不同的位置调用事先存储的多种自行车道定位方法;方法一:通常公交车专用道都在普通机动车道的外侧,与自行车道相邻,因此,如果公交车的右侧摄像机检测到有车辆行驶,那么此车辆肯定行驶在自行车道,而有的自行车的一部分允许机动车行驶,此时就不能采用上述方法了,如何区分这两种情况,采用GPS的定位信息来区分,事先存储不同情况路段的经度和纬度范围,然后根据经度和纬度范围调用相应方法,如果有车辆行驶在自行车道,那么进入步骤S7.3,否则返回S7.1;步骤S7.3保存图象。 Image noise filtering step S7.1, the bus right to the image captured by the camera CR Kalman filtering based on the image, the noise filtered off, the filtered image is formed CRG; GPS location information receiving step S7.2 and call different methods of positioning by the GPS receiver installed in the bus in which the bus locating the current position, then positioning methods according to various bicycle lanes different positions call stored in advance; method a: bus lanes are normally in ordinary vehicle outer track, adjacent bicycle path, therefore, the right side camera if the bus detects a vehicle running, then the vehicle travels affirmative bike paths, and some part of the bicycle allows the motor vehicle, this time on the above-described method can not be adopted, how to distinguish between these two cases, using GPS location information to distinguish, previously stored latitude and longitude sections of different situations, then calls the appropriate method in accordance with latitude and longitude, if the vehicle is traveling in the bike path, then proceeds to step S7.3, otherwise S7.1; S7.3 steps to save the image. 将非法行驶在自行车道的连续三帧的违章图象保存到缓冲存储,然后通知CPLD,CPLD通知主控单元把违章图象从缓冲存储转移到本地存储单元,同时清空缓冲存储。 The stored illegal illegal cycle paths with three consecutive image frames to the buffer memory, then notify the CPLD, CPLD notifies the main control unit illegal image is transferred from the buffer memory to the local storage unit, while empty the cache.

Claims (12)

1.一种违章车辆图象的自动抓拍装置,其特征在于,包括图象和控制部分,自动抓拍装置由视频采集和分析单元①、通信单元②、主控处理单元③、人机接口单元④和本地存储单元⑤组成,视频采集和分析单元①采集并分析有无违章车辆并存储违章车辆的图片;通信单元②传输违章车辆的图片;人机接口单元④实现基于按键的人工抓拍;存储单元⑤实现对违章图片的存储;主控处理单元③实现对上述4个单元的协调和控制,其中,视频采集和分析单元①和人机接口单元④连接于主控处理单元③,通信单元②和本地存储单元⑤与主控处理单元③互联。 An illegal vehicles automatic image capture apparatus comprising an image and a control section, a video capture device automatically capture and analysis unit ①, the communication unit ②, the master processing units ③, ④ human interface unit and a local storage unit composed ⑤, ① video acquisition and analysis unit analyzes images acquired and stored, and presence or absence of illegal vehicles violating vehicle; ② transmission image communication unit violating vehicle; man-machine interface unit ④ based on artificial capture key; storage means ⑤ realization of storing illegal images; master processing units ③ achieve coordination and control for the above-mentioned four units, wherein the video capture and analysis unit and a man-machine interface unit ④ ① connected to the master processing units ③, ②, and a communication unit ⑤ local storage unit and the main control processing unit ③ interconnected.
2.根据权利要求1所述的违章车辆图象的自动抓拍装置,其特征在于,由图象采集和控制部分由摄像头⑥、A/D转换器⑦,图象处理器DSP⑧、缓冲存储器⑨、CPLD控制器(10)、GPRS天线(11)、主控CPU(12)、本地存储单元(13)、非易失性存储器(14)、人工抓拍按键(15)组成,其中,CPLD控制器(10)分别与A/D转换器⑦、图象处理器DSP⑧、缓冲存储器⑨、主控CPU(12)连接,主控CPU(12)与人工按键(15)、非易失性存储器(14)连接,主控CPU(12)与缓冲存储器⑨和本地存储单元(13)互联。 The illegal vehicle according to claim 1 to automatically capture an image device, wherein the image acquisition by the camera and a control section ⑥, A / D converter ⑦, the image processor DSP⑧, ⑨ a buffer memory, CPLD controller (10), GPRS antenna (11), the main control CPU (12), a local memory unit (13), a nonvolatile memory (14), the artificial capture button (15), wherein, the controller CPLD ( 10), respectively, the A / D converter ⑦, the image processor DSP⑧, ⑨ a buffer memory, the main control CPU (12) connected to the main control CPU (12) and press any key (15), a nonvolatile memory (14) connection, main CPU (12) ⑨ and the buffer memory and the local memory unit (13) interconnected.
3.根据权利1或2所述的违章车辆图象的自动抓拍装置,其特征在于,抓拍装置的摄像头按在公交车辆的尾部、头部和右侧,通过自动图象处理辨识3种违章行为,是否有非公交车辆违章行驶在公交专用道,是否有机动车占用自行车道,是否有车辆违章停车,并把违章车辆的连续几幅图象抓拍并存储。 The automatic image capture device or illegal vehicles according to claim 12, characterized in that the camera capture apparatus according to the tail, the head and the right side of buses, the image processing by an automatic identification of three kinds of violations , whether there is a non-illegal driving buses in bus lanes, bicycle lanes if there is a motor vehicle occupied, whether a parking violation vehicle, and pieces of the continuous image capture and storage of illegal vehicles.
4.根据权利要求1或2所述的违章车辆图象的自动抓拍装置,其特征在于,由A/D和DSP完成对模拟图象的处理,而由另外的CPU完成对人机接口、GPRS通信和存储的协调处理,由CPLD完成对A/D转换模块、缓冲存储、DSP数据处理器和主控CPU的逻辑控制。 The image or illegal vehicles according to claim 12 automatic capture apparatus, wherein, the A / D and DSP performs analog processing on the image, and the completion of the human-machine interface by another CPU, GPRS coordinating communication and storage processing, the completion logic CPLD control the a / D converter module, the buffer memory, the data processor and the DSP of the host CPU.
5.根据权利要求2所述的违章车辆图象的自动抓拍装置,其特征在于,由A/D转换模块将模拟数据转换为数字数据,并送入DSP数据处理器,DSP处理器完成对图象数字数据的处理分析并把处理结果存入缓存。 The illegal vehicles automatically capture an image of the device according to claim 2, characterized in that, the A / D conversion module converts the analog data into digital data, and data into the DSP processor, DSP processor performs FIG. like digital processing and analysis of data and the processing results stored in the cache.
6.根据权利要求2所述的违章车辆图象的自动抓拍装置,其特征在于,其特征是,把存储在本地的违章图象通过GPRS无线传输方式及时传输到管理部门。 Automatic image capture device of illegal vehicles according to claim 2, characterized in that, characterized in that the illegal transmission of images stored in the local wireless transmission via GPRS to the timely administration.
7.根据权利要求1所述的违章车辆图象的自动抓拍装置,其特征是,可以同时处理放置在车辆不同位置的多路摄像头的信息。 7. The image of the violation vehicle according to claim 1, automatic capture apparatus, wherein, the information can be processed simultaneously placed in multiple different camera positions of the vehicle.
8.根据权利要求1所述的违章车辆图象的自动抓拍装置,其特征是,人机接口可以是通过按键的方式,也可以通过按键加液晶屏显示的方式。 The automatic image capture device of illegal vehicles according to claim 1, characterized in that the man-machine interface may be by way of a key, the key may be added by a liquid crystal display screen.
9.一种违章车辆图象的自动抓拍方法,其特征是,在公交车的不同部位安装CCD摄像头,摄像头可嵌入安装,也可外侧安装,视频采集和分析单元对采集到的视频流进行图象处理和分析,把违章车辆的多幅图象连续抓拍下来,并存储在本地存储单元,同时采用GPRS无线传输设备把违章车辆的视频流传送到监控管理中心,可同时处理3种违章行为,1)是否有非公交车辆违章行驶在公交专用道,2)是否有违章停车,3)是否有机动车占用自行车道。 A violation vehicle automatic image capture method, characterized in that the CCD camera installed in different parts of the bus, the camera can be mounted embedded, may also be installed outside, video capture and analysis unit of the video stream captured FIG. image processing and analysis, the violating vehicle continuously capture a plurality of images down, and stored in the local storage unit, while using GPRS wireless transmission device of the video stream to the violating vehicle monitoring and management center, can handle three kinds of violations, 1) Is there a non-illegal driving buses in bus lanes, 2) whether a parking violation, 3) whether a vehicle occupies bicycle lanes.
10.根据权利要求9所述的违章车辆图象的自动抓拍方法,特征在于:其中判断1)是否有非公交车辆违章行驶在公交专用道的方法,其步骤如下:步骤S5.1,读取时钟并判断,首先读取主控CPU的时钟,然后判断时间否是在公交车专用道的专用时间段内,如果是,那么进入步骤S5.2,否则重复步骤S5.1;步骤S5.2,过滤图象噪声,将公交车头部和尾部的摄像机采集到的图象CB进行基于Kalman的图象滤波,滤去噪声,形成滤波后的图象CBG;步骤S5.3,定位专用道标志及判断公交车位置,在图象C中首先进行边缘提取,然后采用基于边缘组成的区域形状判断法,定位出专用道标志线,因为专用道标志线一般为一条粗的黄线,那么在图象C中表现为细长的长方形,而且经常与图象C的长度相等,如果在图象C中没有发现专用道标志,那么返回S5.1;否则,判断公交车是否在专用 10. The image of the violation vehicle according to claim 9, automatically capture method, comprising: wherein determining a) whether there is a non-violation buses with bus lane in the process, the following steps: Step S5.1, read and determining a clock, the master clock of the CPU is read first, and then determines whether the time period of the dedicated bus lanes, and if so, proceeds to step S5.2, otherwise repeat step S5.1; S5.2 step filtering image noise, the collected bus to the head and tail of the camera image based on the image CB Kalman filtering, the filtered noise, an image is formed CBG filtered; step S5.3, the positioning mark lanes and determining the position of the bus, the image C in the first edge extraction, and then using the determination method is based on the shape of the edge region composed of a lane marker line positioning, because lane marking lines is generally a thick yellow line, then the FIG. C as performance in an elongated rectangular shape, and often equal to the length C of the image, if no lane marker in the image C, then returned S5.1; otherwise, it is determined whether or not a dedicated bus 行驶,判断规则是:如果专用道标志在图象的左(右)边缘,那么公交车在专用道行驶,并且进入步骤S5.4;否则返回步骤S5.1;步骤S5.4,,判断是否有非公交车在专用道行驶,在图象C中,采用边缘提取,然后采用基于边缘组成的区域形状判断法,判断出是否有车在专用道内,通常小轿车的边缘组成一定面积的矩形J,如果矩形J的面积大于设定置M,那么认为为公交车,否则认为非公交车,如果有非公交车在专用道行驶,并且持续时间超过5秒,那么进入步骤S5.5,否则返回步骤S5.1;步骤S5.5,保存图象,将非公交车的连续三帧的违章图象保存到缓冲存储,然后通知CPLD,CPLD通知主控单元把违章图象从缓冲存储转移到本地存储单元,同时清空缓冲存储。 Travel, judgment rule is: if in the left lane mark image (right) edge, then the bus traveling in the lane, and proceed to step S5.4; otherwise it returns to step S5.1; S5.4 ,, determine whether step there the non-public Orthogonal traveling lane, in the image C, the use of edge detection, and then using the determination method is based on the shape of the edge region composed, it is determined whether the car in the lane, typically consisting of some cars edge rectangular area J If J is larger than the rectangle opposing set M, it is considered as the bus, or that the PDI non-public, non-public Orthogonal if the traveling lane, and the duration of more than 5 seconds, then proceeds to step S5.5, otherwise step S5.1; S5.5 step, save image, save image illegal three consecutive frames of the non-public PDI buffer memory, then notify the CPLD, CPLD notifies the main control unit from the illegal image is transferred to the local buffer memory a storage unit, while empty the cache.
11.根据权利要求9所述的违章车辆图象的自动抓拍方法,特征在于:其中判断2)是否有违章停车的判断方法,其步骤如下:步骤S6.1过滤图象噪声,将公交车右侧摄像机采集到的图象CR进行基于Kalman的图象滤波,滤去噪声,形成滤波后的图象CRG;步骤S6.2判断公交车是否暂时停止运动,采用基于静止参照物的帧间比较判断公交车是否停止运动,通常,公交车进站时要停靠在站牌的附近,因此,方法采用站牌做为静止参照物,通过连续三帧之间进行比较,如果站牌的位置保持不变,那么公交车暂时停止运动,进入步骤S6.3,否则结束;步骤S6.3判断是否有停止的车辆,对图象CBG进行边缘提取,然后采用基于边缘组成的区域形状判断法,判断出是否有车停止,如果有,进入步骤S6.4,否则结束;步骤S6.4判断周围是否有停车牌,对图象CBG进行边缘提取,然后采用 11. The image of the violation vehicle to automatically capture method of claim 9, wherein: wherein determining 2) The method of judging whether a parking violation, the following steps: Step S6.1 filtering image noise, the bus right- side camera image acquired CR based on Kalman filtering of the image, the noise filtered off, the filtered image is formed CRG; step S6.2 is determined whether or not the bus is temporarily stops moving, the use of stationary reference frames based on the comparison determination of are bus stops moving, usually, when you want to stop at the bus stop near the stop sign, therefore, the approach still stop sign as a reference, by comparison among the three successive frames, if the position remains the same stop sign , then temporarily stops moving buses, proceeds to step S6.3, otherwise ending; step S6.3 of determining whether a vehicle is stopped, the image edge CBG extract, then the shape determination method employed based on the edge region composed, it is determined whether car stop, and if so, proceed to step S6.4, otherwise ending; steps S6.4 to determine whether there is around the stop sign, the image CBG extracting the edge, then using 于边缘组成的区域形状判断法,判断是否有停车牌,如果有停车牌,那么结束,否则进入步骤S6.5;步骤S6.5保存图象,将非法停车的连续三帧的违章图象保存到缓冲存储,然后通知CPLD,CPLD通知主控单元把违章图象从缓冲存储转移到本地存储单元,同时清空缓冲存储。 Analyzing method to shape the edge region composed, determines whether there is a stop sign, if there is a stop sign, is ended, otherwise, step S6.5; S6.5 Save step image, the illegal image preservation three consecutive frames illegal parking to the buffer memory, then notify the CPLD, CPLD notifies the main control unit illegal image is transferred from the buffer memory to the local storage unit, while empty the cache.
12.根据权利要求9所述的违章车辆图象的自动抓拍方法,特征在于:其中判断3)是否有机动车占用自行车道的判断方法,其步骤如下:步骤S7.1过滤图象噪声,将公交车右侧摄像机采集到的图象CR进行基于Kalman的图象滤波,滤去噪声,形成滤波后的图象CRG;步骤S7.2接收GPS定位信息并调用不同的定位方法,通过安装在公交车的GPS接收器定位当前公交车所处的位置,然后根据不同的位置调用事先存储的多种自行车道定位方法;方法一:通常公交车专用道都在普通机动车道的外侧,与自行车道相邻,因此,如果公交车的右侧摄像机检测到有车辆行驶,那么此车辆肯定行驶在自行车道,而有的自行车的一部分允许机动车行驶,此时就不能采用上述方法了,如何区分这两种情况,采用GPS的定位信息来区分,事先存储不同情况路段的经度和纬度范围,然后根据经度 12. The image of the violation vehicle according to claim 9, automatically capture method, comprising: wherein determining 3) The method of determining whether a vehicle occupies a bicycle path, the following steps: Step S7.1 filtering image noise, the bus vehicle captured by the camera to the right of CR images based on Kalman filtering of the image, the noise filtered off, the filtered image is formed CRG; GPS location information receiving step S7.2 and invoke different positioning methods, by installing the bus GPS receiver position location in which the current bus, then positioning methods according to various bicycle path positions different calls stored in advance; method a: bus lanes are usually outside the normal motor vehicle lanes, bicycle lanes adjacent Therefore, if the bus right side camera detects a vehicle is traveling, then the vehicle is traveling on a bike path surely, while some part of the bicycle allows the motor vehicle, it can not at this time using the above method, and how to distinguish between the two case, using GPS location information to distinguish, previously stored longitude and latitude of the different sections of the case, according to the longitude and 和纬度范围调用相应方法,如果有车辆行驶在自行车道,那么进入步骤S7.3,否则返回S7.1;步骤S7.3保存图象,将非法行驶在自行车道的连续三帧的违章图象保存到缓冲存储,然后通知CPLD,CPLD通知主控单元把违章图象从缓冲存储转移到本地存储单元,同时清空缓冲存储。 Latitude and calls the corresponding method, if the vehicle is traveling in a bicycle path, then proceeds to step S7.3, S7.1 otherwise; Step S7.3 Save image, illegal image with three consecutive frames at illegal bike path stored in the buffer memory, then notify the CPLD, CPLD notifies the main control unit illegal image is transferred from the buffer memory to the local storage unit, while empty the cache.
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