CN202345671U - Video camera-based device for vehicle lane departure detection and early warning - Google Patents
Video camera-based device for vehicle lane departure detection and early warning Download PDFInfo
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- CN202345671U CN202345671U CN2011204454895U CN201120445489U CN202345671U CN 202345671 U CN202345671 U CN 202345671U CN 2011204454895 U CN2011204454895 U CN 2011204454895U CN 201120445489 U CN201120445489 U CN 201120445489U CN 202345671 U CN202345671 U CN 202345671U
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Abstract
The utility model relates to the field of vehicle safe driving, and discloses a video camera-based device for vehicle lane departure detection and early warning. The device comprises a front camera, a rear camera, a microprocessor, a nixie tube and an alarm, wherein the front camera and the rear camera are used for detecting lane side boundaries and acquiring the relative distance between the own vehicle and a front vehicle and between the own vehicle and a rear vehicle; the microprocessor is used for processing the input information of the front and rear cameras and controlling work of the nixie tube and the alarm; the nixie tube is used for displaying the relative distance between the own vehicle and the front and rear vehicles in real time; and the alarm is used for generating a sound cue when vehicle wheels are on the side boundaries. The device can accurately display the relative distance between the own vehicle and the front and rear vehicles, and can generate alarm prompt sound when the own vehicle departs from the regular running lane, thereby preventing the vehicle from being in unexpected accidents in the running process. The device has the characteristics of simple structure, accurate monitoring data, visual data display and synchronous sound prompt.
Description
Technical field
The utility model relates to the safe driving of vehicle field, and is particularly a kind of based on pick up camera detection vehicle and deviation and prior-warning device.
Background technology
On express highway; Chaufeur is easy to fatigue state occur because of long driving; In case that chaufeur occurs is sleepy, make a phone call etc. commonly diverts one's attention during behavior, this moment, vehicle was easy to depart from this track and sail other track into because of the maloperation of bearing circle, if miss the place ahead, track of sailing into or rear when vehicle not far from one another is arranged from car; This moment is among car is in the potential collision of a danger close; Obviously, relying on chaufeur to concentrate one's energy to drive driving merely is the behavior of a danger close, is easy to cause traffic accident.
At present; There is a large amount of researchists doing correlative study aspect detecting test of vehicle and the deviation both at home and abroad; Major part all is through using millimeter wave radar, image capture instrument and wheel speed sensors to gather the information from car front and back target vehicle and sideline, track; And detect corresponding target vehicle and lane mark information according to corresponding information, and then drive driving to chaufeur and provide corresponding early warning signal to reach the purpose that drives with caution by microprocessor.But there is a vice proper in technical scheme mostly: adopt millimeter wave radar to gather relative distance, its cost is very expensive; And the image capture instrument acquisition system is complicated, is not easy operation, this type of technical scheme possible in theory; But practicality is not strong, can not carry out large-scale promotion and implementation.
Summary of the invention
In order to overcome the deficiency of above-mentioned prior art; The purpose of the utility model is to provide a kind of and detects vehicle and deviation and prior-warning device based on pick up camera; Can show accurately that departing from the normal row track from the relative distance of the forward and backward vehicle of spacing and Ben Che sends alarm sound, prevent that vehicle is expert to meet accident in the process.
In order to reach above-mentioned technical purpose, the utility model adopts following technical scheme to be achieved:
A kind ofly detect vehicle and deviation and prior-warning device based on pick up camera, comprise be used to detect the sideline, track and gather from the preceding camera of the relative distance between car and the front and back vehicle and back camera, be used to handle front camera and rear camera input information and control charactron and alarm work microprocessor, be used for showing in real time the relative distance of vehicle from the spacing front and back charactron, be used for the annunciator of generation auditory tone cues under the vehicle tyre line ball situation.
Described microprocessor; Adopt CMOS8 position micro controller system; Be installed in the collection machine box, its input port I/O-1, I/O-2 are electrically connected with the mouth of preceding camera and back camera respectively, and its delivery port I/O-3, I/O-4 are electrically connected with the input end of charactron and annunciator respectively.
Camera and back camera adopt the identical high-definition camera of structure before described, are installed on the forward and backward windshield of vehicle, and its mouth is electrically connected with input port I/O-1, the I/O-2 of microprocessor respectively.
Described charactron adopts 8 common cathode charactrons, is installed on meter panel of motor vehicle one side, and its input end is electrically connected with the delivery port I/O-3 of microprocessor.
Described annunciator adopts buzzer phone or moving-coil loudspeaker, is installed on jointly in the machine box with microprocessor, and its input end is electrically connected with the delivery port I/O-4 of microprocessor.
Compared with prior art, the advantage of the utility model is: 1, and the high-definition camera of employing function admirable, intelligent degree is high, can realize gathering simultaneously the relative distance of sideline, track and Ben Che and front and back vehicle.2, owing to adopt microprocessor, can in time handle real time data information, speed of response is fast, and controller performance is good.3, adopt charactron, can show the relative distance between car and front vehicles in real time, and cost is low.
Description of drawings
Fig. 1 is the structural representation of the utility model;
Among the figure: 1 is the place ahead camera; 2 is the rear camera; 3 is microprocessor; 4 is charactron; 5 is annunciator.
The specific embodiment
Following with reference to accompanying drawing with combine the specific embodiment that the utility model is further described.
With reference to Fig. 1; A kind of based on pick up camera detection vehicle and deviation and prior-warning device; Comprise being installed in the machine box information of camera and back camera input before being used to handle, control charactron and alarm work microprocessor; Its input port I/O-1, I/O-2 are electrically connected with the mouth of preceding camera and back camera respectively, and its mouth I/O-3, I/O-4 are electrically connected with the input end of charactron and annunciator respectively; Be installed in vehicle front and back windshield, be used to detect the preceding camera and back camera of sideline, track and the relative distance of collection between car and front and back vehicle, its mouth is electrically connected with input end I/O-1, the I/O-2 of microprocessor respectively; Be installed on meter panel of motor vehicle one side, be used for showing in real time the charactron of the relative distance of vehicle before and after spacing, its input end is electrically connected with the mouth I/O-3 of microprocessor; Be installed on jointly in the machine box with microprocessor, the annunciator of audible alarm when being used for the vehicle tyre line ball, its input end is electrically connected with the mouth I/O-4 of microprocessor.
Present embodiment C2-170 pick up camera internal preset lane detection algorithm and vehicle detecting algorithm are to reach the purpose that is used for detecting deviation and front and back vehicle.The principle of work of lane detection algorithm is: it is made up of Road Detection model and the 3D reproduction model that originates in image origin, accomplishes the lane detection model of an intelligence through combining these two kinds of models, and its lane detection model formation is:
x＝k·y
2+m·y+b (1)
u＝ke
ue
vH/(e
vm
e-v)+me
u+(e
vm
θ-v)be
u/e
vH (2)
Wherein, formula (1) is a track trend, and formula (2) is a lane markings information.Thisly be used to the identification of obtaining lane mark, will estimate more accurately, replaced very heavy calculating such as crank course as parabolical multinomial.Trend primary prediction in track points out fast the possibility area-of-interest through using the first order Taylor multinomial; In case track trend is determined; After every lane mark detects; Road model will upgrade through a kind of cycle mode, and this model also extends to the composite model based on the vision framework, resists peculiar road to carry out compound lane detection.
The principle of work of vehicle detecting algorithm is: it detects the front truck vehicle simultaneously by three scanning lines; It is searched from the bottom to top along the horizontal edge of vehicle continuously, in case some edges appear on the scanning line, continuous edge will be examined to confirm whether have automobile storage to exist; With this edge as a reference; Vehicle is used as senior identification with reference to obstacle, in this zone, daytime and evening tire contour shape through night the taillight characteristic come further to detect vehicle.In addition, the edge is that a key feature is used for discerning vehicle location in pairs, and when two summits occurring at a certain reference zone, that has indicated the boundary line of vehicle both sides.In the vehicle detecting algorithm that provides, the relative distance formula that detects automatically between car and front vehicles is: y=e
vH/ (e
vm
e-v).
The present embodiment microprocessor adopts the AT89C52 micro controller system, and effective relative distance Δ s scope that internal processes preestablishes between car and front and back vehicle is: 0.3m≤Δ s≤100m.When from the relative distance between car and the front and back vehicle greater than 100 meters the time, the micro controller system internal processes is regarded as invalid data, does not export its range information, and corresponding with it is charactron range of a signal numeral when relative distance is greater than 100 meters.
It is a kind of that to detect vehicle and deviation and prior-warning device practical implementation flow process based on pick up camera following:
The working process of the utility model is such:
After vehicle ignition started, the place ahead camera 1 of windshield started with rear camera 2 thereupon before and after being installed in, and this moment, the self-opening checking system mainly detected front and back vehicle and sideline, track.When the place ahead camera 1 and rear camera 2 have detected target vehicle in the 100m interval of Δ s; After microprocessor 3 receives the data message from front and back C2-170 pick up camera; Warp is compared with efficient range 0.3m≤Δ s≤100m that internal processes is set; The place ahead camera 1 is an invalid data with the data message that rear camera 2 transmits, and microprocessor 3 does not give any response at this moment.When the place ahead camera 1 and rear camera 2 at 0.3m≤Δ s≤when the 100m interval has detected target vehicle; There are three kinds of situation this moment: 1; If in 0.3m≤Δ s≤100m interval, detect when having only the place ahead to have target vehicle; Microprocessor is exported to charactron 4 to relative distance Δ s information, and this moment, charactron showed the relative distance numeral between car and front vehicles in real time; 2, if in 0.3m≤Δ s≤100m interval, detect when having only the rear to have target vehicle, micro controller system is exported to charactron 4 to relative distance Δ s information, and this moment, charactron showed the relative distance numeral between car and front vehicle in real time; 3; If when in 0.3m≤Δ s≤100m interval, detecting the place ahead and rear and having target vehicle simultaneously; Microprocessor 3 internal processes are judged earlier relatively from car and front vehicles relative distance Δ s1 with from the size of car and front vehicle relative distance Δ s2; Little then 3 treaters are got both medium and small relative distances and are exported to charactron 4 as valid data, and this moment, charactron 4 demonstrations in real time were from the nearest relative distance numeral of the forward and backward side's vehicle of spacing; Meanwhile; The place ahead camera 1 detects deviation trend constantly with rear camera 2; When detecting wheel of vehicle and be pressed on the lane mark, this moment, microprocessor 3 transmitted control signal for buzzer phone 5, started annunciator 5 and reported to the police; To remind this moment of chaufeur should not sail other track into, need drive with caution.Can know by above testing process; A kind ofly detect vehicle based on pick up camera and be easy to realize the detection in front and back vehicle detection and sideline, track, and detect accurately the fiduciary level height with deviation and prior-warning device; Check implement is few, has reached the purpose that auxiliary security is driven well.
In the present embodiment, the place ahead camera 1 is the C2-170 high-definition camera with 2 employings of rear camera, and its characteristics are: 1; Monitoring front vehicles; And calculate collision time and before 2.7 seconds of possibly bump, send a collision warning, let the driver take action, generation avoids traffic accident; 2, the position of monitor vehicle in the track when unintentional deviation takes place, gives a warning; 3; Distance between measurement and front vehicles, and the gait of march of the main consuming body vehicle calculating the place ahead distance promptly can calculate the time that reaches front vehicles; The detected relative distance of C2-170 shows through charactron, and gives a warning when distance reduces forwardly.Its 0 °～150 ° detection range is more being widened monitoring range, has guaranteed to detect the popularity and the reliability of data.
Although more than combine accompanying drawing that embodiment of the present invention are described, the present invention is not limited to above-mentioned specific embodiments and applications field, and above-mentioned specific embodiments only is schematic, guiding, rather than restrictive.Those of ordinary skill in the art under the situation that does not break away from the scope that claim of the present invention protects, can also make a variety of forms under the enlightenment of this specification sheets, these all belong to the row of the present invention's protection.
Claims (5)
1. one kind is detected vehicle and deviation and prior-warning device based on pick up camera; It is characterized in that, comprise be used to detect the sideline, track and gather from the preceding camera of the relative distance between car and the front and back vehicle and back camera, be used to handle front camera and rear camera input information and control charactron and alarm work microprocessor, be used for showing in real time the relative distance of vehicle before and after spacing charactron, be used for the annunciator of generation auditory tone cues under the vehicle tyre line ball situation.
2. according to claim 1 a kind of based on pick up camera detection vehicle and deviation and prior-warning device; It is characterized in that; Described microprocessor adopts CMOS8 position micro controller system, is installed in the machine box; Its input port I/O-1, I/O-2 are electrically connected with the mouth of preceding camera and back camera respectively, and its delivery port I/O-3, I/O-4 are electrically connected with the input end of charactron and annunciator respectively.
3. according to claim 1 a kind of based on pick up camera detection vehicle and deviation and prior-warning device; It is characterized in that; Camera and back camera before described; Adopt the identical high-definition camera of structure, be installed on the forward and backward windshield of vehicle, its mouth is electrically connected with input port I/O-1, the I/O-2 of microprocessor respectively.
4. according to claim 1 a kind of based on pick up camera detection vehicle and deviation and prior-warning device; It is characterized in that described charactron adopts 8 common cathode charactrons; Be installed on meter panel of motor vehicle one side, its input end is electrically connected with the delivery port I/O-3 of microprocessor.
5. according to claim 1 a kind of based on pick up camera detection vehicle and deviation and prior-warning device; It is characterized in that described annunciator adopts buzzer phone or moving-coil loudspeaker; Be installed on jointly in the machine box with microprocessor, its input end is electrically connected with the delivery port I/O-4 of microprocessor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204454895U CN202345671U (en) | 2011-11-11 | 2011-11-11 | Video camera-based device for vehicle lane departure detection and early warning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204454895U CN202345671U (en) | 2011-11-11 | 2011-11-11 | Video camera-based device for vehicle lane departure detection and early warning |
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| CN202345671U true CN202345671U (en) | 2012-07-25 |
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| CN2011204454895U Expired - Fee Related CN202345671U (en) | 2011-11-11 | 2011-11-11 | Video camera-based device for vehicle lane departure detection and early warning |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287336A (en) * | 2013-06-24 | 2013-09-11 | 成都衔石科技有限公司 | Vehicle self-condition monitoring device |
| CN103303308A (en) * | 2013-06-24 | 2013-09-18 | 成都衔石科技有限公司 | System for mutually monitoring states of vehicles |
| CN104494514A (en) * | 2014-11-26 | 2015-04-08 | 芜湖福马汽车零部件有限公司 | Driving or parking assisting device |
| CN104527520A (en) * | 2014-12-12 | 2015-04-22 | 武汉理工大学 | Barrier vehicle-mounted early warning displaying method based on light emitting diode (LED) lamp group |
| CN106157289A (en) * | 2015-04-08 | 2016-11-23 | 株式会社理光 | Line detecting method and equipment |
-
2011
- 2011-11-11 CN CN2011204454895U patent/CN202345671U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103287336A (en) * | 2013-06-24 | 2013-09-11 | 成都衔石科技有限公司 | Vehicle self-condition monitoring device |
| CN103303308A (en) * | 2013-06-24 | 2013-09-18 | 成都衔石科技有限公司 | System for mutually monitoring states of vehicles |
| CN104494514A (en) * | 2014-11-26 | 2015-04-08 | 芜湖福马汽车零部件有限公司 | Driving or parking assisting device |
| CN104527520A (en) * | 2014-12-12 | 2015-04-22 | 武汉理工大学 | Barrier vehicle-mounted early warning displaying method based on light emitting diode (LED) lamp group |
| CN104527520B (en) * | 2014-12-12 | 2017-05-17 | 武汉理工大学 | Barrier vehicle-mounted early warning displaying method based on light emitting diode (LED) lamp group |
| CN106157289A (en) * | 2015-04-08 | 2016-11-23 | 株式会社理光 | Line detecting method and equipment |
| CN106157289B (en) * | 2015-04-08 | 2019-08-09 | 株式会社理光 | Line detecting method and equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120725 Termination date: 20121111 |