CN203450024U - Automobile safety distance caution device based on binocular stereo vision - Google Patents
Automobile safety distance caution device based on binocular stereo vision Download PDFInfo
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- CN203450024U CN203450024U CN201320533787.9U CN201320533787U CN203450024U CN 203450024 U CN203450024 U CN 203450024U CN 201320533787 U CN201320533787 U CN 201320533787U CN 203450024 U CN203450024 U CN 203450024U
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Abstract
The utility model discloses an automobile safety distance caution device based on binocular stereo vision, and belongs to the field of safety devices. A binocular camera unit is used for obtaining an image of a vehicle in the front and an image of a vehicle in the rear, a minimum distance value is obtained according to a calibration result and a matching result of the pair of images, the minimum distance value is compared with a safety distance value, and the function that a buzzer in an automobile gives an alarm, and the function that display and caution are carried out through LEDs on the tail portion of the automobile are achieved. The automobile safety distance caution device based on the binocular stereo vision is a binocular stereo vision distance measuring device, and has a great price advantage in the aspect of the cost; image information of automobiles can be captured through a stereo vision distance measuring method, and more information can be obtained; in addition, due to the fact that a camera, an automatic diaphragm and an automatic white balance technology are used in cooperation, the automobile safety distance caution device based on the binocular stereo vision can be applied to the occasions with poor visual conditions, such as the night and tunnels; therefore, the automobile safety distance caution device based on binocular stereo vision has the broad prospect in the field of automobile safety distance measurement.
Description
Technical field
The utility model belongs to security appliance field, is specifically related to a kind of automotive safety distance attention device based on binocular stereo vision.
Background technology
Along with the develop rapidly of China's economy and flat the improving constantly of the people's running water, automobile has entered huge numbers of families.Yet due to the sharply rising of volume of traffic, the frequent traffic thing occurring has caused huge loss also to broad masses of the people's the security of the lives and property.According to the statistics of China Daily, China surpasses every year 60000 people and dies from traffic accident, and more than ten years become one of country that toll on traffic is maximum in the world continuously.Have research institution's research to find, rear-end collision accident accounts for 35% of traffic accident sum, in expressway traffic accident, accounts for more than sixty percent especially.
The major cause of rear-end collision accident is because chaufeur fails to keep safe vehicle headway.In order to reduce this type of accident rate, can pass through to install at head the distance of distance measurement equipment measuring and calculating front vehicles and one's own side's vehicle, and in the time that spacing is less than safety distance, give Ben Che driver's alarm signal, to point out Ben Che driver to maintain safe distance; The distance of distance measurement equipment measuring and calculating front vehicle and one's own side's vehicle is installed at afterbody, and in the time that spacing is less than safety distance, gives rear car driver alarm signal, to point out rear car car driver to maintain safe distance.
At present, the technology for the range finding of vehicle mainly contains ultrasonic ranging, microwave radar range finding, laser ranging etc.Yet ultrasonic fault detection principle is simple, cost is low, be subject to weather effect large, be applicable to proximity detection; Microwave radar range finding is easily subject to the interference in magnetic field larger; Laser ranging cost is higher, and it is larger affected by inclement weather.Binocular stereo vision ranging technology, not only price is lower, in conjunction with camera, closes auto iris and AWB technology, can under the poor condition of the visual conditions such as night, tunnel, apply.Thereby technique of binocular stereoscopic vision is applied to automobile safety distance fields of measurement and has broad prospects.
Summary of the invention
For the deficiencies in the prior art, the utility model proposes a kind of automotive safety distance attention device based on binocular stereo vision, reach the poor environment practicality such as the visual condition that reduces costs, improves tunnel at night, play the object that spacing is warned, reduced traffic accident.
A kind of automotive safety distance attention device based on binocular stereo vision, comprise buzzer phone and keyboard, also comprise LED display after LED display in car, car, front side binocular camera shooting head, rear side binocular camera shooting head and central processing unit, wherein, described central processing unit San road input end connects respectively the mouth of the front side binocular camera shooting head that is positioned over automobile head, the rear side binocular camera shooting head mouth that is positioned over automobile tail and the mouth of keyboard; Central processing unit San road mouth connect be respectively positioned over the buzzer phone in car input end, be positioned over the input end of LED display after the car of car rear seat windscreen below and be positioned over LED display input end in the car in car.
The utility model advantage:
By head binocular camera shooting unit, obtain the image of two width front side vehicles, according to calibration result and to this matching result to image, can obtain the minor increment of Ben Che and front truck, this lowest distance value with by the safety distance comparison of keyboard to set up, if be less than safety distance, buzzer warning in car, points out Ben Che driver to slow down and goes slowly, and maintains safe distance; By afterbody binocular camera shooting unit, obtain the image of two width car front vehicle, according to calibration result and to this matching result to image, can obtain the minor increment of Ben Che and rear car, this lowest distance value with by the safety distance comparison of keyboard to set up, if be less than safety distance, the LED of tailstock portion shows information warning, and prompting rear car driver is slowed down and gone slowly, and maintains safe distance; Thereby the utility model patent not only guaranteed the safety of this car and front truck, and there is equally information warning for rear car.For avoiding or reducing traffic accident, ensure that numerous drivers and friend's passenger the security of the lives and property is significant.Compare with existing other automotive ranging systems, binocular stereo vision range finding tool equipment has very large price advantage aspect cost; Stereoscopy passive ranging device can be caught the graphicinformation of automobile, can obtain more quantity of information.In addition in conjunction with camera, auto iris and AWB technology, can under the poor condition of the visual conditions such as night, tunnel, apply.Thereby the utility model has broad prospects in automobile safety distance fields of measurement.
Accompanying drawing explanation
Fig. 1 is the integral structure block diagram of a kind of embodiment of the utility model;
Fig. 2 is the schematic layout pattern of the each several part of a kind of embodiment of the utility model;
Fig. 3 is the image acquisition hardware structure diagram of a kind of embodiment of the utility model;
Fig. 4 is the AA7113 decoding circuit figure of a kind of embodiment of the utility model;
Fig. 5 is the DSP schematic circuit diagram of a kind of embodiment of the utility model;
Fig. 6 is the CPLD interface circuit figure of a kind of embodiment of the utility model;
Fig. 7 is the rank scanning formula keyboard circuit figure of a kind of embodiment of the utility model;
Fig. 8 is the buzzer circuit figure of a kind of embodiment of the utility model;
Fig. 9 is the interior LED display circuit figure of the car of a kind of embodiment of the utility model;
Figure 10 is the afterbody LED display circuit diagram of a kind of embodiment of the utility model;
Figure 11 is the parallel Binocular Stereo Vision System range finding illustraton of model of a kind of embodiment of the utility model.
The specific embodiment
Below in conjunction with accompanying drawing, a kind of embodiment of the utility model is described further.
As shown in Figure 1, a kind of automotive safety distance attention device based on binocular stereo vision, comprise buzzer phone and keyboard, also comprise LED display after LED display in car, car, front side binocular camera shooting head (comprising automobile left side of head camera and automobile right side of head camera), rear side binocular camera shooting head (comprising automobile tail left side camera and automobile tail right side camera) and central processing unit, wherein: front side binocular camera shooting head is for gathering the image in this automobile head the place ahead; Rear side binocular camera shooting head is for gathering the image at this automobile tail rear; Central processing unit is used for front side binocular camera shooting head and rear side binocular camera shooting head to demarcate, four parameters of relative distance between the focal length of relative distance, rear side binocular camera shooting head and rear side binocular camera shooting head between the focal length of acquisition front side binocular camera shooting head, front side binocular camera shooting head; And to the correct image gathering, image slices vegetarian refreshments is mated, obtain the parallax of each pixel on image; According to the parallax of pixel on above-mentioned four parameters and image, obtain distance between this automobile and front truck and distance with the rear car; In car, LED display is for arranging safety distance according to user's request; After car, LED display is used for pointing out rear car personnel to keep a safe distance.
As shown in Figure 2, in car, LED display 4, keyboard 5, DSP and peripheral circuit 1 are arranged on instrument desk.In car, buzzer phone 3 is installed on bearing circle below.In front side binocular camera shooting head 2, the camera of two same models is parallel to be fixed on headstock portion bonnet.After car, LED display 6 is installed on tailstock portion windshield.In rear side binocular camera shooting head 7, the camera of two same models is parallel to be fixed on afterbody case cover.Described central processing unit San road input end connects respectively the mouth of the front side binocular camera shooting head that is positioned over automobile head, the rear side binocular camera shooting head mouth that is positioned over automobile tail and the mouth of keyboard; Central processing unit San road mouth connect be respectively positioned over the buzzer phone in car input end, be positioned over the input end of LED display after the car of car rear seat windscreen below and be positioned over LED display input end in the car in car.
In the utility model embodiment, front side binocular camera shooting head and rear side binocular camera shooting head all adopt the CCD camera that four models are IRIT-N370S; The image obtaining due to CCD is the image of analog signal, and DSP can not directly read analog signal, therefore analog signal need to be decoded as to digital signal.As shown in Figure 3, in the utility model embodiment, the inner decoding chip adopting of central processing unit is SAA7113.A slice SAA7113 chip, the analog picture signal that two-way CCD camera can be sent here is decoded into the standardized digital signal of DSP identification; In the utility model embodiment, the dsp chip model that central processor adopts is TMS320DM642; Because data volume in image processing process is very large, and this DSP on-chip memory finite capacity, therefore can not meet memory requirement in image processing process.In the utility model embodiment, TMS320DM642 chip core utilizes EMIFA bus expansion external memory storage FLASH and SDRAM.In the utility model embodiment, having expanded two sizes is that 32MB model is the SDRAM of HY57V283220T-H, FLASH memory device is when power down, can wrap significant data and the program of depositing, the utility model embodiment has expanded the FLASH memory device of a slice AM29LV033C model.
In the utility model embodiment, as shown in Figure 4 and Figure 5, after the SAA7113 chip decoding being connected with automobile head camera, digital signal is transported to TMS320DM642 by VP0 mouth.After the SAA7113 chip decoding being connected with automobile tail camera, digital signal is transported to TMS320DM642 by VP1.In Fig. 4, the power supply of SAA7113 is divided into digital power (VCC) and analog power (VCCA), be+3.3V of its size, and pin 10,3,42 connects analog power ((VCCA); Pin 18,34,29,33 connects digital power (VCC).Pin 44 connects after a 1k resistance, connects digital power (VCC).In figure, the corresponding ground wire of SAA7113 is also divided into digitally and in analog.Pin 11,2,41 and 6 connects in analog, and pin 16,28,30,35,37,8 connects digitally.Pin 26 connects after the resistance of a 3.3k, connects digitally.The input clock of SAA7113 chip is provided by external active crystal oscillator, and big or small 24.576MHz inputs by pin 1.Pin 17 is connected with the VP0CLK0 pin of TMS320DM642 in Fig. 5, and the row locking system clock of the 27MHz being exported by pin 17 sends to the VP0CLK0 pin of TMS320DM642 in Fig. 5 as the clock of catching of video port.Pin 23,24 passes through I
2c bus is directly connected with SCLO, the SDAO pin of TMS320DM642 chip in Fig. 5.Video analog signal connects after a 18k resistance, and the 47nF electric capacity of connecting, is input to SAA7113 chip by pin 1.Video analog signal connects after a 18k resistance, connects a 5.6k resistance, is connected in analog.Pin 4,9 is connected respectively after a 47nF electric capacity, is connected in analog.Decoded digital signal is by VP0[7:0] output, pin VP0D9, VP0D8, VP0D7, VP0D6, VP0D5, VP0D4, VP0D3 and the VP0D2 of TMS320DM642 chip in pin 12,13,14,15,19,20,21,22 difference map interlinkings 5.
The I/O interface resource of TMS320DM642 is limited, and the utility model needs LED display and buzzer phone in LED display after external connection keyboard, car, car, therefore need more I/O interface.In the utility model embodiment, adopt CPLD chip to expand the I/O interface of TMS320DM642, the chip model of selecting is the EPM240T100I5N that ALTERA company produces.As shown in Figure 6, this chip is comprised of 100 pins, has expanded greatly I/O interface.In the utility model patent, after keyboard, car, in LED display, car, LED display is not directly connected with the I/O of DSP with buzzer phone, but is connected with the I/O after CPLD expansion.
TMS320DM642 realized with being connected by external interface of CPLD, in conjunction with Fig. 5, was connected as follows with Fig. 6 pin.Pin AED0, the AED1 of dsp chip, AED2, AED3, AED4, AED5, AED6, AED7, EXT_INTER4, ACEI, ASWE are connected with the pin 1,2,3,4,5,6,7,8,27,28,29 of CPLD respectively.Pin AEA3, the AEA4 of dsp chip, AEA5, AEA6, AEA7, AEA8, AEA9, AEA10 are connected with the pin 15,16,17,18,19,20,21,26 of CPLD respectively.
In the utility model embodiment, keyboard is the rank scanning formula keyboard of 4x4, as shown in Figure 7,4 lines and 4 alignments, consists of, and on each point of crossing, a button is set, totally 16 buttons.4 lines of rank scanning formula keyboard are connected with the pin 68,69,70,71 of CPLD respectively.4 alignments of rank scanning formula keyboard are connected with the pin 72,73,74,75 of CPLD respectively.
As shown in Figure 8, one end of the straight polarity of buzzer phone is connected to above 5V power supply the circuit of buzzer phone, and the other end is connected to the collector terminal of aerotron, transistor emitter ground connection, and base stage is connected with the pin 33 of CPLD after connecing the resistance of a 4.7k.Aerotron is selected positive-negative-positive aerotron.
What in car, LED display adopted is that model is 1602 LCD, and physical circuit connects as shown in Figure 9.1602 pin 4,5,6,7,8,9,10,11,12,13,14 is connected with the pin 86,87,89,85,84,83,82,81,78,77,76 of CPLD respectively.1602 distinguish after the pull-up resistor of a 4.7k in parallel with every connection lead of CPLD, are connected with the LCD VCC of supply module.1602 pins 1 are connected with pin 3 after connecing the resistance of a 1k, and pin 2 is connected with the LCD VCC of supply module respectively with pin 15, pin 16 ground connection.
The LED dot matrix of the 8x8 that afterbody LED display adopts, physical circuit connects as shown in figure 10. LED display pin 9,14,8,12,1,7,2,5 connects respectively the emitter of 8 positive-negative-positive aerotrons, base stage corresponding to aerotron, after the resistance of a 4.7k of series connection, is connected with the pin 86,87,89,91,92,95,96,97 of CPLD respectively.After the collecting electrode of 8 aerotrons connects together, be connected with 3.3V supply module. LED display pin 13,3,4,10,6,11,15,16 has been connected respectively after the resistance of 100 Ω, is connected respectively with the pin 85,84,83,82,76,77,78,81 of CPLD.
Figure 11 is parallel Binocular Stereo Vision System range finding illustraton of model.As shown in figure 11, the parallel placement of two cameras, camera coordinate system and left side camera photocentre point O
loverlap, the focal length of pick up camera is f, the photocentre O of left and right cameras
lwith O
rspacing is b (parallax range).(x
cl, y
cl, z
cl) for take the system of axes that left side camera photocentre is that initial point is set up, (x
cr, y
cr, z
cr) for take the system of axes that right side pick up camera photocentre is that initial point is set up, (u, v) is the pixel coordinate system with the foundation of image center.P(x
w, y
w, z
w) be the object point in world coordinate system in reality scene, (x
w, y
w, z
w) be the position coordinate of P in reality scene system of axes, some p
lwith a p
rbe respectively object point P (x
w, y
w, z
w) imaging point on left image and right image.X
land x
rfor the abscissa of image coordinate system middle left and right image imaging point, y
land y
rfor the ordinate of image coordinate system middle left and right image imaging point, parallax is d=x
l-x
r.According to Similar Principle of Triangle, can obtain the three-dimensional coordinate of spatial point under camera coordinate system suc as formula (1):
Wherein, (x
c, y
c, z
c) be exactly space mid point P (x
w, y
w, z
w) coordinate figure in camera coordinate system; z
cfor the depth value of required object point, required target range namely.
According to formula (1), can find out, as long as ask for parallax value according to the corresponding matching point in the image of left and right, just can utilize parallax range, focal length to obtain the coordinate of the three dimensional space point that object point is corresponding, just can obtain target range z
c.
Affect a lot of because have of vehicle stopping distance, as the speed of a motor vehicle, road conditions, weather, load-carrying and driver's speed of response etc.Generally, safety distance can be selected to be consistent with speed of a motor vehicle milimeter number.For example, 40 kilometers of speed of a motor vehicle keep 40 meters, and 60 kilometers of speed of a motor vehicle keep 60 meters, if the speed of a motor vehicle higher than 100 kilometers, safety distance will remain on 150 to 200 meters.Thereby safety distance is also not quite similar under different conditions, need to carry out constantly to set safety distance occurrence according to current various influence factors.
By keyboard to set up safety distance numerical value, in the utility model embodiment, safety distance is 40 meters, utilizes keyboard input 40, and information is passed to central process unit DSP; DSP storage safe range information, and this value is sent to LED display demonstration occurrence in car; If storage security distance in DSP memory allocated space is 40 meters of corresponding values, this value compares for the distance value (comprising the distance value of Ben Che and front truck and the distance value of Ben Che and rear car) with actual measurement, to be confirmed whether to be less than safety distance.In order to confirm the whether input error of safety distance setting value, this value is delivered to LED display in car and show.
Central process unit DSP calculates the minor increment of front truck and this car according to binocular stereo vision range measurement principle, and memory allocated space, preserves this distance values.Whether the front truck that judgement calculates and the distance value of this car are less than the safety distance value by keyboard to set up, if the distance value calculating is less than safety distance value, DSP sends actuating signal to buzzer phone in car, buzzer phone sounding in car, with warning Ben Che driver, slow down and go slowly, maintain safe distance.
Central process unit DSP calculates the minor increment of rear car and this car according to binocular stereo vision range measurement principle, and memory allocated space, preserves this distance values.Whether the rear car that judgement calculates and the distance value of this car are less than the safety distance value by keyboard to set up.If the distance value calculating is less than safety distance value, DSP sends actuating signal to afterbody LED display, and afterbody LED display shows information warning: slow down and go slowly, maintain safe distance.With driver's deceleration after warning this, go slowly, maintain safe distance.
Claims (1)
1. the automotive safety distance attention device based on binocular stereo vision, comprise buzzer phone and keyboard, it is characterized in that: also comprise LED display after LED display in car, car, front side binocular camera shooting head, rear side binocular camera shooting head and central processing unit, wherein, described central processing unit San road input end connects respectively the mouth of the front side binocular camera shooting head that is positioned over automobile head, the rear side binocular camera shooting head mouth that is positioned over automobile tail and the mouth of keyboard; Central processing unit San road mouth connect be respectively positioned over the buzzer phone in car input end, be positioned over the input end of LED display after the car of car rear seat windscreen below and be positioned over LED display input end in the car in car.
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| CN201320533787.9U CN203450024U (en) | 2013-08-28 | 2013-08-28 | Automobile safety distance caution device based on binocular stereo vision |
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| CN201320533787.9U CN203450024U (en) | 2013-08-28 | 2013-08-28 | Automobile safety distance caution device based on binocular stereo vision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105034979A (en) * | 2015-04-30 | 2015-11-11 | 南京理工大学 | Vehicle active safety control method and vehicle active safety control system |
| CN108556739A (en) * | 2018-03-30 | 2018-09-21 | 东南大学 | Vehicle early warning device based on binocular full-view stereo vision |
-
2013
- 2013-08-28 CN CN201320533787.9U patent/CN203450024U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105034979A (en) * | 2015-04-30 | 2015-11-11 | 南京理工大学 | Vehicle active safety control method and vehicle active safety control system |
| CN108556739A (en) * | 2018-03-30 | 2018-09-21 | 东南大学 | Vehicle early warning device based on binocular full-view stereo vision |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140226 Termination date: 20150828 |
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| EXPY | Termination of patent right or utility model |