CN208969681U - A kind of platform occupant detection system of unmanned bus - Google Patents
A kind of platform occupant detection system of unmanned bus Download PDFInfo
- Publication number
- CN208969681U CN208969681U CN201821326985.7U CN201821326985U CN208969681U CN 208969681 U CN208969681 U CN 208969681U CN 201821326985 U CN201821326985 U CN 201821326985U CN 208969681 U CN208969681 U CN 208969681U
- Authority
- CN
- China
- Prior art keywords
- vehicle
- module
- camera
- arm controller
- outside
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 45
- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 238000007781 pre-processing Methods 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000009877 rendering Methods 0.000 claims description 3
- 230000001012 protector Effects 0.000 claims 1
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Traffic Control Systems (AREA)
Abstract
Left camera outside a kind of platform occupant detection system of unmanned bus, including preceding camera outside vehicle computing terminal, vehicle, rear camera outside vehicle, vehicle, right camera, display instrument, GPS global positioning module, 4G network communication module, PC remote monitoring center outside vehicle；Vehicle computing terminal includes ARM controller, DSP image mosaic module, DSP image detection module, CPU module, CAN communication module；DSP image mosaic module is connect with ARM controller, for being handled in real time 4 tunnel camera videos outside vehicle, and is spliced into panoramic video；DSP image detection module is connect with ARM controller, for being handled in real time interior Front camera video, and unmanned bus-stop passenger is identified and is detected, so as to automatic parked vehicle；4G network communication module is connect with ARM controller；The outer camera module of 4 vehicles is used for collecting vehicle outside real-time video.The system can be realized 360 ° of panoramic looking-arounds of unmanned bus, long-range monitoring, autonomous parked vehicle.
Description
Technical field
The utility model relates to automobile intelligent nets to join field, specifically a kind of platform passenger of unmanned bus
Detection system.
Background technique
Unmanned public transport is a kind of public transit vehicle for carrying unmanned technology, be mainly used for park, large-scale amusement park,
Close self-driving travel, the region of the regionl developments such as community, campus, garden type hotel, holiday village, villa quarter, city walking street, harbour
It goes on patrol, dedicated environmental-protecting type electric passenger vehicle of riding instead of walk.Traditional public transport needs a large amount of driver's repetitive operations.With automobile intelligence
Connectionization, the development of especially unmanned technology can be netted, unmanned public transport gradually enters into the visual field of people, but nobody drives at present
Sailing public transport, there is still a need for solve several critical issues, it may be assumed that can not 360 ° of perception ambient enviroments, platform passenger can not be carried out identification with
Detection is so as to automatic parked vehicle.
Utility model content
The purpose of the utility model is to provide a kind of platform occupant detection systems of unmanned bus, solve existing public affairs
Friendship can not be to the technical problem that platform passenger is identified under unmanned mode.It can be realized using the system unmanned
360 ° of panoramic looking-arounds of public transport, remote monitoring center real time monitoring vehicle-state, vehicle location positions in real time, platform passenger knows in real time
It, being capable of autonomous parked vehicle not with detection.
To achieve the above object, the utility model provides bus panorama monitoring and platform occupant detection system, comprising: vehicle
Carry computing terminal, vehicle outer camera, display instrument, GPS global positioning module, 4G network communication module, PC remote monitoring center；
The outer camera of the vehicle is made of right camera outside left camera outside rear camera outside preceding camera outside vehicle, vehicle, vehicle, vehicle；It is described
Vehicle computing terminal includes ARM controller, DSP image mosaic module, DSP image detection module, CPU module, CAN communication mould
Block；
Vehicle computing terminal is that the data of the system calculate center, for receiving the data that camera acquires outside vehicle, is gone forward side by side
Line number factually when analysis and processing.
Wherein, the outer camera of the vehicle passes through CVBS coaxial line respectively and connect with ARM controller, for monitoring feelings outside vehicle
Condition, the outer real-time video of collecting vehicle, video data transmission outside collected vehicle is counted to ARM controller by ARM controller
According to storage and processing；
The GPS global positioning module is mounted in automobile, and GPS global positioning module is connect with ARM controller, is used for
It is positioned in real time by position of the satellite group to automobile, and location data is transmitted in ARM controller and is stored；
The 4G network transmission module is connect with ARM controller, for controlling ARM according to the communication protocol made an appointment
The information of device processing is sent to PC remote monitoring center；
The PC remote monitoring center is used to receive 360 ° of panoramic videos that vehicle computing terminal sends, positions, multiplies
Objective detection data, in the database by processing storage；
The DSP image mosaic module is connect with ARM controller, for being handled in real time 4 tunnel camera videos outside vehicle, and is spelled
It is connected into 360 ° of panoramic videos；
The DSP image detection module is connect with DSP image mosaic module, for being handled in real time 360 ° of panoramic videos,
And platform passenger in front of unmanned public transport is identified and detected, and sends occupant detection result to ARM controller, when
The occupant detection result that ARM controller receives DSP image detection module is that when having passenger to wait, will be subtracted by CAN communication module
Fast stop sign is sent to unmanned bus entire car controller so as to automatic parked vehicle；
The CPU module is used to carry out 360 ° of panoramic videos GPU rendering acceleration；
The display instrument module shows platform occupant detection situation for showing to 360 ° of panoramic videos in real time
Show.
As the preferred of the utility model, the outer camera of 4 vehicles is mounted on outside vehicle, and the outer preceding camera of vehicle is mounted on vehicle
Front, the outer rear camera of vehicle is mounted on the rear of vehicle, and left camera is mounted near the left-hand mirror of vehicle outside vehicle, vehicle
Outer right camera is mounted near the right rear view mirror of vehicle.
As the further preferred of the utility model, the DSP image mosaic module include: 4 automatic camera calibration modules,
Image panorama splicing module；The 4 automatic camera calibration module carries out school to panoramic distortion for demarcating to camera parameter
Just；Described image panoramic mosaic module is used to carry out real time panoramic splicing to 4 tunnel camera videos.
As the utility model more a step is preferred again, the DSP image detection module include: passenger's property data base,
Image pre-processing module, picture recognition module, Image Feature Matching module；Passenger's property data base is by open pedestrian's feature
Database and tourism bus independently acquire storage；Described image preprocessing module for locating 360 ° of panoramic videos in advance in real time
Reason；Described image identification module is used to image pre-processing module treated image information carrying out passenger's identification, described image
Characteristic matching module is for comparing the information that the image information recognized is stored with passenger's property data base, when detecting
When platform has passenger to wait, ramp to stop signal is sent to by unmanned bus entire car controller by CAN communication module
So as to automatic parked vehicle.
The advantages of the utility model and good effect:
(1) the unmanned bus platform occupant detection system of the utility model, structure is simple, easy for installation, general
Property is strong, noiseless, can be directly mounted on existing any tourism bus；The system passes through the outer camera module of 4 vehicles
4 road videos can be acquired in real time, and three-dimensional panorama splicing is carried out to 4 road videos by image mosaic module, it can be to unmanned
360 ° of environmental aspects are checked around public transport, can prevent dangerous situation generation around in advance.
(2) the unmanned bus platform occupant detection system of the utility model is equipped with GPS global location mould in the car
Block can at any time position automobile by GPS global positioning module, position convenient for remote monitoring center to vehicle
And management.
(3) the unmanned bus platform occupant detection system of the utility model is equipped with 4 camera modules outside vehicle,
The respectively outer rear camera of the outer preceding camera of vehicle, vehicle, left camera outside vehicle, right camera outside vehicle, by 4 tunnel camera videos into
Row image mosaic with real-time display and can check 360 ° of environmental informations around unmanned public transport；Simultaneously by unmanned
Platform passenger identifies and detects in 360 ° of panoramic videos of public transport, and when detecting that platform has passenger to wait, system will slow down
Stop sign is sent to unmanned bus entire car controller so as to automatic parked vehicle；
(4) the unmanned bus platform occupant detection system of the utility model is additionally provided with PC remote monitoring center, vehicle-mounted
Computing terminal looks into 360 ° of panoramic videos, positioning, occupant detection data real-time transmission to PC remote monitoring center convenient for subsequent
It askes, while can also be achieved Distant supervision and control function.
Detailed description of the invention
Fig. 1 is the unmanned bus platform occupant detection system arrangement schematic diagram of the utility model.
Fig. 2 is the unmanned bus platform occupant detection system structural schematic diagram of the utility model.
Wherein, the outer preceding camera 3 of vehicle computing terminal 1, display instrument 2, vehicle, left camera 4 outside vehicle, the outer rear camera 5 of vehicle,
Right camera 6 outside vehicle, GPS global positioning module 7,4G network transmission module 8, PC remote monitoring center 9, ARM controller 11,
DSP image mosaic module 12, DSP image detection module 13, CPU module 14, CAN communication module 15, automatic camera calibration module
121, image panorama splicing module 122, passenger's property data base 131, image pre-processing module 132, picture recognition module 133,
Image Feature Matching module 134.
Specific embodiment
To make to be tied below it will be apparent to those skilled in that understand the technical solution of the utility model and its advantage and effect
It closes attached drawing the utility model is further described, but is not used to the restriction to the utility model.
Referring to Fig.2, unmanned bus platform occupant detection system provided by the utility model, comprising: vehicle computing is whole
End 1, display instrument 2, the outer preceding camera 3 of vehicle, the outer rear camera 5 of vehicle, left camera 4 outside vehicle, right camera 6, the whole world GPS outside vehicle
Locating module 7,4G network communication module 8, PC remote monitoring center 9；The vehicle computing terminal include ARM controller 11,
DSP image mosaic module 12, DSP image detection module 13, CPU module 14, CAN communication module 15；
Wherein, the outer camera of 4 vehicles is mounted on outside vehicle, and the outer preceding camera 3 of vehicle is mounted on the front of vehicle, outside vehicle
Rear camera 6 is mounted on the rear of vehicle, and left camera 4 is mounted near the left-hand mirror of vehicle outside vehicle, right camera 6 outside vehicle
It is mounted near the right rear view mirror of vehicle, they pass through CVBS coaxial line respectively and connect with ARM controller 11, for monitoring outside vehicle
Situation, the outer 4 road real-time videos of collecting vehicle, video data transmission outside collected vehicle is controlled to ARM controller 11 by ARM
Device 11 carries out data storage and processing；
The GPS global positioning module 7 is mounted in automobile, and GPS global positioning module 7 is connect with ARM controller 11,
For being positioned in real time by satellite group to the position of automobile, and location data is transmitted in ARM controller 11 and is deposited
Storage；
The 4G network transmission module 8 is connect with ARM controller 11, for according to the communication protocol made an appointment by ARM
The information of the processing of controller 11 is sent to PC remote monitoring center 9；
The PC remote monitoring center 9 be used to receive the 360 ° of panoramic videos, positioning that vehicle computing terminal 1 sends,
Occupant detection data, in the database by processing storage；
The DSP image mosaic module 12 is connect with ARM controller 11, for being handled in real time 4 tunnel camera videos outside vehicle,
And it is spliced into 360 ° of panoramic videos, comprising: 4 automatic camera calibration modules 121, image panorama splicing module 122；4 camera
Automatic Calibration module 121 is corrected panoramic distortion for demarcating to camera parameter；Described image panoramic mosaic module
122 for carrying out real time panoramic splicing to 4 tunnel camera videos；
The DSP image detection module 13 is connect with DSP image mosaic module 12, for locating in real time to 360 ° of panoramic videos
Reason, and platform passenger in front of unmanned bus is identified and detected, comprising: passenger's property data base 131, image are pre-
Processing module 132, picture recognition module 133, Image Feature Matching module 134；Passenger's property data base 131 is by open row
People's property data base and tourism bus independently acquire storage；Described image preprocessing module 132 is used for 360 ° of aphoramas
Frequency pretreatment in real time；Described image identification module 133 is used to image pre-processing module treated image information carrying out passenger
Identification, the information for image information and passenger's property data base storage that described image characteristic matching module 134 is used to recognize
It compares, and sends occupant detection result to ARM controller 11, when ARM controller 11 receives DSP image detection module 13
Occupant detection result be that when having passenger to wait, ramp to stop signal is sent to by unmanned public affairs by CAN communication module 15
Hand over vehicle entire car controller so as to automatic parked vehicle；
The CPU module 14 is used to carry out 360 ° of panoramic videos GPU rendering acceleration；
The display instrument module 2 shows platform occupant detection situation for showing to 360 ° of panoramic videos in real time
Show.
Above embodiments are merely to illustrate the technical idea of the utility model, and the protection of the utility model cannot be limited with this
Range, it is all according to the utility model proposes technical idea, any changes made on the basis of the technical scheme each falls within this
Within the scope of utility model protection.
Claims (4)
1. a kind of platform occupant detection system of unmanned bus, it is characterised in that: the system includes: vehicle computing end
End, vehicle outer camera, display instrument, GPS global positioning module, 4G network communication module, PC remote monitoring center；Outside the vehicle
Camera is made of right camera outside left camera outside rear camera outside preceding camera outside vehicle, vehicle, vehicle, vehicle；The vehicle computing
Terminal includes ARM controller, DSP image mosaic module, DSP image detection module, CPU module, CAN communication module；
Wherein, the outer camera of the vehicle passes through CVBS coaxial line respectively and connect with ARM controller, for monitoring situation outside vehicle, adopts
Collect the outer real-time video of vehicle, by video data transmission outside collected vehicle to ARM controller, data is carried out by ARM controller and are deposited
Storage and processing；
The GPS global positioning module is mounted in automobile, and GPS global positioning module is connect with ARM controller, for passing through
Satellite group positions the position of automobile in real time, and location data is transmitted in ARM controller and is stored；
The 4G network transmission module is connect with ARM controller, for will be at ARM controller according to the communication protocol made an appointment
The information of reason is sent to PC remote monitoring center；
The PC remote monitoring center is for receiving 360 ° of panoramic videos, positioning, Cheng Kejian that vehicle computing terminal is sent
Protector is surveyed, in the database by processing storage；
The DSP image mosaic module is connect with ARM controller, for being handled in real time 4 tunnel camera videos outside vehicle, and is spliced into
360 ° of panoramic videos；
The DSP image detection module is connect with DSP image mosaic module, for being handled in real time 360 ° of panoramic videos, and it is right
Platform passenger identifies and detects in front of unmanned bus, and sends occupant detection result to ARM controller, when
The occupant detection result that ARM controller receives DSP image detection module is that when having passenger to wait, will be subtracted by CAN communication module
Fast stop sign is sent to unmanned bus entire car controller so as to automatic parked vehicle；
The CPU module is used to carry out 360 ° of panoramic videos GPU rendering acceleration；
The display instrument module is for showing 360 ° of panoramic videos, and to platform occupant detection situation real-time display.
2. a kind of platform occupant detection system of unmanned bus according to claim 1, it is characterised in that: described
The outer camera of vehicle there are four, wherein the outer preceding camera of vehicle is mounted on the front of vehicle, and the outer rear camera of vehicle is mounted on vehicle
Rear, left camera is mounted near the left-hand mirror of vehicle outside vehicle, outside vehicle right camera be mounted on vehicle right rear view mirror it is attached
Closely.
3. a kind of platform occupant detection system of unmanned bus according to claim 1 or 2, it is characterised in that:
The DSP image mosaic module includes: 4 automatic camera calibration modules, image panorama splicing module；4 automatic camera calibration
Module is corrected panoramic distortion for demarcating to camera parameter；Described image panoramic mosaic module is used for 4 tunnel phases
Machine video carries out real time panoramic splicing.
4. a kind of platform occupant detection system of unmanned bus according to claim 3, it is characterised in that: described
DSP image detection module includes: passenger's property data base, image pre-processing module, picture recognition module, Image Feature Matching mould
Block；Passenger's property data base independently acquires storage by open pedestrian's property data base and tourism bus；Described image
Preprocessing module for pre-processing 360 ° of panoramic videos in real time；Described image identification module is used for will be at image pre-processing module
Image information after reason carries out passenger's identification, and the image information and passenger that described image characteristic matching module is used to recognize are special
The information of sign database purchase compares, when detecting that platform has passenger to wait, by CAN communication module by ramp to stop
Signal is sent to unmanned bus entire car controller so as to automatic parked vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821326985.7U CN208969681U (en) | 2018-08-17 | 2018-08-17 | A kind of platform occupant detection system of unmanned bus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821326985.7U CN208969681U (en) | 2018-08-17 | 2018-08-17 | A kind of platform occupant detection system of unmanned bus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208969681U true CN208969681U (en) | 2019-06-11 |
Family
ID=66752262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821326985.7U Withdrawn - After Issue CN208969681U (en) | 2018-08-17 | 2018-08-17 | A kind of platform occupant detection system of unmanned bus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208969681U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108830264A (en) * | 2018-08-17 | 2018-11-16 | 吉林大学 | A kind of the platform occupant detection system and method for unmanned bus |
| CN111698469A (en) * | 2020-05-29 | 2020-09-22 | 东风汽车集团有限公司 | Visual monitoring method and system for unmanned vehicle |
-
2018
- 2018-08-17 CN CN201821326985.7U patent/CN208969681U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108830264A (en) * | 2018-08-17 | 2018-11-16 | 吉林大学 | A kind of the platform occupant detection system and method for unmanned bus |
| CN108830264B (en) * | 2018-08-17 | 2024-05-03 | 吉林大学 | Platform passenger detection system and method for unmanned bus |
| CN111698469A (en) * | 2020-05-29 | 2020-09-22 | 东风汽车集团有限公司 | Visual monitoring method and system for unmanned vehicle |
| CN111698469B (en) * | 2020-05-29 | 2021-05-18 | 东风汽车集团有限公司 | Visual monitoring method and system for unmanned vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108830264B (en) | Platform passenger detection system and method for unmanned bus | |
| WO2019165737A1 (en) | Safe passing system and method for vehicle | |
| CN110782673A (en) | Vehicle violation identification and detection system based on unmanned aerial vehicle shooting cloud computing | |
| CN110781883B (en) | Parking space size recognition system and method based on 360-degree looking-around camera | |
| CN107564334B (en) | Vehicle blind area danger early warning system and method for parking lot | |
| CN108877269A (en) | A kind of detection of intersection vehicle-state and V2X broadcasting method | |
| CN102390370A (en) | Stereoscopic vision based emergency treatment device and method for running vehicles | |
| CN113348122A (en) | Model excluding vehicle from sensor field of view | |
| CN102542806A (en) | Real-time monitoring system for license plate shielding of vehicles running on speedway and control method thereof | |
| CN102693640B (en) | Control method for providing priority signal for set vehicle | |
| CN105096606A (en) | Automobile whistling and red light running snapshot system | |
| CN109891463A (en) | Image processing equipment and image processing method | |
| CN208969681U (en) | A kind of platform occupant detection system of unmanned bus | |
| CN208938350U (en) | A kind of vehicle-mounted HMI display system under adaptive cruise mode | |
| WO2021253314A1 (en) | Method and system for vehicle shared charging based on intelligent transportation system, and mobile charging vehicle | |
| CN110780287A (en) | Distance measurement method and distance measurement system based on monocular camera | |
| CN113808418A (en) | Road condition information display system, method, vehicle, computer device and storage medium | |
| CN111311942A (en) | Road condition display method and system based on V2X technology, V2X terminal and V2X server | |
| CN105809769A (en) | Panorama image automobile data recorder connected through WiFi | |
| CN205050342U (en) | Car snapshot system that makes a dash across red light that whistles | |
| CN105096613A (en) | Automobile overspeed brake and whistling snapshot system | |
| US12002359B2 (en) | Communication method for vehicle dispatch system, vehicle dispatch system, and communication device | |
| CN106971573B (en) | Traffic lights prompt system based on cell phone application | |
| CN208509142U (en) | A kind of automatic driving car panorama monitoring and platform occupant detection system | |
| CN108765955B (en) | Intelligent automobile state detection sharing method and system based on license plate recognition |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190611 Effective date of abandoning: 20240503 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190611 Effective date of abandoning: 20240503 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |