CN209852173U - Lane departure early warning system - Google Patents
Lane departure early warning system Download PDFInfo
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- CN209852173U CN209852173U CN201822096141.4U CN201822096141U CN209852173U CN 209852173 U CN209852173 U CN 209852173U CN 201822096141 U CN201822096141 U CN 201822096141U CN 209852173 U CN209852173 U CN 209852173U
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Abstract
The utility model discloses a lane departure early warning system, including fixed a plurality of cameras, vehicle mounted terminal, the vehicle mounted power module, display device module and the early warning module that sets up in car the place ahead position. The vehicle-mounted terminal comprises a power supply module, a storage module, a core processor module and a plurality of I/O interfaces, wherein road information in the front is collected by a camera in the front of a vehicle, the core processor module is responsible for realizing an image processing module and a deviation detection module, a collected video image sequence is fused, identified and processed, whether early-warning signals are provided for the early-warning module according to corresponding conditions, and the early-warning module gives a prompt to a driver in a voice and warning light mode when the early-warning signals are obtained under the control of the core processor. The utility model discloses a road information in place ahead is gathered to many cameras to the development board that adopts based on ARM + FPGA framework has improved the real-time and the suitability of system.
Description
Technical Field
The system relates to the field of automobile auxiliary driving, in particular to a lane departure early warning system.
Background
With the rapid development of the urbanization process in China, automobiles are more and more popular, and the accompanying problems are that the traffic environment is worse and worse, traffic congestion is more and more severe, traffic accidents are frequent, and the traffic problems become social problems which are generally concerned by people in China and even the world. In China, the traffic problem is more severe due to a large number of people. According to incomplete statistics, about 50% of automobile traffic accidents are caused by the fact that automobiles deviate from normal driving lanes, and the main reasons of the accidents are mainly distraction, inattention or driving fatigue of drivers. 23% of motorists sleep on the steering wheel at least once a month; 66% of truck drivers doze themselves during driving; 28% of truck drivers have a sleeping experience on the steering wheel within a month. Such a surprising ratio is sufficient to justify the importance of preventing lane departure.
The lane line deviation system based on vision at home and abroad mainly comprises the following two methods: a feature-based identification method and a model-based identification method. The feature-based recognition method is to recognize lane marking lines by utilizing the gray features of road boundaries and lane marking lines from a sequence gray image in front of a vehicle; the identification method based on the model mainly adopts different identification technologies to identify the lane marking lines based on different road image models. Some countries in the world have successfully developed lane departure warning systems, such as the AURORA system, the AutoVue system, the mobiley _ AWS system, and the DSS system. The systems achieve the purpose of avoiding traffic accidents by providing early warning information for drivers in advance, and because images acquired by the camera are real-time and dynamic, the lane identification and extraction are always influenced under the conditions of change of illumination intensity, shadow shielding and night; other vehicles traveling on the road often interfere with the identification of the lane lines, and vehicles in the vicinity of the lane lines may cause the identified lane lines to deviate from the correct direction. However, when the portion of the lane line in the image to be processed, which is covered by other vehicles, is large, the recognition and extraction of the lane line may even fail. The existing equipment basically adopts a monocular camera, cannot be well applied to the complex scenes, and has low adaptability. The image processing of the existing lane line deviation early warning device basically adopts a single chip microcomputer, a DSP and a computer, 201410355395.7 discloses a lane deviation early warning system, which comprises a data acquisition module, an analog-to-digital conversion module, a preprocessing module, a processor module, a first storage unit, a display module, an alarm unit and a second storage unit; the output end of the data acquisition module is connected with the analog-to-digital conversion module, the output end of the analog-to-digital conversion module is connected with the preprocessing module, the first memory is connected with the preprocessing module, the output end of the preprocessing module is connected with the processor module, and the corresponding port of the processor module is connected with the display module and the second storage unit of the alarm unit. The device has simple structure, high flexibility and simple peripheral circuit, and can make the system volume very small. The high-speed transmission, storage and processing of large-capacity image data in the system are better solved. The real-time requirement of image processing can be met, so that the real-time performance of the lane departure detection system is further improved, and the practicability of the system is improved; 201110162154.7 relates to a lane departure warning system and method, the system includes an electrically connected camera unit for receiving and transmitting road condition signals; the lane line identification unit is connected with the camera unit, receives the road condition signal and performs Hough conversion on the road condition signal so as to identify a lane line; the deviation detection unit is connected with the lane line identification unit, calculates the distance between the lane line identification unit and the vehicle body according to the identified lane line, and sends out an early warning instruction when the distance exceeds a preset threshold value; and the early warning unit is connected with the offset detection unit, receives the early warning instruction and sends out a corresponding early warning signal. The method comprises the following steps of calibrating a camera unit, setting an effective area, carrying out edge detection, searching a lane line, judging whether the lane line deviates and sending an alarm signal. CN203172620U discloses a device for judging and warning lane change safety of a driver, which uses a DSP as a core processor, but in the prior art, the processing device of these images basically uses a serial processing mode, and when a large amount of videos are collected during high-speed driving of a vehicle, the operation speed is greatly limited, and good real-time performance cannot be satisfied.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve the relatively poor and not strong problem of adaptability of the early warning system real-time nature of present lane departure, provided a lane departure early warning system based on ZYNQ platform, solved above-mentioned problem.
The utility model discloses a following technical scheme realizes:
a lane departure early warning system based on ZYNQ platform: the vehicle-mounted early warning system comprises a plurality of cameras, a vehicle-mounted terminal, a vehicle-mounted power module, a display device module and an early warning module, wherein the cameras, the vehicle-mounted terminal, the vehicle-mounted power module, the display device module and the early warning module are fixedly arranged in the front of a vehicle.
The vehicle-mounted terminal comprises a power supply module, a storage module, a core processor module and a plurality of I/O interfaces;
firstly, fusing video image sequences acquired by a plurality of cameras, and storing the video image sequences into a storage module according to a certain rule, wherein each I/O interface of the vehicle-mounted terminal is respectively connected with related equipment of the corresponding camera, a display equipment module, an early warning module and a vehicle-mounted power supply module;
the core processor module is a ZYNQ platform-based module and comprises an ARM + FPGA core board;
the ZYNQ platform integrates the FPGA and the ARM together, high-speed communication between the ARM processor and the FPGA in the ZYNQ platform is realized through an AXI4 bus, the interconnection design of the ARM processor and the FPGA is simplified, the structural advantages of the ARM processor and the FPGA are fully utilized, software and hardware division is carried out on the system, and a real-time operation processing system with small size and strong performance can be established;
the vehicle-mounted terminal also comprises a power supply module for supplying power to the storage module and the core processor module;
the FPGA part and the ARM part of the ZYNQ platform realize high-speed communication through an AXI4 bus.
Furthermore, the FPGA part of the ZYNQ platform is used for preprocessing the acquired image, identifying the lane line and the like;
furthermore, an ARM part of the ZYNQ platform is used for realizing that a lane line deviation detection module is simultaneously responsible for scheduling of the whole system and driving a display equipment module and an early warning module;
the vehicle-mounted terminal adopts a ZYNQ platform as a core board, and not only uses the powerful parallel processing capacity of the FPGA part, but also adopts the powerful system scheduling function of the ARM part.
The FPGA part and the ARM part of the selected ZYNQ platform realize high-speed communication through an AXI4 bus, so that a real-time operation processing system with small volume and strong performance can be established.
Further, the early warning module comprises a warning light module and a voice reminding module.
The core processor module is responsible for realizing the image processing module and the deviation detection module, identifying and processing the collected video image sequence, and providing a signal whether to perform early warning or not for the early warning module according to the corresponding condition.
Compared with the prior art, the utility model discloses an advantage is with positive effect:
1. the multiple cameras are arranged in front of the vehicle to more comprehensively acquire road information in front of the vehicle, and then the road information is fused, so that the lane line recognition capability of the lane departure early warning system under complex road environment factors such as complex illumination and complex road surface conditions is improved.
2. The utility model discloses a lane departure early warning system based on ZYNQ platform through the core treater that adopts the high performance, installs the vehicle mounted terminal on the vehicle through gathering and handling the place ahead information, lane line information in the extraction the place ahead that can be quick to can be faster give early warning information, improve entire system's real-time.
3. The Hough transformation controlled by the ARM + FPGA core board can effectively utilize the cooperative processing advantages of software and hardware of the system, can meet the real-time requirement of high-speed driving of the automobile, has more complex other algorithms, has higher requirement on the system, and improves the corresponding system cost.
4. The data processing amount per unit time is large by using a parallel processing mode, the real-time performance of the system is improved, and the early warning speed of the system is high.
5. The development board based on the ARM + FPGA architecture is used, the structural advantages of the ARM + FPGA architecture and the FPGA architecture are fully utilized, software and hardware are divided into the system, meanwhile, the AXI4 bus realizes high-speed communication of the ARM processor and the FPGA, the interconnection design of the ARM processor and the FPGA is simplified, therefore, the system which is fast in operation and friendly in interface is established, and design indexes such as performance, flexibility, cost, power consumption and size can be achieved.
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In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly described below. It is to be understood that the following drawings are merely illustrative of certain embodiments of the invention and are not to be considered limiting of its scope. From these figures, other figures can be derived by those skilled in the art without inventive effort.
Fig. 1 is a schematic block diagram of an embodiment of a lane departure warning system based on a ZYNQ platform;
fig. 2 is a block diagram of the equipment components in an embodiment of the lane departure warning system based on the ZYNQ platform;
fig. 3 is a schematic view of the whole implementation process of the lane departure warning system provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The first embodiment provides a lane departure early warning system based on a ZYNQ platform, which comprises an image acquisition module, an image processing module, a departure detection module and an early warning module, which are functionally divided as shown in fig. 1;
the system comprises a plurality of cameras, a vehicle-mounted terminal, a vehicle-mounted power module, a display device module and an early warning module, wherein the cameras, the vehicle-mounted terminal, the vehicle-mounted power module, the display device module and the early warning module are fixedly arranged in front of an automobile;
as shown in fig. 2, the vehicle-mounted terminal includes a power module, a storage module, a core processor module and a plurality of I/O interfaces, and each I/O interface of the vehicle-mounted terminal is respectively connected to a corresponding camera, a display device module, an early warning module and related devices of the vehicle-mounted power module;
the power supply module regulates the vehicle-mounted power supply into stable voltage which can be suitable for the core board and various peripherals to work, so that the normal work of the core board and the various peripherals is ensured;
the core processor module is a ZYNQ platform-based module and comprises an ARM + FPGA core board;
the ZYNQ platform integrates the FPGA and the ARM together, and the high-speed communication between the ARM processor and the FPGA in the ZYNQ platform is realized through an AXI4 bus;
the vehicle-mounted terminal also comprises a power supply module used for supplying power to the storage module and the core processor module.
The core processor module is responsible for realizing the image processing module and the deviation detection module, identifying and processing the acquired video image sequence, and providing a signal for whether to perform early warning or not to the early warning module according to corresponding conditions;
the FPGA part of the ZYNQ platform is used for preprocessing the acquired image, identifying lane lines and the like;
the ARM part of the ZYNQ platform is used for realizing that a lane line deviation detection module is simultaneously responsible for scheduling of the whole system and driving a display equipment module and an early warning module; as shown in fig. 3, the whole pre-warning process can be described as the following process:
(1) when the lane departure early warning system is started, a plurality of cameras installed in front of a vehicle collect road information in front of the vehicle, and then fusion of images of the plurality of cameras is carried out;
(2) then finding out an interested region in the collected image, carrying out a series of preprocessing operations such as graying processing and filtering on the image, and then extracting an edge image by using an edge detection operator;
(3) detecting a plurality of straight lines through Hough conversion, and selecting a lane line meeting the requirements;
(4) comparing the position of the vehicle body with the position of the lane line, and comparing to obtain the judgment of whether the vehicle deviates from the lane; and if the lane line is deviated, early warning is carried out, wherein the early warning comprises flashing of a warning lamp and voice prompt, and the recognition of the lane line is displayed in a small screen mode.
The image acquisition module preferably selects a plurality of USB drive-free industrial cameras, so that the power consumption and the cost of the system are reduced, and the design is more flexible;
the early warning module gives a prompt to a driver in a voice mode and a warning lamp mode under the control of the core processor;
the core processor module is a core module of the vehicle-mounted terminal and is responsible for realizing the image processing module and the deviation detection module, identifying and processing the acquired video image sequence, and providing a signal for warning whether to warn for the warning module according to corresponding conditions;
in this embodiment, the core processor module is a development board based on an ARM + FPGA architecture, the image processing algorithm is implemented by using FPGA hardware resources, the coordination and control of the entire system are implemented by an ARM, the structural advantages of the ARM and the FPGA are fully utilized to divide the system into software and hardware, and meanwhile, the AXI4 bus realizes the high-speed communication between the ARM processor and the FPGA, so that the interconnection design between the ARM processor and the FPGA is simplified, thereby establishing a system with fast operation and friendly interface, and realizing perfect compromise of design indexes such as performance, flexibility, cost, power consumption, volume and the like.
The power module adjusts the vehicle-mounted power supply into a stable voltage which can be suitable for the core board and various peripherals to work, and ensures the normal work of the core board and the various peripherals.
As shown in fig. 2, in order to facilitate the driver to view the current recognition result, the peripheral device of the development board includes a display device module including a display unit for reflecting the recognition result to the driver more intuitively.
The storage module comprises a storage unit for storing a large amount of video image information acquired by the camera, and the storage unit also comprises a circulating covering mechanism for internal storage to ensure the acquisition of the next frame of image in the driving process because a large amount of video data can be acquired in the driving process.
Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and the changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also belong to the protection scope of the present invention.
Claims (1)
1. A lane departure warning system is characterized in that: the system comprises a plurality of cameras, a vehicle-mounted terminal, a vehicle-mounted power module, a display equipment module and an early warning module, wherein the cameras, the vehicle-mounted terminal, the vehicle-mounted power module, the display equipment module and the early warning module are fixedly arranged in front of an automobile;
the vehicle-mounted terminal comprises a power supply module, a storage module, a core processor module and a plurality of I/O interfaces;
each I/O interface of the vehicle-mounted terminal is respectively connected with the corresponding camera, the display equipment module, the early warning module and the relevant equipment of the vehicle-mounted power supply module;
the core processor module is a ZYNQ platform-based module and comprises an ARM + FPGA core board;
the ZYNQ platform integrates the FPGA and the ARM together, and the high-speed communication between the ARM processor and the FPGA in the ZYNQ platform is realized through an AXI4 bus;
the vehicle-mounted terminal also comprises a power supply module for supplying power to the storage module and the core processor module;
the FPGA part of the ZYNQ platform is used for preprocessing the acquired image and identifying the lane line;
the ARM part of the ZYNQ platform is used for realizing that a lane line deviation detection module is simultaneously responsible for scheduling of the whole system and driving a display equipment module and an early warning module;
the early warning module comprises a warning lamp module and a voice reminding module;
the image acquisition module selects a plurality of USB drive-free industrial cameras;
the core processor module is a development board based on an ARM + FPGA architecture, and the peripheral of the development board comprises a display equipment module; the storage module comprises a storage unit.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114141012A (en) * | 2021-11-24 | 2022-03-04 | 南京精筑智慧科技有限公司 | Non-route driving early warning processing method and system based on NLP algorithm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114141012A (en) * | 2021-11-24 | 2022-03-04 | 南京精筑智慧科技有限公司 | Non-route driving early warning processing method and system based on NLP algorithm |
| CN114141012B (en) * | 2021-11-24 | 2022-11-15 | 南京精筑智慧科技有限公司 | Non-route driving early warning processing method and system based on NLP algorithm |
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