WO2018223451A1 - 警灯闪烁强度控制平台 - Google Patents

警灯闪烁强度控制平台 Download PDF

Info

Publication number
WO2018223451A1
WO2018223451A1 PCT/CN2017/091144 CN2017091144W WO2018223451A1 WO 2018223451 A1 WO2018223451 A1 WO 2018223451A1 CN 2017091144 W CN2017091144 W CN 2017091144W WO 2018223451 A1 WO2018223451 A1 WO 2018223451A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
noise
flashing
detecting device
signal
Prior art date
Application number
PCT/CN2017/091144
Other languages
English (en)
French (fr)
Inventor
张善琴
Original Assignee
余姚德诚科技咨询有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 余姚德诚科技咨询有限公司 filed Critical 余姚德诚科技咨询有限公司
Priority to US15/770,010 priority Critical patent/US10856389B2/en
Publication of WO2018223451A1 publication Critical patent/WO2018223451A1/zh

Links

Images

Classifications

    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/105—Controlling the light source in response to determined parameters
    • H05B47/11—Controlling the light source in response to determined parameters by determining the brightness or colour temperature of ambient light
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/2611—Indicating devices mounted on the roof of the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/20—Image enhancement or restoration using local operators
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/70—Denoising; Smoothing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/73—Deblurring; Sharpening
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
    • G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
    • G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
    • G08B5/38—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources using flashing light
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20024—Filtering details
    • G06T2207/20032—Median filtering
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection

Definitions

  • the invention relates to the field of police equipment, and in particular to a warning light flashing intensity control platform.
  • the warning lights are widely used in various special places as warning signs, and are also suitable for municipal, construction and monitoring, ambulance, and rescue personnel for signal communication and orientation indication.
  • the warning lights are mainly used when police vehicles are used for police. They are used to remind passing vehicles and pedestrians to dodge, and they have a deterrent effect on the arrested criminals, as well as giving the people a sense of security and avoiding impending illegal acts. Behavior is generated.
  • the flashing intensity of the warning light in the prior art is fixed, and the adaptive adjustment of the flicker intensity cannot be performed according to the nearest vehicle distance, not to mention the fact that the flashing intensity of the warning light is automatically increased in the foggy weather, resulting in the nearest vehicle not being able to find the back.
  • the police car is unable to effectively escape.
  • the present invention provides a warning light intensity control platform for a police light.
  • the image of the front of the police car is defogged based on the real-time haze concentration to obtain a defogging image, and based on the reference car body shape from the
  • the latest body detection is performed in the smog image to divide from the smog image and obtain the latest car body sub image.
  • the device performs monochromatic light emission in accordance with the intensity of the flicker sent to the flash drive.
  • a police light flicker intensity control platform comprising a cartridge mounting base, a flashing driver, a monochromatic light emitting device, a smog detecting device, a CCD sensing device, and an STM32 control chip.
  • the cartridge mounting base is configured to fix the monochromatic light emitting device to a police car, and the flashing driver is connected to the monochrome light emitting device for controlling a light emitting mode of the monochromatic light emitting device, the smog detecting device is configured to detect a current smog concentration, the CCD sensing device is configured to output a surrounding image of the police car, and the STM32 control chip is respectively associated with the flashing driver And the smog detecting device and the CCD sensing device are connected to send a flicker control signal to the flashing driver.
  • the flashing driver and the STM32 control chip are both disposed in a front panel of the police car, and the smog detecting device is disposed on the police car body.
  • the method further includes: the monochrome light emitting device emitting red visible light, and having a constant light emitting mode, a blinking light emitting mode, and a flashing light emitting mode;
  • the monochromatic light emitting device has a light emitting frequency within a preset frequency range in the flashing light emitting mode.
  • the method further includes: a brightness detecting device disposed on the roof of the police car and in the vicinity of the CCD sensing device for detecting and outputting real-time brightness;
  • the smog detecting device is connected to the brightness detecting device for receiving the real-time brightness, and correcting the smog concentration detected by the smog detecting device based on the real-time brightness, and using the corrected smog concentration as Real-time smog concentration output;
  • a contrast enhancement device connected to the CCD sensing device for receiving an image around the police car, performing contrast enhancement processing on the image surrounding the police car to obtain an enhanced image; and a mean square difference detecting device for receiving the enhanced image, each pixel based on the enhanced image The pixel value of the point determines the mean square error of the enhanced image pixel value as the target mean squared output;
  • the signal-to-noise ratio detecting device is configured to receive the enhanced image, and perform noise analysis on the enhanced image to obtain a main noise signal with the largest noise amplitude and a secondary noise signal with the second largest noise amplitude, based on the main noise signal, the secondary noise signal, and the enhancement.
  • the image determines the signal-to-noise ratio of the enhanced image to be output as the target signal-to-noise ratio, and is also used to perform scene determination on the enhanced image to determine a distribution of pixel values of pixel points in the enhanced image, and each pixel in the enhanced image is based on the distribution.
  • the improved median filtering device is respectively connected with the mean square error detecting device and the signal to noise ratio detecting device, and is used when the target signal to noise ratio is less than or equal to the preset signal to noise ratio threshold and the target mean square difference is greater than or equal to the preset mean square error threshold.
  • the power saving state enters the working state, receives the shape of each noise region, and divides each noise region into a plurality of reference sub-regions based on the geometric features of the shape of each noise region, each of the reference sub-regions having a square shape, Circular or linear, for each noise region, for each of the reference sub-regions after the split, select the corresponding median filter template to perform median filtering respectively to obtain the filter pattern of each sub-region, and filter each sub-region
  • the pattern is combined into a filtered noise region sub-image, and the non-noise region in the enhanced image is combined with each noise region sub-image to obtain a median filtered image;
  • the Gaussian filtering device is respectively connected with the improved median filtering device, the mean square error detecting device and the signal to noise ratio detecting device, and is used for the target signal to noise ratio being less than or equal to the preset signal to noise ratio threshold and the target mean square difference is greater than or equal to the preset mean square error.
  • the threshold is reached, the power-saving state is entered into the working state, the median filtered image is received, and the median filtered image is Gaussian filtered to obtain a Gaussian filtered image;
  • the human body recognition device is respectively connected with the smog detecting device and the Gaussian filtering device, and is configured to receive the Gaussian filtered image, perform defog ⁇ processing on the Gaussian filtered image based on the real-time haze concentration to obtain a defogging image, and based on the reference vehicle body shape Performing the latest body detection from the dehaze image to segment from the dehaze image and obtain the latest car body sub-image;
  • the area other than the plurality of noise areas is a non-noise area
  • the distribution of pixel values of pixel points in the enhanced image includes determining, for each pixel point, a range of pixel values to which the pixel value of the pixel point belongs in the region where the pixel is located in the enhanced image;
  • the STM32 control chip is further connected to the human body recognition device, and is configured to determine and output a closest vehicle distance based on a depth of field of the vehicle body target corresponding to the latest vehicle body sub-image in the dehazing image;
  • the STM32 control chip is further configured to determine a flicker intensity sent to the flicker driver based on the nearest vehicle distance to control the monochromatic light emitting device to perform monochromatic light emission according to a flicker intensity sent to the flicker driver.
  • each of the reference sub-regions is a one-dimensional pixel set.
  • the warning light intensity control platform further includes: an in-vehicle hard disk connected to the filtering switching device, configured to store the preset signal to noise ratio threshold and the preset mean square error threshold.
  • the vehicle-mounted hard disk uses rubber suspension.
  • the vehicle-mounted hard disk uses a steel wire suspension.
  • the vehicle-mounted hard disk uses an electronic suspension.
  • FIG. 1 is a block diagram showing the structure of a warning light flashing intensity control platform according to an embodiment of the present invention.
  • Warning lights act as a warning reminder, generally used to maintain road safety, effectively reduce the occurrence of traffic safety accidents, and also prevent potential unsafe hidden dangers. Under normal circumstances, warning lights are usually used in police cars, engineering vehicles, fire trucks, ambulances, maintenance management vehicles, road maintenance vehicles, tractors, emergency A/S vehicles, machinery and equipment.
  • the warning light is a product that can provide various lengths according to the type of vehicle and the use.
  • the structure of the lampshade combination can be combined with the color of the lampshade in one direction.
  • the warning light can also be divided into: bulb turn lamp, LED flash, xenon lamp strobe according to the different forms of light source, wherein the LED flash form is an upgraded version of the bulb turn lamp form, which has a longer service life and is more energy-saving. Lower heat.
  • the flashing intensity of the current warning light is fixed, or it needs to be adjusted manually.
  • the mode is too rigid, and the manual operation of the police officer is too much to judge, resulting in the work efficiency of the police light is not high, and the technical effect of effectively prompting the nearest vehicle in front can not be achieved.
  • the present invention constructs a warning light intensity control platform for solving the above technical problems.
  • FIG. 1 is a block diagram showing the structure of a warning light flashing intensity control platform including a cartridge mounting base, a flashing driver, a monochromatic light emitting device, a smog detecting device, a CCD sensing device, and an STM32, in accordance with an embodiment of the present invention.
  • a control chip for fixing the monochromatic light emitting device to a police car, the flashing driver being coupled to the monochromatic light emitting device for controlling light emission of the monochromatic light emitting device a mode, the smog detecting device is configured to detect a current smog concentration, the CCD sensing device is configured to output a surrounding image of the police car, and the STM32 control chip is respectively associated with the flashing driver, the smog detecting device, and the A CCD sensing device is coupled for transmitting a flicker control signal to the scintillation driver.
  • the flashing driver and the STM32 control chip are both disposed in the front panel of the police car, and the smog detecting device is disposed on the police car body.
  • the light flashing intensity control platform may further include: the monochrome light emitting device emitting red visible light, and having a constant light emitting mode, a blinking light emitting mode, and a flashing light emitting mode;
  • the monochromatic light emitting device has a light emitting frequency within a preset frequency range in the flashing light emitting mode.
  • the warning light flashing intensity control platform may further include: a brightness detecting device disposed on the roof of the police car and in the vicinity of the CCD sensing device for detecting and outputting real-time brightness;
  • the smog detecting device is connected to the brightness detecting device for receiving the real-time brightness, and correcting the smog concentration detected by the smog detecting device based on the real-time brightness, and using the corrected smog concentration as Real-time smog concentration output;
  • a contrast enhancement device connected to the CCD sensing device for receiving an image around the police car, performing contrast enhancement processing on the image surrounding the police car to obtain an enhanced image; and a mean square difference detecting device for receiving the enhanced image, each pixel based on the enhanced image The pixel value of the point determines the mean square error of the enhanced image pixel value as the target mean squared output;
  • the signal-to-noise ratio detecting device is configured to receive the enhanced image, and perform noise analysis on the enhanced image to obtain a main noise signal with the largest noise amplitude and a secondary noise signal with the second largest noise amplitude, based on the main noise signal, the secondary noise signal, and the enhancement.
  • the image determines the signal-to-noise ratio of the enhanced image to be output as the target signal-to-noise ratio, and is also used to perform scene determination on the enhanced image to determine a distribution of pixel values of pixel points in the enhanced image, and each pixel in the enhanced image is based on the distribution.
  • the improved median filtering device is respectively connected with the mean square error detecting device and the signal to noise ratio detecting device, and is used when the target signal to noise ratio is less than or equal to the preset signal to noise ratio threshold and the target mean square difference is greater than or equal to the preset mean square error threshold.
  • the power saving state enters the working state, receives the shape of each noise region, and divides each noise region into a plurality of reference sub-regions based on the geometric features of the shape of each noise region, each of the reference sub-regions having a square shape, Circular or linear, for each noise region, for each of the reference sub-regions after the split, select the corresponding median filter template to perform median filtering respectively to obtain the filter pattern of each sub-region, and filter each sub-region
  • the pattern is combined into a filtered noise region sub-image, and the non-noise region in the enhanced image is combined with each noise region sub-image to obtain a median filtered image;
  • the Gaussian filtering device is respectively connected with the improved median filtering device, the mean square error detecting device and the signal to noise ratio detecting device, and is used for the target signal to noise ratio being less than or equal to the preset signal to noise ratio threshold and the target mean square difference is greater than or equal to the preset mean square error.
  • the threshold is reached, the power-saving state is entered into the working state, the median filtered image is received, and the median filtered image is Gaussian filtered to obtain a Gaussian filtered image;
  • the human body recognition device is respectively connected with the smog detecting device and the Gaussian filtering device, and is configured to receive the Gaussian filtered image, perform defog ⁇ processing on the Gaussian filtered image based on the real-time haze concentration to obtain a defogging image, and based on the reference vehicle body shape Performing the latest body detection from the dehaze image to segment from the dehaze image and obtain the latest car body sub-image;
  • the area other than the plurality of noise areas is a non-noise area
  • the distribution of pixel values of pixel points in the enhanced image includes determining, for each pixel point, a range of pixel values to which the pixel value of the pixel point belongs in the region where the pixel is located in the enhanced image;
  • the STM32 control chip is further connected to the human body recognition device, and is configured to determine and output a depth of field in the dehazing image based on a body object corresponding to a recent body image. Recent distance;
  • the STM32 control chip is further configured to determine a flicker intensity sent to the flicker driver based on the nearest vehicle distance to control the monochromatic light emitting device to perform monochromatic light emission according to a flicker intensity sent to the flicker driver.
  • each of the reference sub-regions has a radius of 3 pixels, 5 pixels, or 7 pixels.
  • each of the reference sub-regions is a one-dimensional pixel set.
  • the alarm light intensity control platform may further include: an in-vehicle hard disk connected to the filter switching device, configured to store the preset signal to noise ratio threshold and the preset mean square error threshold.
  • the vehicle-mounted hard disk may be rubber shock absorber.
  • the vehicle-mounted hard disk may be equipped with a steel wire suspension.
  • the vehicle mounted hard disk may adopt an electronic suspension.
  • image filtering that is, suppressing the noise of the target image under the condition of retaining the image detail features as much as possible, is an indispensable operation in image preprocessing, and the processing effect will directly affect the effective image processing and analysis. Sex and reliability.
  • noise is introduced into the resulting image when the input image object is not as expected in some parts of the image processing.
  • noise often appear as an isolated pixel or block of pixels that cause a strong visual effect on the image.
  • the noise signal is uncorrelated with the object to be studied. It appears in the form of useless information, disturbing the observable information of the image.
  • the noise table is a large or small extreme value. These extreme values act on the true gray value of the image pixels by adding and subtracting, causing bright and dark interference to the image, which greatly reduces the image quality and influences.
  • Nonlinear filter generally speaking, when the signal spectrum is mixed with the noise spectrum or when the signal contains non-additive noise, such as noise or presence of non-linearity.
  • Gaussian noise, etc. traditional linear filtering techniques, such as Fourier transform, always blur the image details (such as edges) in a certain way, which leads to the positioning accuracy of linear features and the extractability of features.
  • the nonlinear filter is based on a nonlinear mapping relationship with the input signal. It is often possible to map a particular noise to approximately zero while preserving the characteristics of the signal, so that it can overcome the linear filter to a certain extent. Inadequacies.
  • the warning light flashing intensity control platform of the invention aims at the technical problem that the flashing intensity of the warning light in the prior art is difficult to adaptively control, the image of the front of the police car is collected by integrating multiple processing devices on the existing warning light hardware. Effectively defogging and recognizing the vehicle in front of the acquired image to obtain the nearest vehicle distance in front, and can automatically adjust the flashing intensity of the warning light based on the nearest vehicle distance ahead.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)

Abstract

一种警灯闪烁强度控制平台，包括筒式安装底座（1）、闪烁驱动器（2）、单色光发射设备（3）、雾霾检测设备（4）、CCD传感设备（5）和STM32控制芯片（6），筒式安装底座（1）用于将单色光发射设备（3）固定在警车上，闪烁驱动器（2）与单色光发射设备（3）连接，用于控制单色光发射设备（3）的发光模式，雾霾检测设备（4）用于检测当前雾霾浓度， CCD传感设备（5）用于输出警车周围图像， STM32控制芯片（6）分别与闪烁驱动器（2）、雾霾检测设备（4）以及CCD传感设备（5）连接，用于向闪烁驱动器（2）发送闪烁控制信号。通过本方案，能够提升警灯的警示效果。

Description

警灯闪烁强度控制平台 技术领域
本发明涉及警用设备领域，尤其涉及一种警灯闪烁强度控制平台。
背景技术
警灯广泛适用于各种特殊场所作警示标志，也适合于市政、施工作业和监护、救护、抢险工作人员作信号联络和方位指示之用。一般意义上的警灯，主要用于警务用车出警时使用，用于提醒过路车辆和行人闪避，并对抓捕的犯罪份子起到震慑作用，以及给群众安全感，避免即将发生的不法行为产生。
现有技术中的警灯的闪烁强度固定，无法根据最近车辆距离进行闪烁强度的自适应调整，更不用说在雾霾严重的天气下自动提高警灯的闪烁强度，导致前方最近车辆无法发现后面的警车，从而无法进行有效躲避。
发明内容
为了解决上述问题，本发明提供了一种警灯闪烁强度控制平台，首先，基于实时雾霾浓度对警车前方图像进行除雾霾处理以获得去雾霾图像，并基于基准车体外形从所述去雾霾图像中进行最近车体检测以从去雾霾图像处分割并获得最近车体子图像。基于最近车体子图像对应的车体目标在所述去雾霾图像中的景深确定并输出最近车距，基于所述最近车距确定发送给所述闪烁驱动器的闪烁强度以控制单色光发射设备按照发送给所述闪烁驱动器的闪烁强度进行单色光发射。
根据本发明的一方面，提供了一种警灯闪烁强度控制平台，所述系统包括筒式安装底座、闪烁驱动器、单色光发射设备、雾霾检测设备、CCD传感设备和STM32控制芯片，所述筒式安装底座用于将所述单色光发射设备固定在警车上，所述闪烁驱动器与所述单色光发射设备连接，用于控 制所述单色光发射设备的发光模式，所述雾霾检测设备用于检测当前雾霾浓度，所述CCD传感设备用于输出警车周围图像，所述STM32控制芯片分别与所述闪烁驱动器、所述雾霾检测设备以及所述CCD传感设备连接，用于向所述闪烁驱动器发送闪烁控制信号。
更具体地，在所述警灯闪烁强度控制平台中：所述闪烁驱动器和所述STM32控制芯片都设置在警车的前端仪表盘内，所述雾霾检测设备设置在警车车体上。
更具体地，在所述警灯闪烁强度控制平台中，还包括：所述单色光发射设备发射红色可见光，并具有常亮发光模式、闪亮发光模式和爆闪发光模式；
其中，所述单色光发射设备在所述闪亮发光模式下其发光频率在预设频率范围内。
更具体地，在所述警灯闪烁强度控制平台中，还包括：亮度检测设备，设置在警车车顶上、所述CCD传感设备的附近，用于检测并输出实时亮度；
所述雾霾检测设备与所述亮度检测设备连接，用于接收所述实时亮度，并基于所述实时亮度校正所述雾霾检测设备检测出的雾霾浓度，将校正后的雾霾浓度作为实时雾霾浓度输出；
对比度增强设备，与所述CCD传感设备连接，用于接收警车周围图像，对警车周围图像执行对比度增强处理以获得增强图像；均方差检测设备，用于接收增强图像，基于增强图像的各个像素点的像素值确定增强图像像素值的均方差以作为目标均方差输出；
信噪比检测设备，用于接收增强图像，对增强图像进行噪声分析，以获得噪声幅值最大的主噪声信号和噪声幅值次大的次噪声信号，基于主噪声信号、次噪声信号以及增强图像确定增强图像的信噪比以作为目标信噪比输出，还用于对增强图像进行场景判断以确定增强图像内像素点像素值的分布情况，基于所述分布情况对增强图像中每一个像素点进行像素值分析以确定是否为噪声点，将增强图像内各个噪声点组成多个噪声区域，确定每一个噪声区域的面积和形状，并将各个噪声区域的面积汇总以获取噪声区域总面积；
改进型中值滤波设备，分别与均方差检测设备以及信噪比检测设备连接，用于在目标信噪比小于等于预设信噪比阈值且目标均方差大于等于预设均方差阈值时，从省电状态进入工作状态，接收每一个噪声区域的形状，基于每一个噪声区域的形状的几何特征，将每一个噪声区域拆分成多个基准子区域，每一个基准子区域的形状为方形、圆形或线形，对每一个噪声区域，针对其被拆分后的各个基准子区域，选择对应的中值滤波模板分别执行中值滤波，以获得各个子区域滤波图案，并将各个子区域滤波图案组合成滤波后的噪声区域子图像，并将增强图像中的非噪声区域与各个噪声区域子图像组合以获得中值滤波图像；
高斯滤波设备，分别与改进型中值滤波设备、均方差检测设备以及信噪比检测设备连接，用于在目标信噪比小于等于预设信噪比阈值且目标均方差大于等于预设均方差阈值时，从省电状态进入工作状态，接收中值滤波图像并对中值滤波图像进行高斯滤波处理以获得高斯滤波图像；
人体识别设备，分别与雾霾检测设备和高斯滤波设备连接，用于接收高斯滤波图像，基于实时雾霾浓度对高斯滤波图像进行除雾霾处理以获得去雾霾图像，并基于基准车体外形从所述去雾霾图像中进行最近车体检测以从去雾霾图像处分割并获得最近车体子图像；
其中，在增强图像内，多个噪声区域之外的区域为非噪声区域；
其中，增强图像内像素点像素值的分布情况包括针对每一个像素点在增强图像内的所在区域确定该像素点像素值应归属的像素值范围；
其中，所述STM32控制芯片还与所述人体识别设备连接，用于基于最近车体子图像对应的车体目标在所述去雾霾图像中的景深确定并输出最近车距；
其中，所述STM32控制芯片还用于基于所述最近车距确定发送给所述闪烁驱动器的闪烁强度以控制单色光发射设备按照发送给所述闪烁驱动器的闪烁强度进行单色光发射。
更具体地，在所述警灯闪烁强度控制平台中：当基准子区域的形状为方形时，每一个基准子区域的大小为3×3、5×5或7×7，当基准子区域的形状为圆形时，每一个基准子区域的半径为3像素、5像素或7像素，当基准子区域的形状为线形时，每一个基准子区域为一个一维像素集合。
更具体地，在所述警灯闪烁强度控制平台中,还包括：车载硬盘，与所述滤波切换设备连接，用于存储所述预设信噪比阈值和所述预设均方差阈值。
更具体地，在所述警灯闪烁强度控制平台中：所述车载硬盘采用橡胶避震。
更具体地，在所述警灯闪烁强度控制平台中：所述车载硬盘采用钢丝避震。
更具体地，在所述警灯闪烁强度控制平台中：所述车载硬盘采用电子避震。
附图说明
以下将结合附图对本发明的实施方案进行描述，其中：
图1为根据本发明实施方案示出的警灯闪烁强度控制平台的结构方框图。
附图标记：1筒式安装底座；2闪烁驱动器；3单色光发射设备；4雾霾检测设备；5 CCD传感设备；6 STM32控制芯片
具体实施方式
下面将参照附图对本发明的警灯闪烁强度控制平台的实施方案进行详细说明。
警示灯，顾名思义，起着警示提醒的作用，一般是用来维护道路安全，有效的减少交通安全事故的发生，还可以预防潜在的不安全隐患。一般情况下警示灯通常都用在警车、工程车、消防车、急救车、防范管理车、道路维修车、牵引车、紧急A/S车、机械设备等开发。
一般情况下，警示灯是按车种和用处可以提供多样的长度的产品的，有灯罩组合的构造，需要时一边方向的灯罩可以组合复合颜色。此外，警示灯还可以根据光源形式的不同，分为：灯泡转灯、LED闪光、氙气灯管频闪，其中LED闪光形式的是灯泡转灯形式的升级版，使用寿命更长，更节能，更低热。
当前的警灯的闪烁强度固定，或者需要采用人工方式进行调整，其工 作模式过于呆板，以及过于依赖警务人员的人工操作进行判断，导致警灯的工作效率不高，无法对前方最近车辆起到有效提示的技术效果。为了克服上述不足，本发明搭建了一种警灯闪烁强度控制平台，用于解决上述技术问题。
图1为根据本发明实施方案示出的警灯闪烁强度控制平台的结构方框图，所述系统包括筒式安装底座、闪烁驱动器、单色光发射设备、雾霾检测设备、CCD传感设备和STM32控制芯片，所述筒式安装底座用于将所述单色光发射设备固定在警车上，所述闪烁驱动器与所述单色光发射设备连接，用于控制所述单色光发射设备的发光模式，所述雾霾检测设备用于检测当前雾霾浓度，所述CCD传感设备用于输出警车周围图像，所述STM32控制芯片分别与所述闪烁驱动器、所述雾霾检测设备以及所述CCD传感设备连接，用于向所述闪烁驱动器发送闪烁控制信号。
接着，继续对本发明的警灯闪烁强度控制平台的具体结构进行进一步的说明。
另外，在所述警灯闪烁强度控制平台中：所述闪烁驱动器和所述STM32控制芯片都设置在警车的前端仪表盘内，所述雾霾检测设备设置在警车车体上。
在所述警灯闪烁强度控制平台中还可以包括：所述单色光发射设备发射红色可见光，并具有常亮发光模式、闪亮发光模式和爆闪发光模式；
其中，所述单色光发射设备在所述闪亮发光模式下其发光频率在预设频率范围内。
在所述警灯闪烁强度控制平台中还可以包括：亮度检测设备，设置在警车车顶上、所述CCD传感设备的附近，用于检测并输出实时亮度；
所述雾霾检测设备与所述亮度检测设备连接，用于接收所述实时亮度，并基于所述实时亮度校正所述雾霾检测设备检测出的雾霾浓度，将校正后的雾霾浓度作为实时雾霾浓度输出；
对比度增强设备，与所述CCD传感设备连接，用于接收警车周围图像，对警车周围图像执行对比度增强处理以获得增强图像；均方差检测设备，用于接收增强图像，基于增强图像的各个像素点的像素值确定增强图像像素值的均方差以作为目标均方差输出；
信噪比检测设备，用于接收增强图像，对增强图像进行噪声分析，以获得噪声幅值最大的主噪声信号和噪声幅值次大的次噪声信号，基于主噪声信号、次噪声信号以及增强图像确定增强图像的信噪比以作为目标信噪比输出，还用于对增强图像进行场景判断以确定增强图像内像素点像素值的分布情况，基于所述分布情况对增强图像中每一个像素点进行像素值分析以确定是否为噪声点，将增强图像内各个噪声点组成多个噪声区域，确定每一个噪声区域的面积和形状，并将各个噪声区域的面积汇总以获取噪声区域总面积；
改进型中值滤波设备，分别与均方差检测设备以及信噪比检测设备连接，用于在目标信噪比小于等于预设信噪比阈值且目标均方差大于等于预设均方差阈值时，从省电状态进入工作状态，接收每一个噪声区域的形状，基于每一个噪声区域的形状的几何特征，将每一个噪声区域拆分成多个基准子区域，每一个基准子区域的形状为方形、圆形或线形，对每一个噪声区域，针对其被拆分后的各个基准子区域，选择对应的中值滤波模板分别执行中值滤波，以获得各个子区域滤波图案，并将各个子区域滤波图案组合成滤波后的噪声区域子图像，并将增强图像中的非噪声区域与各个噪声区域子图像组合以获得中值滤波图像；
高斯滤波设备，分别与改进型中值滤波设备、均方差检测设备以及信噪比检测设备连接，用于在目标信噪比小于等于预设信噪比阈值且目标均方差大于等于预设均方差阈值时，从省电状态进入工作状态，接收中值滤波图像并对中值滤波图像进行高斯滤波处理以获得高斯滤波图像；
人体识别设备，分别与雾霾检测设备和高斯滤波设备连接，用于接收高斯滤波图像，基于实时雾霾浓度对高斯滤波图像进行除雾霾处理以获得去雾霾图像，并基于基准车体外形从所述去雾霾图像中进行最近车体检测以从去雾霾图像处分割并获得最近车体子图像；
其中，在增强图像内，多个噪声区域之外的区域为非噪声区域；
其中，增强图像内像素点像素值的分布情况包括针对每一个像素点在增强图像内的所在区域确定该像素点像素值应归属的像素值范围；
其中，所述STM32控制芯片还与所述人体识别设备连接，用于基于最近车体子图像对应的车体目标在所述去雾霾图像中的景深确定并输出 最近车距；
其中，所述STM32控制芯片还用于基于所述最近车距确定发送给所述闪烁驱动器的闪烁强度以控制单色光发射设备按照发送给所述闪烁驱动器的闪烁强度进行单色光发射。
另外，在所述警灯闪烁强度控制平台中：当基准子区域的形状为方形时，每一个基准子区域的大小为3×3、5×5或7×7，当基准子区域的形状为圆形时，每一个基准子区域的半径为3像素、5像素或7像素，当基准子区域的形状为线形时，每一个基准子区域为一个一维像素集合。
在所述警灯闪烁强度控制平台中还可以包括：车载硬盘，与所述滤波切换设备连接，用于存储所述预设信噪比阈值和所述预设均方差阈值。
另外，在所述警灯闪烁强度控制平台中：所述车载硬盘可以采用橡胶避震。
另外，在所述警灯闪烁强度控制平台中：所述车载硬盘可以采用钢丝避震。
另外，在所述警灯闪烁强度控制平台中：所述车载硬盘可以采用电子避震。
其中，图像滤波，即在尽量保留图像细节特征的条件下对目标图像的噪声进行抑制，是图像预处理中不可缺少的操作，其处理效果的好坏将直接影响到后续图像处理和分析的有效性和可靠性。
由于成像系统、传输介质和记录设备等的不完善，数字图像在其形成、传输记录过程中往往会受到多种噪声的污染。另外，在图像处理的某些环节当输入的像对象并不如预想时也会在结果图像中引入噪声。这些噪声在图像上常表现为一引起较强视觉效果的孤立像素点或像素块。一般，噪声信号与要研究的对象不相关它以无用的信息形式出现，扰乱图像的可观测信息。对于数字图像信号，噪声表为或大或小的极值，这些极值通过加减作用于图像像素的真实灰度值上，对图像造成亮、暗点干扰，极大降低了图像质量，影响图像复原、分割、特征提取、图像识别等后继工作的进行。要构造一种有效抑制噪声的滤波器必须考虑两个基本问题：能有效地去除目标和背景中的噪声；同时，能很好地保护图像目标的形状、大小及特定的几何和拓扑结构特征。
常用的图像滤波模式中的一种是，非线性滤波器，一般说来，当信号频谱与噪声频谱混叠时或者当信号中含有非叠加性噪声时如由系统非线性引起的噪声或存在非高斯噪声等)，传统的线性滤波技术，如傅立变换，在滤除噪声的同时，总会以某种方式模糊图像细节(如边缘等)进而导致像线性特征的定位精度及特征的可抽取性降低。而非线性滤波器是基于对输入信号的一种非线性映射关系，常可以把某一特定的噪声近似地映射为零而保留信号的要特征，因而其在一定程度上能克服线性滤波器的不足之处。
采用本发明的警灯闪烁强度控制平台，针对现有技术中的警灯闪烁强度难以自适应控制的技术问题，通过在现有警灯硬件上集成多个处理器件，实现对警车前方图像进行采集，对采集到的图像进行有效的去雾霾化和前方车辆识别，以获取前方最近车辆距离，并能够基于前方最近车辆距离自动调整警灯闪烁强度。
可以理解的是，虽然本发明已以较佳实施例披露如上，然而上述实施例并非用以限定本发明。对于任何熟悉本领域的技术人员而言，在不脱离本发明技术方案范围情况下，都可利用上述揭示的技术内容对本发明技术方案做出许多可能的变动和修饰，或修改为等同变化的等效实施例。因此，凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所做的任何简单修改、等同变化及修饰，均仍属于本发明技术方案保护的范围内。

Claims (9)

  1. 一种警灯闪烁强度控制平台，包括筒式安装底座、闪烁驱动器、单色光发射设备、雾霾检测设备、CCD传感设备和STM32控制芯片，所述筒式安装底座用于将所述单色光发射设备固定在警车上，所述闪烁驱动器与所述单色光发射设备连接，用于控制所述单色光发射设备的发光模式，所述雾霾检测设备用于检测当前雾霾浓度，所述CCD传感设备用于输出警车周围图像，所述STM32控制芯片分别与所述闪烁驱动器、所述雾霾检测设备以及所述CCD传感设备连接，用于向所述闪烁驱动器发送闪烁控制信号。
  2. 如权利要求1所述的警灯闪烁强度控制平台，其特征在于：
    所述闪烁驱动器和所述STM32控制芯片都设置在警车的前端仪表盘内，所述雾霾检测设备设置在警车车体上。
  3. 如权利要求2所述的警灯闪烁强度控制平台，其特征在于，还包括：
    所述单色光发射设备发射红色可见光，并具有常亮发光模式、闪亮发光模式和爆闪发光模式；
    其中，所述单色光发射设备在所述闪亮发光模式下其发光频率在预设频率范围内。
  4. 如权利要求3所述的警灯闪烁强度控制平台，其特征在于，还包括：
    亮度检测设备，设置在警车车顶上、所述CCD传感设备的附近，用于检测并输出实时亮度；
    所述雾霾检测设备与所述亮度检测设备连接，用于接收所述实时亮度，并基于所述实时亮度校正所述雾霾检测设备检测出的雾霾浓度，将校正后的雾霾浓度作为实时雾霾浓度输出；
    对比度增强设备，与所述CCD传感设备连接，用于接收警车周围图 像，对警车周围图像执行对比度增强处理以获得增强图像；
    均方差检测设备，用于接收增强图像，基于增强图像的各个像素点的像素值确定增强图像像素值的均方差以作为目标均方差输出；
    信噪比检测设备，用于接收增强图像，对增强图像进行噪声分析，以获得噪声幅值最大的主噪声信号和噪声幅值次大的次噪声信号，基于主噪声信号、次噪声信号以及增强图像确定增强图像的信噪比以作为目标信噪比输出，还用于对增强图像进行场景判断以确定增强图像内像素点像素值的分布情况，基于所述分布情况对增强图像中每一个像素点进行像素值分析以确定是否为噪声点，将增强图像内各个噪声点组成多个噪声区域，确定每一个噪声区域的面积和形状，并将各个噪声区域的面积汇总以获取噪声区域总面积；
    改进型中值滤波设备，分别与均方差检测设备以及信噪比检测设备连接，用于在目标信噪比小于等于预设信噪比阈值且目标均方差大于等于预设均方差阈值时，从省电状态进入工作状态，接收每一个噪声区域的形状，基于每一个噪声区域的形状的几何特征，将每一个噪声区域拆分成多个基准子区域，每一个基准子区域的形状为方形、圆形或线形，对每一个噪声区域，针对其被拆分后的各个基准子区域，选择对应的中值滤波模板分别执行中值滤波，以获得各个子区域滤波图案，并将各个子区域滤波图案组合成滤波后的噪声区域子图像，并将增强图像中的非噪声区域与各个噪声区域子图像组合以获得中值滤波图像；
    高斯滤波设备，分别与改进型中值滤波设备、均方差检测设备以及信噪比检测设备连接，用于在目标信噪比小于等于预设信噪比阈值且目标均方差大于等于预设均方差阈值时，从省电状态进入工作状态，接收中值滤波图像并对中值滤波图像进行高斯滤波处理以获得高斯滤波图像；
    车体识别设备，分别与雾霾检测设备和高斯滤波设备连接，用于接收高斯滤波图像，基于实时雾霾浓度对高斯滤波图像进行除雾霾处理以获得去雾霾图像，并基于基准车体外形从所述去雾霾图像中进行最近车体检测以从去雾霾图像处分割并获得最近车体子图像；
    其中，在增强图像内，多个噪声区域之外的区域为非噪声区域；
    其中，增强图像内像素点像素值的分布情况包括针对每一个像素点在 增强图像内的所在区域确定该像素点像素值应归属的像素值范围；
    其中，所述STM32控制芯片还与所述车体识别设备连接，用于基于最近车体子图像对应的车体目标在所述去雾霾图像中的景深确定并输出最近车距；
    其中，所述STM32控制芯片还用于基于所述最近车距确定发送给所述闪烁驱动器的闪烁强度以控制单色光发射设备按照发送给所述闪烁驱动器的闪烁强度进行单色光发射。
  5. 如权利要求4所述的警灯闪烁强度控制平台，其特征在于：
    当基准子区域的形状为方形时，每一个基准子区域的大小为3×3、5×5或7×7，当基准子区域的形状为圆形时，每一个基准子区域的半径为3像素、5像素或7像素，当基准子区域的形状为线形时，每一个基准子区域为一个一维像素集合。
  6. 如权利要求5所述的警灯闪烁强度控制平台，其特征在于，还包括：
    车载硬盘，与所述滤波切换设备连接，用于存储所述预设信噪比阈值和所述预设均方差阈值。
  7. 如权利要求6所述的警灯闪烁强度控制平台，其特征在于：
    所述车载硬盘采用橡胶避震。
  8. 如权利要求6所述的警灯闪烁强度控制平台，其特征在于：
    所述车载硬盘采用钢丝避震。
  9. 如权利要求6所述的警灯闪烁强度控制平台，其特征在于：
    所述车载硬盘采用电子避震。
PCT/CN2017/091144 2017-06-06 2017-06-30 警灯闪烁强度控制平台 WO2018223451A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US15/770,010 US10856389B2 (en) 2017-06-06 2017-06-30 Warning light scintillation intensity control platform

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710418639.5A CN107248245B (zh) 2017-06-06 2017-06-06 警灯闪烁强度控制平台
CN201710418639.5 2017-06-06

Publications (1)

Publication Number Publication Date
WO2018223451A1 true WO2018223451A1 (zh) 2018-12-13

Family

ID=60017728

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/091144 WO2018223451A1 (zh) 2017-06-06 2017-06-30 警灯闪烁强度控制平台

Country Status (3)

Country Link
US (1) US10856389B2 (zh)
CN (1) CN107248245B (zh)
WO (1) WO2018223451A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2577734A (en) 2018-10-05 2020-04-08 Continental Automotive Gmbh Emergency vehicle detection
CN109951935B (zh) * 2019-04-12 2023-06-02 福建船政交通职业学院 一种基于复杂天气自动检测切换的电子闪光器控制系统
CN110910333B (zh) * 2019-12-12 2023-03-14 腾讯科技（深圳）有限公司 图像处理方法和图像处理设备

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2703952Y (zh) * 2004-03-17 2005-06-08 史剑冰 字显/闪烁警用车辆警示灯
US20070273551A1 (en) * 2006-05-24 2007-11-29 Jacobs Royce A Advanced warning system for emergency vehicles
CN200993327Y (zh) * 2006-12-19 2007-12-19 张志刚 警用led反光灯
CN103065133A (zh) * 2013-01-21 2013-04-24 信帧电子技术（北京）有限公司 雾天行人检测方法及装置
CN105512623A (zh) * 2015-12-02 2016-04-20 吉林大学 基于多传感器雾天行车视觉增强与能见度预警系统及方法
US20170075888A1 (en) * 2015-09-16 2017-03-16 Ekin Teknoloji Sanayi Ve Ticaret Anonim Sirketi Portable vehicle monitoring system

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6351211B1 (en) * 2000-01-25 2002-02-26 M&P Ventures, Inc. Brake warning method and system
US9955551B2 (en) * 2002-07-12 2018-04-24 Yechezkal Evan Spero Detector controlled illuminating system
KR101115221B1 (ko) * 2005-01-07 2012-02-14 주식회사 현대오토넷 차량 근접 경고 시스템 및 방법
CN2862243Y (zh) * 2005-08-12 2007-01-24 熊学辉 汽车故障警示牌
CN101372211A (zh) * 2007-08-20 2009-02-25 庄伟� 车灯转换装置
CN201210351Y (zh) * 2008-04-01 2009-03-18 浙江金基电子技术有限公司 高速公路雾区智能电子诱导系统
US10406967B2 (en) * 2014-04-29 2019-09-10 Chia Ming Chen Light control systems and methods
CN104392629B (zh) * 2014-11-07 2015-12-09 深圳市中天安驰有限责任公司 检测车距的方法和装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2703952Y (zh) * 2004-03-17 2005-06-08 史剑冰 字显/闪烁警用车辆警示灯
US20070273551A1 (en) * 2006-05-24 2007-11-29 Jacobs Royce A Advanced warning system for emergency vehicles
CN200993327Y (zh) * 2006-12-19 2007-12-19 张志刚 警用led反光灯
CN103065133A (zh) * 2013-01-21 2013-04-24 信帧电子技术（北京）有限公司 雾天行人检测方法及装置
US20170075888A1 (en) * 2015-09-16 2017-03-16 Ekin Teknoloji Sanayi Ve Ticaret Anonim Sirketi Portable vehicle monitoring system
CN105512623A (zh) * 2015-12-02 2016-04-20 吉林大学 基于多传感器雾天行车视觉增强与能见度预警系统及方法

Also Published As

Publication number Publication date
US10856389B2 (en) 2020-12-01
CN107248245B (zh) 2019-05-24
US20200245436A1 (en) 2020-07-30
CN107248245A (zh) 2017-10-13

Similar Documents

Publication Publication Date Title
EP2537709B1 (en) Image processing apparatus and light distribution control method
WO2018223451A1 (zh) 警灯闪烁强度控制平台
US8315766B2 (en) Process for detecting a phenomenon limiting the visibility for a motor vehicle
JP5575276B2 (ja) 分光分析により霧を検出する方法および装置
US10798791B2 (en) Light emitting diode emergency vehicle light based on traffic detection
WO2021114799A1 (zh) 一种基于计算机视觉的矩阵车灯识别方法
KR100716338B1 (ko) 영상인식을 이용한 후측방 접근 차량 경보 방법 및 시스템
JP2005136952A (ja) 色付き赤外線夜間視覚装置
EP3036132A1 (en) Vehicle imaging system and method for distinguishing reflective objects from lights of another vehicle
WO2018223452A1 (zh) 基于危险行为检测的警灯控制系统
CN111243336B (zh) 一种基于双闪灯识别的车辆追尾预警系统及预警方法
US20200042808A1 (en) Apparatus and Method for Detecting a Traffic Light Phase for a Motor Vehicle
CN106887158A (zh) 急弯道路信号灯预警系统及其方法
CN111231833A (zh) 一种基于全息投影与ar结合的汽车辅助驾驶系统
CN104537636B (zh) 隧道入口“黑洞效应”的图像检测方法
CN110520898A (zh) 用于消除明亮区域的图像处理方法
WO2018223455A1 (zh) 智能化氙气管型警灯
CN110329156B (zh) 车辆逆光盲区车前信息的识别方法及装置
CN105046223A (zh) 一种隧道入口“黑洞效应”严重程度的检测装置及方法
KR20170069551A (ko) 신호등 인식 시스템 및 그 방법
Mukojima et al. Blinking Detection for Obstruction Warning Signal using Front Camera
CN212460040U (zh) 交通行驶高度预警装置
CN116438584A (zh) 图像处理方法
TWM517886U (zh) 具障礙物判斷功能之路燈
WO2024002694A1 (en) Method for monitoring a lighting system of a vehicle, in particular of a utility vehicle, electronic control unit, vehicle, in particular utility vehicle, and computer program

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17913098

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17913098

Country of ref document: EP

Kind code of ref document: A1