CN108830264A - A kind of the platform occupant detection system and method for unmanned bus - Google Patents
A kind of the platform occupant detection system and method for unmanned bus Download PDFInfo
- Publication number
- CN108830264A CN108830264A CN201810938571.8A CN201810938571A CN108830264A CN 108830264 A CN108830264 A CN 108830264A CN 201810938571 A CN201810938571 A CN 201810938571A CN 108830264 A CN108830264 A CN 108830264A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- module
- camera
- image
- 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.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 8
- 238000004891 communication Methods 0.000 claims abstract description 28
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 238000007781 pre-processing Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000009877 rendering Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000001012 protector Effects 0.000 claims description 2
- 238000012546 transfer Methods 0.000 claims description 2
- 238000013500 data storage Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
Abstract
Preceding camera outside the platform occupant detection system and method, including vehicle computing terminal, vehicle of a kind of unmanned bus, rear camera outside vehicle, left camera outside 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 present invention relates to automobile intelligent nets to join field, specifically a kind of platform occupant detection of unmanned bus
System and method.
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
Sail public transport there is still a need for several critical issues are solved, i.e.,：Can not 360 ° of perception ambient enviroments, platform passenger can not be carried out identification and
Detection is so as to automatic parked vehicle.
Summary of the invention
The object of the present invention is to provide a kind of platform occupant detection system of unmanned bus and methods, solve existing
Public transport can not be to the technical problem that platform passenger is identified under unmanned mode.It can be realized nobody using the system to drive
Sail 360 ° of panoramic looking-arounds of public transport, remote monitoring center monitors vehicle-state in real time, vehicle location positions in real time, platform passenger is real-time
Identification and detection, being capable of autonomous parked vehicle.
To achieve the above object, the present invention provides bus panorama monitoring and platform occupant detection system, including：Vehicle-mounted meter
Calculate terminal, vehicle outer camera, display instrument, GPS global positioning module, 4G network communication module, PC remote monitoring center；It is described
The outer camera of vehicle is made of right camera outside left camera outside rear camera outside preceding camera outside vehicle, vehicle, vehicle, vehicle；It is described vehicle-mounted
Computing terminal includes ARM controller, DSP image mosaic module, DSP image detection module, CPU module, CAN communication module；
Vehicle computing terminal is that the data of the system calculate center, for receiving the data that camera acquires outside vehicle, line number of going forward side by side
Analysis and processing when factually.
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, 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
Measured 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 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 public transport, and sends occupant detection result to ARM controller, works as ARM
The occupant detection result that controller receives DSP image detection module is when having passenger to wait, to be stopped deceleration by CAN communication module
Vehicle signal 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.
As a preference of the present invention, the outer camera of 4 vehicles is mounted on outside vehicle, the outer preceding camera of vehicle is mounted on vehicle
Front, the outer rear camera of vehicle are mounted on the rear of vehicle, and left camera is mounted near the left-hand mirror of vehicle outside vehicle, and vehicle is outer right
Camera is mounted near the right rear view mirror of vehicle.
As present invention further optimization, the DSP image mosaic module includes：4 automatic camera calibration modules, image
Panoramic mosaic module；The 4 automatic camera calibration module is corrected panoramic distortion for demarcating to camera parameter；
Described image panoramic mosaic module is used to carry out real time panoramic splicing to 4 tunnel camera videos.
As of the invention, more a step is preferred again, and the DSP image detection module includes：Passenger's property data base, image
Preprocessing module, picture recognition module, Image Feature Matching module；Passenger's property data base is by open pedestrian's characteristic
Library and tourism bus independently acquire storage；Described image preprocessing module for pre-processing 360 ° of panoramic videos in real time；
Described image identification module is used to image pre-processing module treated image information carrying out passenger's identification, described image feature
Matching module is for comparing the information that the image information recognized is stored with passenger's property data base, when detecting platform
When thering is passenger to wait, by CAN communication module by ramp to stop signal be sent to unmanned bus entire car controller so as to
Automatic parked vehicle.
To achieve the above object, the present invention also provides a kind of unmanned bus platform occupant detection method, this method
Specifically comprise the following steps, step 1, image data acquisition：Pass through camera real-time video outside the vehicle installed outside vehicle body, acquisition
Bus exercises route surrounding enviroment and website passenger's head image information；Step 2, road location positions：By being mounted on automobile
Interior GPS global positioning module positions satellite group in real time to the position of automobile；Step 3, image real time transfer：It will figure
Data processing and storage are carried out as data and road location data are transferred to ARM controller；Step 4, image data stores：According to
ARM controller processing and the information stored are sent to PC remote monitoring center by the communication protocol made an appointment；Pass through the PC
Remote monitoring center receives 360 ° of panoramic videos, the positioning, occupant detection data that vehicle computing terminal is sent, data storage
In the database；Step 5, image data executes：When ARM controller analysis occupant detection result is to have passenger to wait, pass through
Ramp to stop signal is sent to unmanned bus entire car controller so as to automatic parked vehicle by CAN communication module.
Further preferably, the step 3 specifically includes as follows：Step 3.1, by by the DSP image mosaic module with
ARM controller connection, is handled 4 tunnel camera videos outside vehicle, and be spliced into 360 ° of panoramic videos in real time；Step 3.2, by by institute
It states DSP image detection module to connect with DSP image mosaic module, 360 ° of panoramic videos be handled in real time, and to unmanned public affairs
It hands over front platform passenger to identify and detect, and sends occupant detection result to ARM controller.
Further preferably, step 3 further includes following steps：Step 3.3, CPU module is used to carry out 360 ° of panoramic videos
GPU rendering accelerates；The display instrument module is and real-time to platform occupant detection situation for showing to 360 ° of panoramic videos
Display.
Further preferably, there are four the outer cameras of vehicle described in step 1, wherein the outer preceding camera of vehicle is mounted on vehicle
Front, the outer rear camera of vehicle are mounted on the rear of vehicle, and left camera is mounted near the left-hand mirror of vehicle outside vehicle, and vehicle is outer right
Camera is mounted near the right rear view mirror of vehicle.
Further preferably, DSP image mosaic module described in step 3 includes：4 automatic camera calibration modules, image panorama are spelled
Connection module；The 4 automatic camera calibration module is corrected panoramic distortion for demarcating to camera parameter；The figure
As panoramic mosaic module is used to carry out real time panoramic splicing to 4 tunnel camera videos.
Further preferably, DSP image detection module described in step 3 includes：Passenger's property data base, image preprocessing mould
Block, picture recognition module, Image Feature Matching module；Passenger's property data base is by open pedestrian's property data base and trip
Trip bus independently acquires storage；Described image preprocessing module for pre-processing 360 ° of panoramic videos in real time；Described image
Identification module is used to image pre-processing module treated image information carrying out passenger's identification, described image characteristic matching module
Information for storing the image information recognized with passenger's property data base compares, when detecting that platform has passenger's time
Ramp to stop signal is sent to unmanned bus entire car controller by CAN communication module to berth automatically by Che Shi
Vehicle.
The advantages and positive effects of the present invention：
（1）Unmanned bus platform occupant detection system of the invention, structure is simple, easy for installation, versatile, and nothing is made an uproar
Sound can be directly mounted on existing any tourism bus；The system can be adopted in real time by the outer camera module of 4 vehicles
Collect 4 road videos, by image mosaic module to 4 road videos carry out three-dimensional panorama splicing, can be to unmanned public transport around
360 ° of environmental aspects are checked, can prevent dangerous situation generation around in advance.
（2）Unmanned bus platform occupant detection system of the invention is equipped with GPS global positioning module in the car,
Automobile can be positioned at any time by GPS global positioning module, vehicle is positioned and managed convenient for remote monitoring center
Reason.
（3）Unmanned bus platform occupant detection system of the invention is equipped with 4 camera modules outside vehicle, respectively
For right camera outside left camera outside rear camera outside preceding camera outside vehicle, vehicle, vehicle, vehicle, by carrying out figure to 4 tunnel camera videos
As splicing, with real-time display and 360 ° of environmental informations around unmanned public transport can be checked；Simultaneously by unmanned public transport
Platform passenger identifies and detects in 360 ° of panoramic videos, and when detecting that platform has passenger to wait, system is by ramp to stop
Signal is sent to unmanned bus entire car controller so as to automatic parked vehicle；
（4）Unmanned bus platform occupant detection system of the invention is additionally provided with PC remote monitoring center, vehicle computing terminal
By 360 ° of panoramic videos, positioning, occupant detection data real-time transmission to PC remote monitoring center, it is convenient for subsequent query, simultaneously also
Distant supervision and control function can be achieved.
Detailed description of the invention
Fig. 1 is unmanned bus platform occupant detection system arrangement schematic diagram of the invention.
Fig. 2 is unmanned bus platform occupant detection system structural schematic diagram of the invention.
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 it will be apparent to those skilled in that technical solution of the present invention and its advantage and effect are understood, below with reference to attached
The present invention is described in more detail for figure, but is not used to limitation of the invention.
Referring to Fig.2, unmanned bus platform occupant detection system provided by the invention, including：Vehicle computing terminal 1,
Left camera 4 outside the outer rear camera 5 of the outer preceding camera 3 of display instrument 2, vehicle, vehicle, vehicle, right camera 6, GPS global location outside vehicle
Module 7,4G network communication module 8, PC remote monitoring center 9；The vehicle computing terminal includes ARM controller 11, DSP figure
As splicing 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, is taken the photograph after vehicle is outer
The rear for being mounted on vehicle as first 6, left camera 4 is mounted near the left-hand mirror of vehicle outside vehicle, and right camera 6 is installed outside vehicle
Near the right rear view mirror of vehicle, they pass through CVBS coaxial line respectively and connect with ARM controller 11, for monitoring feelings outside vehicle
Condition, the outer 4 road real-time videos of collecting vehicle, passes through ARM controller to ARM controller 11 for video data transmission outside collected vehicle
11 carry 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, 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 11 and is stored；
The 4G network transmission module 8 is connect with ARM controller 11, for controlling ARM according to the communication protocol made an appointment
The information of the processing of device 11 is sent to PC remote monitoring center 9；
The PC remote monitoring center 9 is for receiving 360 ° of panoramic videos, positioning, passengers that vehicle computing terminal 1 is sent
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 is spelled
360 ° of panoramic videos are connected into, including：4 automatic camera calibration modules 121, image panorama splicing module 122；4 camera is automatic
Demarcating 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 being handled in real time 360 ° of panoramic videos,
And platform passenger in front of unmanned bus is identified and detected, including：Passenger's property data base 131, image are located in advance
Manage module 132, picture recognition module 133, Image Feature Matching module 134；Passenger's property data base 131 is by open pedestrian
Property data base and tourism bus independently acquire storage；Described image preprocessing module 132 is used for 360 ° of panoramic videos
Pretreatment in real time；Described image identification module 133 is used to image pre-processing module treated image information carrying out passenger's knowledge
Not, described image characteristic matching module 134 for will the image information that recognize and the storage of passenger's property data base information into
Row comparison, and send occupant detection result to ARM controller 11, when ARM controller 11 receives DSP image detection module 13
Occupant detection result is that when having passenger to wait, ramp to stop signal is sent to unmanned public transport by CAN communication module 15
Vehicle entire car controller is 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 is for showing 360 ° of panoramic videos, and to platform occupant detection situation real-time display.
Referring to Fig. 1, Fig. 2, the present invention also provides unmanned bus platform occupant detection method, by by vehicle body
The outer preceding camera 3 of the vehicle of outer installation, the outer rear camera 5 of vehicle, left camera 4 outside vehicle, right 6 real-time video of camera outside vehicle, acquisition
Bus exercises route surrounding enviroment, and video data transmission outside collected vehicle is passed through ARM controller to ARM controller 11
11 carry out data storage and processing；By the GPS global positioning module 7 being mounted in automobile, make satellite group to the position of automobile
It is positioned in real time, and location data is transmitted in ARM controller 11 and is stored；It will according to the communication protocol made an appointment
The information of the processing of ARM controller 11 is sent to PC remote monitoring center；Vehicle computing is received by the PC remote monitoring center
360 ° of panoramic videos, positioning, the occupant detection protector that terminal is sent, in the database by processing storage；By by institute
It states DSP image mosaic module 12 to connect with ARM controller 11,4 tunnel camera videos outside vehicle is handled in real time, and be spliced into 360 ° entirely
Scape video；It is real-time to 360 ° of panoramic videos by the way that the DSP image detection module 13 to be connect with DSP image mosaic module 12
Processing, and platform passenger in front of unmanned bus is identified and detected, and sends occupant detection result to ARM control
Device 11 processed；When the occupant detection result that ARM controller 11 receives DSP image detection module 13 is to have passenger to wait, pass through CAN
Ramp to stop signal is sent to unmanned public transport entire car controller so as to automatic parked vehicle by communication module 15.CPU module
14 accelerate for carrying out GPU rendering to 360 ° of panoramic videos；The display instrument module for being shown to 360 ° of panoramic videos,
And to platform occupant detection situation real-time display.
The DSP image mosaic module includes：4 automatic camera calibration modules, image panorama splicing module；4 camera
Automatic Calibration module is corrected panoramic distortion 8 for demarcating to camera parameter；Described image panoramic mosaic module is used
In to the progress real time panoramic splicing of 4 tunnel camera videos.
Above embodiments are merely to illustrate technical idea of the invention, and this does not limit the scope of protection of the present invention, all
It is any changes made on the basis of the technical scheme according to the technical idea provided by the invention, each falls within present invention protection model
Within enclosing.
Claims (10)
1. a kind of platform occupant detection system of unmanned bus, it is characterised in that：The system includes：Vehicle computing is whole
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 unmanned bus-stop occupant detection system according to claim 1, it is characterised in that：Described
There are four the outer cameras of vehicle, wherein the outer preceding camera of vehicle is mounted on the front of vehicle, after the outer rear camera of vehicle is mounted on vehicle
Square, left camera is mounted near the left-hand mirror of vehicle outside vehicle, and right camera is mounted near the right rear view mirror of vehicle outside vehicle.
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：It is 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.
5. a kind of platform occupant detection method of unmanned bus, it is characterised in that：This method includes：Vehicle computing is whole
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；Specific packet
Include following steps,
Step 1, image data acquisition：By camera real-time video outside the vehicle installed outside vehicle body, acquisition bus exercises road
Line surrounding enviroment and website passenger's head image information；
Step 2, road location positions：By the GPS global positioning module being mounted in automobile, make satellite group to the position of automobile
It sets and is positioned in real time；
Step 3, image real time transfer：By image data and road location data be transferred to ARM controller carry out data processing and
Storage；
Step 4, image data stores：ARM controller processing and the information stored are sent according to the communication protocol made an appointment
Give PC remote monitoring center；360 ° of aphoramas that vehicle computing terminal is sent are received by the PC remote monitoring center
Frequently, positioning, occupant detection data, data store in the database；
Step 5, image data executes：When ARM controller analysis occupant detection result is to have passenger to wait, pass through CAN communication
Ramp to stop signal is sent to unmanned bus entire car controller so as to automatic parked vehicle by module.
6. a kind of unmanned bus platform occupant detection method according to claim 5, which is characterized in that the step
3 specifically include it is as follows：
Step 3.1, by the way that the DSP image mosaic module to be connect with ARM controller, 4 tunnel camera videos outside vehicle are located in real time
Reason, and it is spliced into 360 ° of panoramic videos；
Step 3.2, real-time to 360 ° of panoramic videos by the way that the DSP image detection module to be connect with DSP image mosaic module
Processing, and platform passenger in front of unmanned public transport is identified and detected, and sends occupant detection result to ARM control
Device.
7. a kind of unmanned bus platform occupant detection method according to claim 5 or 6, which is characterized in that step 3
It further include following steps：
Step 3.3, CPU module is used to carry out 360 ° of panoramic videos GPU rendering acceleration；The display instrument module for pair
360 ° of panoramic videos are shown, and to platform occupant detection situation real-time display.
8. a kind of platform occupant detection method of unmanned bus according to claim 5, it is characterised in that：Step
There are four the outer cameras of vehicle described in 1, wherein the outer preceding camera of vehicle is mounted on the front of vehicle, and the outer rear camera of vehicle is mounted on
The rear of vehicle, left camera is mounted near the left-hand mirror of vehicle outside vehicle, after right camera is mounted on the right side of vehicle outside vehicle
Near visor.
9. a kind of platform occupant detection method of unmanned bus according to claim 6, it is characterised in that：Step
The 3 DSP image mosaic modules include：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.
10. a kind of platform occupant detection method of unmanned bus according to claim 6, it is characterised in that：Step
The rapid 3 DSP image detection module includes：Passenger's property data base, image pre-processing module, picture recognition module, image are special
Levy matching module；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 for locating image in advance
Image information after managing resume module carries out passenger's identification, and described image characteristic matching module is used for the image information that will be recognized
It is compared with the information of passenger's property data base storage, it, will by CAN communication module when detecting that platform has passenger to wait
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 |
|---|---|---|---|
| CN201810938571.8A CN108830264B (en) | 2018-08-17 | 2018-08-17 | Platform passenger detection system and method for unmanned bus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810938571.8A CN108830264B (en) | 2018-08-17 | 2018-08-17 | Platform passenger detection system and method for unmanned bus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108830264A true CN108830264A (en) | 2018-11-16 |
| CN108830264B CN108830264B (en) | 2024-05-03 |
Family
ID=64150257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810938571.8A Active CN108830264B (en) | 2018-08-17 | 2018-08-17 | Platform passenger detection system and method for unmanned bus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108830264B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111292551A (en) * | 2018-12-10 | 2020-06-16 | 丰田自动车株式会社 | Operation support device, operation support system, and operation support program |
| CN111695400A (en) * | 2019-03-14 | 2020-09-22 | 丰田自动车株式会社 | Non-transitory computer-readable storage medium and computer-implemented method |
| CN112277802A (en) * | 2020-10-15 | 2021-01-29 | 安徽富煌科技股份有限公司 | Bus-mounted machine based on panoramic auxiliary function |
| CN112492260A (en) * | 2019-09-12 | 2021-03-12 | 比亚迪股份有限公司 | Unmanned passenger car and passenger monitoring system and control method thereof |
| CN112509179A (en) * | 2020-12-18 | 2021-03-16 | 大连理工大学 | Automobile black box with omnidirectional collision perception and three-dimensional scene reappearance inside and outside automobile |
| CN112633057A (en) * | 2020-11-04 | 2021-04-09 | 北方工业大学 | Intelligent monitoring method for abnormal behaviors in bus |
| CN112785831A (en) * | 2020-12-02 | 2021-05-11 | 及宇智能科技(上海)有限公司 | Self-adaptive AI route selection scheduling method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102724484A (en) * | 2012-06-25 | 2012-10-10 | 中国科学院自动化研究所 | Bus stop people monitoring device and monitoring method thereof |
| CN106023582A (en) * | 2016-07-18 | 2016-10-12 | 华南理工大学 | BRT passenger traveling information acquisition and guiding scheme publishing system and method |
| WO2018018177A1 (en) * | 2016-07-24 | 2018-02-01 | 刘文婷 | Precise passenger identification system for use in driverless car |
| CN207173533U (en) * | 2017-09-11 | 2018-04-03 | 马芳武 | A kind of vehicle-mounted intelligent video monitoring and recognition of face anti-theft alarm system |
| CN208969681U (en) * | 2018-08-17 | 2019-06-11 | 吉林大学 | A kind of platform occupant detection system of unmanned bus |
-
2018
- 2018-08-17 CN CN201810938571.8A patent/CN108830264B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102724484A (en) * | 2012-06-25 | 2012-10-10 | 中国科学院自动化研究所 | Bus stop people monitoring device and monitoring method thereof |
| CN106023582A (en) * | 2016-07-18 | 2016-10-12 | 华南理工大学 | BRT passenger traveling information acquisition and guiding scheme publishing system and method |
| WO2018018177A1 (en) * | 2016-07-24 | 2018-02-01 | 刘文婷 | Precise passenger identification system for use in driverless car |
| CN207173533U (en) * | 2017-09-11 | 2018-04-03 | 马芳武 | A kind of vehicle-mounted intelligent video monitoring and recognition of face anti-theft alarm system |
| CN208969681U (en) * | 2018-08-17 | 2019-06-11 | 吉林大学 | A kind of platform occupant detection system of unmanned bus |
Non-Patent Citations (1)
| Title |
|---|
| 马芳武;史津竹;葛林鹤;代凯;仲首任;吴量;: "无人驾驶车辆单目视觉里程计的研究进展", 吉林大学学报(工学版), no. 03 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111292551A (en) * | 2018-12-10 | 2020-06-16 | 丰田自动车株式会社 | Operation support device, operation support system, and operation support program |
| CN111695400A (en) * | 2019-03-14 | 2020-09-22 | 丰田自动车株式会社 | Non-transitory computer-readable storage medium and computer-implemented method |
| CN112492260A (en) * | 2019-09-12 | 2021-03-12 | 比亚迪股份有限公司 | Unmanned passenger car and passenger monitoring system and control method thereof |
| CN112277802A (en) * | 2020-10-15 | 2021-01-29 | 安徽富煌科技股份有限公司 | Bus-mounted machine based on panoramic auxiliary function |
| CN112633057A (en) * | 2020-11-04 | 2021-04-09 | 北方工业大学 | Intelligent monitoring method for abnormal behaviors in bus |
| CN112633057B (en) * | 2020-11-04 | 2024-01-30 | 北方工业大学 | Intelligent monitoring method for abnormal behavior in bus |
| CN112785831A (en) * | 2020-12-02 | 2021-05-11 | 及宇智能科技(上海)有限公司 | Self-adaptive AI route selection scheduling method |
| CN112509179A (en) * | 2020-12-18 | 2021-03-16 | 大连理工大学 | Automobile black box with omnidirectional collision perception and three-dimensional scene reappearance inside and outside automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108830264B (en) | 2024-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108830264A (en) | A kind of the platform occupant detection system and method for unmanned bus | |
| CN103465906B (en) | A kind of parking area automatic train stop implementation method based on telepresenc | |
| CN103473951B (en) | A kind of Automatic Carpark Control System based on telepresenc | |
| CN102390370B (en) | Stereoscopic vision based emergency treatment device and method for running vehicles | |
| CN107564334B (en) | Vehicle blind area danger early warning system and method for parking lot | |
| CN109313021A (en) | Imaging control apparatus and method and vehicle | |
| CN108743266A (en) | A kind of blindmen intelligent navigation avoidance trip householder method and system | |
| CN102774380A (en) | Method for judging running state of vehicle | |
| CN108877269A (en) | A kind of detection of intersection vehicle-state and V2X broadcasting method | |
| CN102693640B (en) | Control method for providing priority signal for set vehicle | |
| WO2021253314A1 (en) | Method and system for vehicle shared charging based on intelligent transportation system, and mobile charging vehicle | |
| CN109874099B (en) | Networking vehicle-mounted equipment flow control system | |
| CN203165216U (en) | License plate recognition device | |
| CN110411461A (en) | A kind of auxiliary navigation method, vehicle device and vehicle | |
| CN108871340A (en) | One kind is based on real-time road condition information optimization blind-guiding method and system | |
| CN208969681U (en) | A kind of platform occupant detection system of unmanned bus | |
| CN113808418A (en) | Road condition information display system, method, vehicle, computer device and storage medium | |
| CN105096607A (en) | Intelligent traffic system capable of automatic control of automobile braking | |
| CN206363159U (en) | A kind of community security patrol robot system | |
| CN105096613A (en) | Automobile overspeed brake and whistling snapshot system | |
| WO2020241971A1 (en) | Traffic accident management device and traffic accident management method | |
| CN205050342U (en) | Car snapshot system that makes a dash across red light that whistles | |
| US12002359B2 (en) | Communication method for vehicle dispatch system, vehicle dispatch system, and communication device | |
| CN208509142U (en) | A kind of automatic driving car panorama monitoring and platform occupant detection system | |
| CN107238838B (en) | A kind of road barricade object detecting method and mobile unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |