CN101799987A - Self-adaptive intelligent traffic light and control method thereof - Google Patents
Self-adaptive intelligent traffic light and control method thereof Download PDFInfo
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Abstract
The invention provides a self-adaptive control method of an intelligent traffic light, which operates according to the following principle: extracting a situation of vehicles on lanes and pedestrians on pedestrian crossings through computer vision technology, and automatically controlling a traffic light according to the extracted situation. The intelligent traffic light comprises an image sampling module, an image processing and interpreting module, an arbitration control module and a warning light display module. The control method comprises the following steps: obtaining collected images of current vehicle areas and pedestrian areas through the image sampling module; obtaining foreground parts of current vehicles and pedestrians through background subtraction, extracting vehicle parts according to extraction edge features and pedestrian parts according to faces and shape features of the pedestrians, and calculating the density of vehicles and pedestrians in the corresponding area. If the vehicle density in the vehicle waiting area is higher than a threshold at a time, the traffic light allows pedestrians to pass; and if the pedestrian density in the pedestrian waiting area is higher than a threshold at a time, the traffic light allows vehicles to pass. If the vehicle density and the pedestrian density are both lower than another corresponding threshold at a time, warming light signals are changed according to the interval for the general situation. The invention is particularly applicable to crowd control during the peak period.
Description
Technical field
The invention belongs to a kind of new-type self-adapting type intelligent traffic light, be used for the vehicle at crossing place, urban street and the control of pedestrian's motion.The i.e. intellectuality of the traffic lights conversion at crossing place at ordinary times.
Background technology
Traffic lights are important composition compositions in the urban transportation system.It is guaranteeing traffic safety, and standard vehicle behavior aspect has all played irreplaceable effect.Although the high speed loop has been set up in (for example Beijing) in the Chinese large-sized city, a part of traffic lights have been removed from.But in common street and crossroad, traffic lights are still one of main means of the various vehicle behaviors of standard.For the various traffic violations behaviors of stronger prevention, at the parting of the ways and some important location in street all kinds of cameras that cooperate supervision are often arranged, be mainly used in the vehicle behavior in violation of rules and regulations of catching, record license plate information or the like.We can say aspect monitoring vehicle behavior and the license plate identification significant progress is being arranged.
Previous patent 200710303846.2 provides a kind of intelligent traffic light control system, uses panoramic camera to obtain the video image of all directions condition of road surface, calculates the wagon flow situation according to road vehicle queuing distance, and real-time update traffic lights controlled variable.This is the vehicle detection that applies to crossroad place, has just considered the vehicle factor, human factor is not taken into account, therefore and the stream of people and the wagon flow that are not suitable for non-cross or place, T-shaped road junction control.
Previous patent 200610022581.4 provides a kind of New Intelligent controlling system of traffic light.It is provided with video camera on road, and video camera is linked to each other with recognizer, and recognizer is connected with background data base.When automobile crosses, carry out video sampling, and parse corresponding information of vehicles and database and compare.It focuses in the information extraction and identification of vehicle.Wherein do not consider human factor yet.Be not suitable for the stream of people and the wagon flow control in non-cross or T-shaped road junction equally.
Summary of the invention
The present invention mainly be at present intelligent transportation just at the present situation of vehicle detection, a kind of new-type vehicle that is used for crossing place, urban street of proposition and the intelligent traffic light of pedestrian's motion control.
Thought of the present invention is, will be by vehicle and the pedestrian's recognition technology of utilizing computer vision, the vehicle that leading portion is obtained and the sampled images in pedestrian zone are handled and the vehicle and the pedestrian density's information that obtain, as the foundation of judging the traffic lights switching instant, thereby realization is to the intellectuality of pedestrian and wagon flow control.Comprise image sampling module, Flame Image Process and Understanding Module, arbitration modules and warning lamp display module in the intelligent traffic light of the present invention.
Image sampling module: be used for the wagon flow situation of driveway and pedestrian's situation in pedestrian zone are gathered.The collection here is meant respectively vehicle region and pedestrian's waiting area is gathered.Every certain hour is gathered image at interval one time, and passes to Flame Image Process and Understanding Module.
Flame Image Process and Understanding Module: sample for vehicle region image sampling and pedestrian waiting area area image that front end transmits.For vehicle, the technology that adopts background to wipe out, the profile information and the area information of its image extracted in denoising later on again, further extracts the positional information of vehicle, finally obtains the vehicle fleet size in the sample area; For the pedestrian, use face recognition technology that the people's face in the zone is discerned, use background to wipe out method in addition, according to the profile information in the foreground pixel, determine the feature of people's the upper part of the body in the foreground pixel, determine to wait the quantity of pedestrian in the zone in conjunction with these two factors.
Arbitration modules: this part passes the vehicle of coming and pedestrian's incremental data according to Flame Image Process and Understanding Module, and in conjunction with current current state (promptly being vehicle pass-through or walk), carries out next step car light look conversion judgement and decision-making constantly.
The warning lamp display module: this part mainly is that the car light color of vehicle and pedestrian's side shows.Pass the warning lamp show state that the control signal of coming determines current vehicle side and pedestrian's side by arbitration modules.
Advantage of the present invention is: is specially adapted in the town road, and for the wagon flow of vertical direction and the stream of people's control, i.e. the wagon flow at crossing place and people's current control.Traffic light control system with respect in the past not only detects vehicle region, and the pedestrian zone is detected, and carries out the taking all factors into consideration of density of two aspects.The human face detection tech that combines current popular detects pedestrian's quantity, and combines pedestrian's upper part of the body information, and it is more accurate to pedestrian's detection to make.
Description of drawings
Fig. 1 is a system flowchart.
Fig. 2 is system's vertical view.
Fig. 3 handles for vehicle image and understands and scheme.
Fig. 4 is pedestrian's Flame Image Process and understands figure.
Embodiment
As shown in Figure 1, the intelligent traffic light scheme is made up of four module sections: image sampling module, Flame Image Process and Understanding Module, arbitration modules and warning lamp display module.The core of system is an embedded center processing system, handles all logic determines, image calculation and shows control.
The image sampling module comprises the image sampling of vehicle and two aspects of pedestrian.Adopt two cameras that vehicle and pedestrian are sampled respectively among the present invention.As shown in Figure 2, in the present invention, other module arrangement of wagon flow video camera and pedestrian's video camera and intelligent lamp is in the same place.Wherein circular gray area is the center of warning lamp, and promptly whole intelligent lamp is in a side of crossing and road medium line intersecting area on the planimetric position.The camera head of both sides is respectively wagon flow video camera and pedestrian's video camera.In vertical direction, traffic lights and two camera heads are positioned at more than the certain altitude, so that vehicle and pedestrian are sampled.The vision signal of two cameras is imported centring system into by video link, also has control line (USB2.0 or RS232) to link to each other with the center processing system simultaneously.Control line is responsible for regulating a series of inner parameters of two cameras, comprises focal length, visual angle, illumination control etc., to determine the variation of sample area and environmental baseline.
As shown in Figure 2, the wagon flow video camera towards the zone be the later road area of stop line, the area part that this part zone is corresponding is vehicle when running into red light and stop by setting certain hour sampling rate at interval, obtains the vehicle image in this regional extent.Pedestrian's video camera towards the zone be road one skidding people's the zone of waiting, the scope of its corresponding road one side slightly is wider than the width of crossing.To sample at interval according to certain hour equally, obtain the pedestrian's image in this zone.
Flame Image Process and Understanding Module are responsible for the video image that receiving front-end is gathered, and extract Useful Information from the image of being gathered, and are used for the calculating and the judgement of follow-up arbitration modules.
Vehicle image processing and Understanding Module fundamental diagram are as shown in Figure 3.The step that obtains number of vehicles and density comprises:
(1) subtracts each other the foreground pixel part that obtains by present image and background image.Here background image is meant when not having vehicle in camera area, the background picture that this moment is corresponding.It is to keep constant at certain time intervals.Subtract each other by two two field pictures, obtain collection of pixels inequality.For this one part of pixel set, the pixel portion and the gray processing of correspondence have promptly obtained foreground pixel in the zone of picking up the car.
(2) extract edge feature.For the foreground pixel part, need extract the feature that we are concerned about.What extract here is edge feature.Edge feature adopts the Canny operator to extract.Obtain a width of cloth bianry image.It has represented the main profile information of the vehicle in the image.
(3) mate with the vehicle template.The main thought of mating with the vehicle template is to set up the edge template for the vehicle of different profiles, searching coupling in the edge image that obtains in front.Concrete grammar is, in conjunction with the parameter of current video camera, sets a moving window in the prospect edge image, and the size of this moving window is slightly larger than the vehicle boundary rectangle size of correspondence position.And the size of moving window changes along with the far and near difference of distance video camera.For the edge content in each moving window, use the vehicle template of corresponding different profiles to mate with it.If the neither one template can mate, then think not have vehicle in this moving window.Adopt moving window to travel through for entire image, the final positional information of in edge image, determining vehicle.
(4) quantity and the density information of acquisition vehicle.According to the result of mating with the vehicle template, obtain the quantity information of vehicle in the present image.Remove region area information with current quantity, then obtain the traffic density information in the current region.The purpose of obtaining density information is because different the varying in size of causing of profile of vehicle causes that the number of vehicles in the current region changes.
Pedestrian's Flame Image Process and understand schematic diagram as shown in Figure 3.The step that obtains pedestrian's number and density mainly is by for the detection of people's face and to the detection of people's shoulder regions, and its result has determined the crowd density in should the zone jointly.Concrete steps comprise:
(1) obtains people's face positional information by the detection of people's face.The method that detects when forefathers' face is to use the Haar wave filter to detect.Its principle is at first to use the Weak Classifier input hundreds of width of cloth image of class Haar to train to one.This hundreds of width of cloth image comprises that about certain certain objects, for example people's face is called positive example; And the individual image arbitrarily of hundreds of, be called counter-example.These training images all need identical size.Here use the sorter that has trained that people's face is detected.The same method that adopts moving window travels through for all positions in the input picture, seeks human face region, obtains people's face positional information.
(2) subtract acquisition prospect part by background.It is identical that this cloth and the background of vehicle detection subtract step process.What finally obtain is the foreground pixel part.
(3) extract edge feature.This step is identical with the step process of the extraction edge feature of vehicle detection.The final edge feature that obtains in the image.
(4) mate with the shoulder template.Here the shoulder feature of selecting human body has 2 reasons as the feature of judging the pedestrian.Shoulder is in the higher position of health, and for the video camera that certain altitude is arranged, this is the information of the extreme higher position of easy detected human body except face; Shoulder is with respect to other parts of health in addition, and arbitrarily the amplitude of swing is less.Also can be used as a stable feature that is used to detect.When mating with the prospect profile image, the same moving window that changes size that adopts detects it.The final shoulder information that obtains pedestrian crowd.
(5) for the people's face and the shoulder information that obtain, do inclusive-OR operation, distribute and number to determine the pedestrian in the zone.Here use the reason of inclusive-OR operation to be, for the people's face and the shoulder information of same center, for it is a pedestrian; For other pedestrian of people's face or shoulder information that is blocked,, just think that there is the pedestrian in this place as long as detect one of people's face or shoulder information.This is in order to wait in the pedestrian is incorporated into all as far as possible.
(6) acquisition pedestrian's quantity and density information.According to the final positional information of pedestrian, obtain the quantity information of pedestrian in the present image.Remove region area information with current quantity, then obtain the pedestrian density's information in the current region.The purpose of obtaining density information is because pedestrian's height is different, has the situation of blocking mutually each other, causes that the pedestrian's number in the current region changes.
Arbitration modules is judged according to traffic density and pedestrian density's information that leading portion obtains, when satisfying respective conditions, is sent the message of transition state to warning lamp.Only to comprise " stopping " two condition (red green two color) warning lamp that " passes through " is example, and its concrete decision logic is:
Vehicle density and pedestrian density's information that front end is transmitted,
When (1) its density is higher than corresponding density lower limit under halted state if both have one, the decision procedure below then adopting:
A. stop when warning lamp is in vehicle, during the walk state, when traffic density was higher than a certain upper density limit value, this moment, state switched to vehicle pass-through;
B. stop when warning lamp is in the pedestrian, during the vehicle pass-through state, when the pedestrian density was higher than a certain upper density limit value, this moment, state switched to walk.
(2) if this two density values during, then according to the state of a certain regular time space changing warning lamp all less than the density lower limit of correspondence;
If warning lamp is when comprising " waits " amber light, when this moment, aforementioned decision process switched to " stopping " by " passing through ", it is first to switch to " wait " by " passing through ", after one regular time section, forward " stopping " state again to; Switch to " passing through " or claim by " stopping " and remain unchanged.
The warning lamp display module.This module links to each other with arbitration modules by the State Control line, is respectively the warning lamp State Control line of pedestrian's one side and the warning lamp control line of vehicle one side.The time interval of its concrete conversion and mapping mode are by depending on arbitration modules.
Claims (2)
1. a self-adapting type intelligent traffic light is characterized in that: be made of image sampling module, Flame Image Process and Understanding Module, arbitration modules and warning lamp display module.
2. the control method of a self-adapting type intelligent traffic light is characterized in that having following steps:
(1) obtains the images acquired in current vehicle region and pedestrian zone by the image sampling module;
(2) vehicle and pedestrian information are extracted:
A. the vehicle region picture of gathering for image capture module, subtract the foreground area that obtains to comprise vehicle sections by background, extract edge feature again, mate with the vehicle template, thereby obtain position and quantity information that vehicle is gathered the middle single unit vehicle of picture, and calculate the traffic density of corresponding vehicle region;
B. for the pedestrian zone picture of image capture module collection, adopt face recognition technology on the one hand, directly information such as the position of extraction people face and quantity from the picture of pedestrian zone; Subtract the foreground area that obtains to comprise pedestrian's part by background on the other hand, extract edge feature again, mate, thereby obtain the position and the quantity information of the upper part of the body in pedestrian zone with pedestrian's upper part of the body template; Again the people's face positional information and the pedestrian's upper part of the body information that obtain are done inclusive-OR operation, obtain the position and the quantity information in pedestrian zone, and calculate the pedestrian density in corresponding pedestrian zone;
(3) density information that is obtained is passed to described arbitration modules, described stamping-out module is judged according to following situation:
A. when if vehicles or pedestrians its density under halted state is higher than corresponding density lower limit, the decision procedure below then adopting:
I. stop when warning lamp is in vehicle, during the walk state, and traffic density is when being higher than a certain upper density limit value, this moment, state switched to vehicle pass-through;
Ii. stop when warning lamp is in the pedestrian, during the vehicle pass-through state, and the pedestrian density is when being higher than a certain upper density limit value, this moment, state switched to walk;
B. if traffic density value and pedestrian density value during, then according to the state of a certain regular time space changing warning lamp all less than the density lower limit of correspondence;
(4) the warning lamp display module links to each other with arbitration modules by the State Control line, and described condition line is the warning lamp State Control line of pedestrian's one side and the warning lamp control line of vehicle one side; The time interval and the mapping mode of its concrete conversion are determined by arbitration modules.
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