CN103192829A - Lane departure warning method and lane departure warning device based on around view - Google Patents
Lane departure warning method and lane departure warning device based on around view Download PDFInfo
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- CN103192829A CN103192829A CN2013100952895A CN201310095289A CN103192829A CN 103192829 A CN103192829 A CN 103192829A CN 2013100952895 A CN2013100952895 A CN 2013100952895A CN 201310095289 A CN201310095289 A CN 201310095289A CN 103192829 A CN103192829 A CN 103192829A
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Abstract
The invention provides a lane departure warning method and a lane departure warning device based on around view. The method comprises the steps of utilizing a vehicle-mounted around view system to perform lane line detection; synthesizing and processing multi-channel videos of the vehicle-mounted around view system in real time to form a 360-degree vehicle body vertical view around the vehicle, and displaying the vertical view on a display screen of the vehicle-mounted around view system in real time; and performing lane departure evaluation according to an included angle formed by a central axis of the vehicle body and a lane line and judging whether the vehicle deviates a lane or not. The device comprises the vehicle-mounted around view system, a displayer, a processor and an alarm apparatus, wherein the vehicle-mounted around view system, the displayer and the alarm apparatus are respectively connected with the processor. The position and the direction of the vehicle body in the lane can be obtained accurately through simple image processing, mastering of the advancing direction of a driver is facilitated, early warning for unconscious lane departure caused under the condition that the driver is in fatigue driving or road conditions are poor can be effectively performed, and the lane departure warning method and the lane departure warning device are suitable for being popularized and used in various vehicles.
Description
Technical field
The present invention relates to the intelligent transport technology field, particularly, relate to a kind of based on route deviation method for early warning and the device of looking around.
Background technology
Along with growing express highway mileage number and automobile pollution, road traffic accident sharply increases in recent years, causes surprising personal casualty and economic loss.The unconscious run-off-road of vehicle is one of them key factor.According to statistics, in all fatal accidents, have approximately 44% with vehicle to depart from normal lanes relevant, its most important reason is the absent minded or fatigue driving of chaufeur, causes the unconscious of vehicle to depart from.Therefore, developing a kind of principle advanced person, simple, highly sensitive, route deviation prior-warning device that man-machine interaction is good, cheap, is very necessary.
Through literature search, the cold female grade of author document " based on the lane departure warning systematic study of vehicle-mounted viewing system " (external electronic measurement technique, 2012, v.31; No.21712:42-44.) in, can use vehicle-mounted viewing system to carry out lane departure warning though mention, but document focuses on discussing method for detecting lane lines in the panoramic view picture, and the device of lane departure warning has just been done simple introduction, does not provide concrete Experimental equipment; Find through patent retrieval, author Ceng Yi etc. are in patent " a kind of novel lane mark departs from method of inspection and the device " (patent No.: 201110144128.1, publication number 102806913A) in, depart from method of inspection though introduced lane mark, but camera is installed around vehicle body equally, but different with vehicle-mounted viewing system inspection vehicle diatom principle, and also need to use car speed sensor in the patent, comparatively complicated, cost is higher.
Summary of the invention
At defective of the prior art, the purpose of this invention is to provide a kind of novel route deviation method for early warning and device, the multi-channel video image that collects by vehicle-mounted viewing system carries out simple image processing, just can obtain comparatively accurate position and the direction of vehicle body in road, be conducive to chaufeur and hold working direction, and can be effectively at chaufeur in that VEHICLES MUST PARK WITHIN THE MARKED BAY, pass through complex road condition, cause unconscious deviation to carry out early warning under the situations such as fatigue driving, effectively reduce and scratch, collision, the generation of accident such as subside, be adapted at promoting the use of in the various automobiles.
According to an aspect of the present invention, provide a kind of based on the route deviation method for early warning of looking around, this method comprises: utilize vehicle-mounted viewing system to carry out lane mark and detect; By in real time synthetic vehicle-mounted viewing system multi-channel video, be processed into 360 ° of vehicle body birds-eye vieies of vehicle-surroundings, and show in real time at vehicle-mounted viewing system read-out; According to vehicle body axis in the birds-eye view and lane mark angle, carry out the route deviation evaluation, judge whether run-off-road of vehicle.
Method for early warning of the present invention comprises following step:
1, vehicle-mounted viewing system is demarcated, and gathered image;
2, carry out distortion correction to gathering image, multiple spot merges, and syntheticly is spliced into 360 ° of panorama birds-eye vieies, middle blind area uses vehicle pictures to synthesize;
3, utilize edge detection process to obtain lane mark information in the composite diagram;
4, calculate vehicle body axis and lane mark angle, and with the angle threshold comparison;
5, if surpass the angle threshold value, carry out phonetic warning; If do not surpass, keep original state.
For vehicle lane change, Ackermann steer angle, can send early warning equally, remind chaufeur to note.
According to another aspect of the present invention, provide a kind of based on the route deviation prior-warning device of looking around, this device comprises a vehicle-mounted viewing system, telltale, treater and annunciator, described vehicle-mounted viewing system, described telltale, described annunciator is connected with described treater respectively, wherein: described vehicle-mounted viewing system carries out lane mark and detects, by in real time synthetic vehicle-mounted viewing system multi-channel video, described treater is processed into multi-channel video 360 ° of vehicle body birds-eye vieies of vehicle-surroundings, and show in real time at described read-out, according to vehicle body axis in the birds-eye view and lane mark angle, carry out the route deviation evaluation, judge whether run-off-road of vehicle, annunciator is reported to the police according to judged result.
Preferably, described vehicle-mounted viewing system is 4-8 wide-angle imaging head, is arranged at vehicle body respectively all around, and a camera is installed in each orientation at least.
More preferably, described wide-angle imaging head is connected on the USB interface of described processor main board by VGA commentaries on classics USB line.
Preferably, described telltale is Liquid Crystal Display (LCD), is connected with described processor main board by the VGA line.
Preferably, described annunciator is speech player, is connected with described processor main board by COBBAIF.
Compared with prior art, the present invention has following beneficial effect:
1, cost is low, and sensor is few, and layout is simplified, and suitable all kinds of automobiles are pre-installed or independent the installation;
2, safe, highly sensitive, can effectively reduce the generation that causes unconscious deviation accident because of driver tired driving etc.;
3, principle advanced person, real-time is good, intuitive display, man-machine interaction is good, has promotional value.
Description of drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is the inventive method implementation step scheme drawing;
Fig. 2-Fig. 4 is that device is arranged scheme drawing in the embodiment of the invention.
The specific embodiment
The present invention is described in detail below in conjunction with specific embodiment.Following examples will help those skilled in the art further to understand the present invention, but not limit the present invention in any form.Should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
As shown in Figure 1, it is a kind of based on the route deviation method for early warning of looking around that present embodiment provides, and comprises following step:
1, vehicle-mounted viewing system is demarcated, and gathered image;
2, carry out distortion correction to gathering image, multiple spot merges, and syntheticly is spliced into 360 ° of panorama birds-eye vieies, middle blind area uses vehicle pictures to synthesize;
3, utilize edge detection process to obtain lane mark information in the composite diagram;
4, calculate vehicle body axis and lane mark angle, and with the angle threshold comparison;
5, if surpass the angle threshold value, carry out phonetic warning; If do not surpass, keep original state.
For vehicle lane change, Ackermann steer angle, device can send early warning equally, reminds chaufeur to note.
Shown in Fig. 2-4, it is a kind of based on the route deviation prior-warning device of looking around that present embodiment provides, comprise preposition camera 1, rearmounted camera 2, left vehicle body camera 3, right vehicle body camera 4, Liquid Crystal Display (LCD) 5, speech player 6 and treater 7, wherein: described preposition camera 1 is arranged at the headstock medium position; Described rearmounted camera 2 is arranged at the headstock medium position; Described left vehicle body camera 3 is arranged at left vehicle body medium position; Described right vehicle body camera 4 is arranged at right vehicle body medium position; Described Liquid Crystal Display (LCD) 5 is connected with the mainboard of described treater 7 by the VGA line; Described speech player 6 is connected by the mainboard of COBBAIF with described treater 7; Described Liquid Crystal Display (LCD) 5, described speech player 6 and described treater 7 all are arranged in the car.
The described preposition camera 1 of present embodiment adopts the vacuum cup fixed installation, makes described preposition camera 1 main shaft and horizontal plane angle less, and the perception zone is about 5 meters.
The described rearmounted camera 2 of present embodiment adopts the vacuum cup fixed installation, makes described preposition camera 1 main shaft and horizontal plane angle less, and the perception zone is about 5 meters.
The described left vehicle body camera 3 of present embodiment adopts the vacuum cup fixed installation, makes described preposition camera 1 main shaft and horizontal plane angle less, and the perception zone is about 3 meters.
The described right vehicle body camera 4 of present embodiment adopts the vacuum cup fixed installation, makes described preposition camera 1 main shaft and horizontal plane angle less, and the perception zone is about 3 meters.
The described method of present embodiment is utilized vehicle-mounted viewing system to carry out lane mark and is detected, and by in real time synthetic vehicle-mounted viewing system multi-channel video, is processed into 360 ° of panorama birds-eye vieies of vehicle-surroundings, and shows in real time at vehicle-mounted viewing system read-out; According to vehicle body axis in the birds-eye view and lane mark angle, carry out the route deviation evaluation, judge whether run-off-road of vehicle; The described device of present embodiment is installed a described wide-angle imaging head 1 in each orientation of vehicle, 2,3,4, described wide- angle imaging head 1,2,3,4 pairs of synchronizations are gathered the multi-channel video image and are carried out the vehicle body birds-eye view that simple image is processed into vehicle-surroundings 360 degree by described treater 7, and be transferred on the described Liquid Crystal Display (LCD) 5 and show, allow the clear vehicle-surroundings of checking of chaufeur whether have obstacle and to understand relative azimuth and the distance of obstacle, according to vehicle body axis in the birds-eye view and lane mark angle, described treater 7 carries out the route deviation evaluation, judge whether run-off-road of vehicle, and provide the phonetic warning signal by described speech player 6.
In the present embodiment, the synthesis step of 360 ° of panorama birds-eye vieies is:
1. use Matlab calibration tool case that camera is demarcated, and obtain a fault image and correcting image pixel mapping relations table;
2. according to mapping relations table in the last table, the pixel of four width of cloth images gathered in real time is mapped to respectively in the new composite diagram;
3. the image that dwindles with a width of cloth and true car ratio is filled does not have the mapping relations part in the new composograph;
4. obtain automobile and overlook panoramic picture for real-time 360 °.
The multi-channel video image that the present invention collects by vehicle-mounted viewing system carries out simple image to be handled, just can obtain comparatively accurate position and the direction of vehicle body in road, be conducive to chaufeur and hold working direction, and can be effectively at chaufeur in that VEHICLES MUST PARK WITHIN THE MARKED BAY, cause unconscious deviation to carry out early warning under by situations such as complex road condition, fatigue drivings, effectively reduce the generation of accidents such as scratching, collide, subside, be adapted at promoting the use of in the various automobiles.
More than specific embodiments of the invention are described.It will be appreciated that the present invention is not limited to above-mentioned specific implementations, those skilled in the art can make various distortion or modification within the scope of the claims, and this does not influence flesh and blood of the present invention.
Claims (10)
1. one kind based on the route deviation method for early warning of looking around, it is characterized in that, this method for early warning comprises that utilizing vehicle-mounted viewing system to carry out lane mark detects, by in real time synthetic vehicle-mounted viewing system multi-channel video, be processed into 360 ° of panorama birds-eye vieies of vehicle-surroundings, and show in real time at vehicle-mounted viewing system read-out, according to vehicle body axis in the birds-eye view and lane mark angle, carry out the route deviation evaluation, judge whether run-off-road of vehicle.
2. according to claim 1ly a kind ofly it is characterized in that based on the route deviation method for early warning of looking around described method for early warning may further comprise the steps:
1) vehicle-mounted viewing system is demarcated, and gathered image;
2) carry out distortion correction to gathering image, multiple spot merges, and syntheticly is spliced into 360 ° of panorama birds-eye vieies, middle blind area uses vehicle pictures to synthesize;
3) utilize edge detection process to obtain lane mark information in the composite diagram;
4) calculate vehicle body axis and lane mark angle, and with the angle threshold comparison;
5) if surpass the angle threshold value, carry out phonetic warning; If do not surpass, keep original state.
3. according to claim 1 and 2ly a kind ofly it is characterized in that based on the route deviation method for early warning of looking around the synthesis step of described 360 ° of panorama birds-eye vieies is:
1). use Matlab calibration tool case that camera is demarcated, and obtain a fault image and correcting image pixel mapping relations table;
2). according to mapping relations table in the last table, the pixel of four width of cloth images gathered in real time is mapped to respectively in the new composite diagram;
3). the image that dwindles with a width of cloth and true car ratio is filled does not have the mapping relations part in the new composograph;
4). obtain automobile and overlook panoramic picture for real-time 360 °.
4. according to claim 1 and 2 a kind of based on the route deviation method for early warning of looking around, it is characterized in that, described vehicle-mounted viewing system is to be arranged at a vehicle body 4-8 all around wide-angle imaging head respectively, and a camera is installed in each orientation at least, and sensing range covers vehicle's surroundings.
5. one kind based on the route deviation prior-warning device of looking around, it is characterized in that, this device comprises a vehicle-mounted viewing system, telltale, treater and annunciator, described vehicle-mounted viewing system, described telltale, described annunciator is connected with described treater respectively, wherein: described vehicle-mounted viewing system carries out lane mark and detects, by in real time synthetic vehicle-mounted viewing system multi-channel video, described treater is processed into multi-channel video 360 ° of vehicle body birds-eye vieies of vehicle-surroundings, and show in real time at described read-out, according to vehicle body axis in the birds-eye view and lane mark angle, carry out the route deviation evaluation, judge whether run-off-road of vehicle, annunciator is reported to the police according to judged result.
6. according to claim 5 a kind of based on the route deviation prior-warning device of looking around, it is characterized in that, described treater uses Matlab calibration tool case that camera is demarcated, and obtain a fault image and correcting image pixel mapping relations table, then according to mapping relations table in the table, the pixel of four width of cloth images gathered in real time is mapped to respectively in the new composite diagram, the image that dwindles with a width of cloth and true car ratio is filled and is not had the mapping relations part in the new composograph again, obtains automobile and overlooks panoramic picture for real-time 360 °.
7. according to claim 5 a kind of based on the route deviation prior-warning device of looking around, it is characterized in that, described vehicle-mounted viewing system is to be arranged at a vehicle body 4-8 all around wide-angle imaging head respectively, and a camera is installed in each orientation at least, and sensing range covers vehicle's surroundings.
8. according to claim 6 a kind ofly it is characterized in that based on the route deviation prior-warning device of looking around, described wide-angle imaging head changes the USB line by VGA and is connected on the USB interface of described processor main board.
9. each describedly a kind ofly is characterized in that based on the route deviation prior-warning device of looking around described telltale is LCDs according to claim 5-8, is connected with described processor main board by the VGA line.
10. each describedly a kind ofly is characterized in that based on the route deviation prior-warning device of looking around described annunciator is speech player according to claim 5-8, is connected with described processor main board by COBBAIF.
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| CN2013100952895A CN103192829A (en) | 2013-03-22 | 2013-03-22 | Lane departure warning method and lane departure warning device based on around view |
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| CN110533930B (en) * | 2019-10-09 | 2021-02-02 | 业成科技（成都）有限公司 | Traffic data processing method and device, computer equipment and storage medium |
| CN114459774A (en) * | 2022-02-07 | 2022-05-10 | 中国第一汽车股份有限公司 | Test system for passenger-riding parking |
| CN116495004A (en) * | 2023-06-28 | 2023-07-28 | 杭州鸿泉物联网技术股份有限公司 | Vehicle environment sensing method, device, electronic equipment and storage medium |
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Application publication date: 20130710 |