CN111845560B - Warning system for objects rushed out of locomotive - Google Patents
Warning system for objects rushed out of locomotive Download PDFInfo
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- CN111845560B CN111845560B CN202010561017.XA CN202010561017A CN111845560B CN 111845560 B CN111845560 B CN 111845560B CN 202010561017 A CN202010561017 A CN 202010561017A CN 111845560 B CN111845560 B CN 111845560B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- 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
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/50—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller
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Abstract
The invention relates to a warning system for objects rushing out of a vehicle head, which comprises a camera, a mobile detection unit, an object rushing-out identification unit and an alarm unit, wherein the camera is arranged on a parked vehicle and is used for collecting a video image in front of the vehicle head of the parked vehicle; the mobile detection unit is connected with the camera and used for judging whether a moving object appears in front of the head of the parked vehicle or not and obtaining the mobile information of the moving object; the rushing object identification unit is connected with the mobile detection unit and used for identifying the category of a moving object in front of the head of the parked vehicle and judging whether the moving object is a rushing object or not so as to output alarm information; the alarm unit is respectively connected with the camera and the rushing-out object identification unit and used for reminding a running vehicle behind the parked vehicle to pay attention to the rushing-out object at the vehicle head. Compared with the prior art, the method and the device have the advantages that based on real-time object movement detection and rushing-out object identification, and combined with alarm prompt, a driver of a rear vehicle can be ensured to know accurate vehicle head rushing-out object information in advance.
Description
Technical Field
The invention relates to the technical field of vehicle driving safety warning, in particular to a warning system for objects rushed out of a vehicle head.
Background
As the number of automobiles continues to increase, the demand for urban parking space also becomes greater. However, due to the shortage of urban land, the urban parking lot cannot meet the parking requirements of all vehicles, and therefore road side areas of some road sections are also drawn with parking space marked lines, and become temporary parking areas. However, when the vehicle is parked on the roadside, particularly when the roadside is full, part of the sight line of the driver of the rear-traveling vehicle is blocked, and a blind visual area is formed in front of the head of the rear-traveling vehicle. For pedestrians, non-motor vehicles or animals crossing the road, the vehicles parked at the roadside also block their sight, so that they cannot observe the vehicles coming from the road, and a blind zone is formed in front of them to the left. When a passerby and a running vehicle suddenly appear from visual blind areas of each other, if the distance between the two parties is too close, the two parties do not have enough space and reaction time to avoid, and traffic accidents can be caused.
Particularly on urban roads, due to large traffic volume and complex driving conditions, many new drivers often suffer from fatigue due to inexperience and ignore the objects rushing out in front of the vehicles parked at the road sides. Although some vehicles are provided with driving auxiliary safety systems at present and have the function of actively braking after detecting pedestrians suddenly appearing in front, under the remote condition, once the weather condition is severe, the detection of the system is greatly interfered, the reliability of the system is reduced, the system is mistakenly identified or cannot be identified, a driver of a running vehicle cannot really sense a possible rushing-out object in front of the vehicle head in advance, and traffic safety accidents are easily caused.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a vehicle head rushing-out object warning system, which is operated on a vehicle parked at the roadside, can ensure that a driver of a vehicle running behind the parked vehicle can sense the rushing-out object in front of the vehicle head in advance and can know the corresponding category and movement information of the rushing-out object, so that countermeasures can be taken in time to avoid traffic safety accidents.
The purpose of the invention can be realized by the following technical scheme: a warning system for objects rushing out of a head of a parked vehicle comprises a camera, a mobile detection unit, an object rushing-out identification unit and an alarm unit, wherein the camera is used for collecting video images in front of the head of the parked vehicle;
the mobile detection unit is connected with the camera and is used for processing the video image so as to judge whether a moving object appears in front of the head of the parked vehicle and obtain the mobile information of the moving object;
the rushing-out object identification unit is connected with the mobile detection unit and is used for identifying the category of a moving object in front of the head of the parked vehicle and judging whether the moving object is a rushing-out object or not so as to output alarm information;
the alarm unit is respectively connected with the camera and the rushing-out object identification unit and used for reminding a running vehicle behind the parked vehicle of noticing the rushing-out object from the vehicle head.
Further, the moving information of the moving object includes a moving speed and a moving direction.
Furthermore, the alarm unit comprises a display screen, a voice player and an alarm lamp, wherein the display screen is used for displaying current video data in front of the head of the parked vehicle, the voice player is used for playing warning voice, and the alarm lamp is used for emitting a flash signal corresponding to the moving speed of the flushed object, namely the frequency of the flash signal is in direct proportion to the moving speed of the flushed object.
Furthermore, the camera is mounted at the front right position of the head of the parked vehicle, the alarm lamp is mounted at the tail of the parked vehicle, and when the parked vehicle is a car or a passenger car, the display screen covers the rear windshield of the parked vehicle; when the parked vehicle is a truck, the display screen is mounted on the rear baffle of the cargo bucket.
Further, the specific working process of the mobile detection unit is as follows:
a1, receiving video data in front of the vehicle head collected by the camera;
a2, sequentially comparing video frame image sequences in a preset frame rate interval according to a preset frame rate, if an object which does not exist in a previous video frame image appears in a next video frame image, or the position of the object in the next video frame image changes relative to the previous video frame image, judging that the object is a moving object, and executing the step A3, otherwise, returning to the step A1;
a3, based on a video frame image sequence containing moving objects, establishing a parked vehicle head coordinate system by taking the position of a parked vehicle as a coordinate origin to calculate the moving speed and the moving direction of the moving objects, wherein the front and the back of the parked vehicle head are respectively the positive X-axis direction and the negative X-axis direction of the parked vehicle head coordinate system, and the right and the left of the parked vehicle head are respectively the positive Y-axis direction and the negative Y-axis direction of the parked vehicle head coordinate system;
a4, transmitting the video frame image containing the moving object, the moving speed and the moving direction information of the moving object to the shoot object identification unit.
Further, the specific working process of the punching-out object identification unit is as follows:
b1, based on the video frame images containing the moving object, using the image recognition algorithm, if the type of the moving object can be recognized, executing step B2, otherwise, continuing to receive the data information from the motion detection unit;
b2, according to the moving speed and the moving direction information of the moving object, if the moving speed of the moving object is larger than or equal to a preset speed value and the angle between the moving direction of the moving object and the negative direction of the Y axis of the coordinate system of the head of the parked vehicle is smaller than or equal to a preset deviation value, judging that the moving object is a vehicle head rushing object, then respectively outputting alarm information to a display screen, a voice player and an alarm lamp, enabling the display screen to be lightened, displaying the video collected by the camera in real time, enabling the voice player to play corresponding warning voice information, enabling the alarm lamp to send out a flash signal corresponding to the moving speed of the moving object, and otherwise, returning to the step B1.
Further, the categories of the moving objects include four types of "pedestrian", "automobile", "non-automobile", "animal".
Further, the display screen is specifically a flexible OLED screen.
Compared with the prior art, the invention has the following advantages:
firstly, the invention judges whether a moving object appears in front of the head of the parked vehicle by utilizing a mobile detection principle based on the video data collected in real time, then carries out category identification on the moving object and judges whether the moving object rushes out of the head, namely, the invention only carries out early warning on the object in the motion state in front of the head of the parked vehicle, the detected object has pertinence, and the probability of generating false alarm is reduced.
The invention can judge whether the moving object belongs to the vehicle head rushing object more accurately by judging the category of the moving object and calculating the moving speed and direction of the object, can carry out clear voice reminding on the coming vehicle in the rear in advance according to different object categories, and can change the frequency of the flashing signal according to the moving speed of the rushing object, so that the driver of the coming vehicle in the rear can know the state of the rushing object more accurately, and the driver has enough time and sufficient psychological preparation to avoid the coming object, thereby being beneficial to safe driving and avoiding traffic safety accidents.
Compared with a detection system arranged on a running vehicle, the whole warning system has the advantages of being free from distance limitation and less influenced by weather interference, and is more beneficial to the running vehicle behind the parked vehicle to obtain accurate information of the vehicle-head rushing-out object in advance.
Drawings
FIG. 1 is a schematic diagram of the system connection of the present invention;
FIG. 2 is a schematic diagram illustrating a working process of the mobile detecting unit according to the present invention;
FIG. 3 is a schematic view of the operation of the punched-out object recognition unit of the present invention;
the notation in the figure is: 1. the device comprises a camera, a2, a movement detection unit, a3, a rushing object identification unit, a4, an alarm unit, a 41, a display screen, a 42, a voice player, a 43 and an alarm lamp.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
As shown in fig. 1, a warning system for objects rushing out from a vehicle head comprises a camera 1, a mobile detection unit 2, a rushing-out object recognition unit 3 and an alarm unit 4 which are sequentially connected through bluetooth wireless communication, wherein the alarm unit 4 comprises a display screen 41, a voice player 42 and an alarm lamp 43, the camera 1 is also independently connected with the display screen 41, the camera 1 is installed at the vehicle head of a parked vehicle, and is used for shooting a scene in front of the vehicle head of the parked vehicle to obtain a real-time scene monitoring video in front of the vehicle head of the parked vehicle;
the movement detection unit 2 is configured to determine whether a moving object exists in front of the head of the parked vehicle, and calculate a movement speed and a movement direction of the moving object, and a specific working process of the movement detection unit is as shown in fig. 2: after receiving video data acquired by the camera 1, extracting a video frame image sequence according to a preset frame rate, sequentially comparing front and rear video frame images in the video frame image sequence, and if an object change occurs in the rear video frame image compared with the front video frame image, judging that the object is a moving object;
extracting a video frame image sequence containing a moving object from video data acquired by the camera 1, establishing a parked vehicle head coordinate system, and calculating to obtain the moving speed and the moving direction of the moving object by taking the parked vehicle position as an origin, the front and the rear of the head as Y axes and the left and the right of the head as X axes;
the video frame image containing the moving object, the moving speed and the moving direction of the moving object are transmitted to the shoot object recognition unit 3.
The rushing object identification unit 3 is used for analyzing and identifying the data signal output by the movement detection unit 2, judging the category of the moving object, judging whether the moving object is the rushing object according to the movement speed and the movement direction of the moving object, so as to determine whether the rushing object needs to be warned, the category of the object is preset in advance and comprises four types of pedestrian, motor vehicle, non-motor vehicle and animal, the specific working process of the rushing object identification unit 3 is shown in figure 3, the category of the moving object is identified from the video frame image containing the moving object by using an image identification algorithm, if the moving object is identified to be the pedestrian, the motor vehicle, the non-motor vehicle or the animal, whether the movement speed of the moving object is larger than or equal to a preset speed value is judged, and the angle between the movement direction of the moving object and the negative direction of the Y axis of the head coordinate system of the parked vehicle is smaller than or equal to a preset deviation value, if the judgment result is yes, the moving object is the vehicle head rushing-out object;
respectively outputting alarm information to a display screen 41, a voice player 42 and an alarm lamp 43, wherein the display screen 41 can be immediately lightened and displays a monitoring video shot by the camera 1 in real time; the voice player 42 will send out a preset voice to warn the coming vehicle behind, and the content of the voice warning includes the category of the object to be rushed out, such as "cautious pedestrian", "cautious non-motor vehicle", etc.; the warning lamp 43 emits a flashing signal to warn a vehicle coming behind, the flashing signal can reflect the moving speed of the object, and the faster the flashing frequency represents the moving speed of the object.
In this embodiment, the display screen 41 is a flexible OLED screen, and is covered on the rear windshield of a car or a passenger car, or is installed on the rear baffle of the cargo bed of a truck, the voice player 42 is installed in the form of an external speaker of the vehicle, and the alarm lamp 43 is installed at the tail of the vehicle.
In summary, the warning methods of the present invention have diversity: if the road traffic condition is simple or the speed of the coming vehicle behind is slow, the driver of the coming vehicle behind can carefully know the specific condition of the object in front of the parked vehicle through the display screen 41 and then make corresponding driving selection; if the traffic condition is complex or the speed of the coming vehicle is high, so that the driver cannot observe the display screen 41 by distraction, the general condition of the object rushing out of the blind area can be quickly known through voice warning and light warning, and the response can be quickly made;
the warning sent by the invention has higher fineness: the detection object comprises the pedestrian and all objects which are likely to rush out on the roadside, and the system can accurately judge the rush out object by judging the category of the moving object and calculating the moving speed and direction of the object, so that a driver of a vehicle coming from behind can more accurately know the state of the rush out object, which is more important for a new driver with short experience;
the invention is particularly suitable for large vehicles: under the condition of general driving, the body of a large vehicle is wider, the range of a formed blind area is larger, the danger degree is higher, and after the device is applied, an object needs longer time to pass through the blind area in front of the vehicle head, namely, the warning time for a vehicle driving behind is longer, so that a driver of the vehicle coming behind has more sufficient time to react, and the object rushing out about to occur is avoided, namely, the device is more favorable for playing the role of the device.
Claims (6)
1. A warning system for objects rushing out of a head of a parked vehicle is characterized by comprising a camera, a mobile detection unit, an object rushing-out identification unit and an alarm unit, wherein the camera is used for collecting video images in front of the head of the parked vehicle;
the mobile detection unit is connected with the camera and is used for processing the video image so as to judge whether a moving object appears in front of the head of the parked vehicle and obtain the mobile information of the moving object;
the rushing object identification unit is connected with the mobile detection unit and used for identifying the category of a moving object in front of the head of the parked vehicle and judging whether the moving object is a rushing object or not so as to output alarm information;
the alarm unit is respectively connected with the camera and the rushing-out object identification unit and is used for reminding a running vehicle behind a parked vehicle of paying attention to the rushing-out object at the vehicle head;
the specific working process of the mobile detection unit is as follows:
a1, receiving video data in front of the vehicle head collected by a camera;
a2, sequentially comparing video frame image sequences in a preset frame rate interval according to a preset frame rate, if an object which does not exist in a previous video frame image appears in a next video frame image, or the position of the object in the next video frame image changes relative to the previous video frame image, judging that the object is a moving object, and executing the step A3, otherwise, returning to the step A1;
a3, based on a video frame image sequence containing moving objects, establishing a parked vehicle head coordinate system by taking the position of a parked vehicle as a coordinate origin to calculate the moving speed and the moving direction of the moving objects, wherein the front and the back of the parked vehicle head are respectively the positive X-axis direction and the negative X-axis direction of the parked vehicle head coordinate system, and the right and the left of the parked vehicle head are respectively the positive Y-axis direction and the negative Y-axis direction of the parked vehicle head coordinate system;
a4, transmitting the video frame image containing the moving object, the moving speed and the moving direction information of the moving object to the dash object identification unit;
the specific working process of the punching object identification unit is as follows:
b1, based on the video frame images containing the moving object, using the image recognition algorithm, if the type of the moving object can be recognized, executing step B2, otherwise, continuing to receive the data information from the motion detection unit;
b2, according to the moving speed and the moving direction information of the moving object, if the moving speed of the moving object is larger than or equal to a preset speed value and the angle between the moving direction of the moving object and the negative direction of the Y axis of the coordinate system of the head of the parked vehicle is smaller than or equal to a preset deviation value, judging that the moving object is a vehicle head rushing object, then respectively outputting alarm information to a display screen, a voice player and an alarm lamp, enabling the display screen to be lightened, displaying the video collected by the camera in real time, enabling the voice player to play corresponding warning voice information, enabling the alarm lamp to send out a flash signal corresponding to the moving speed of the moving object, and otherwise, returning to the step B1.
2. The system of claim 1, wherein the movement information of the moving object comprises a moving speed and a moving direction.
3. The warning system for the vehicle head rushing out of the object as claimed in claim 2, wherein the warning unit comprises a display screen, a voice player and a warning lamp, the display screen is used for displaying the current video data in front of the vehicle head where the vehicle is parked, the voice player is used for playing warning voice, and the warning lamp is used for emitting a flashing signal corresponding to the moving speed of the rushing out object, namely the frequency of the flashing signal is in direct proportion to the moving speed of the rushing out object.
4. The warning system for objects rushing out of the locomotive according to claim 3, wherein the camera is mounted at the front right position of the locomotive of a parked vehicle, the alarm lamp is mounted at the tail of the parked vehicle, and when the parked vehicle is a car or a passenger car, the display screen covers the rear windshield of the parked vehicle; when the parked vehicle is a truck, the display screen is mounted on the rear baffle of the cargo bucket.
5. The system for alarming locomotive rush-out object as claimed in claim 1, wherein the category of the moving object comprises four types of pedestrian, motor vehicle, non-motor vehicle and animal.
6. The system for warning of objects moving out of a locomotive according to claim 3, wherein the display screen is a flexible OLED screen.
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| CN202010242888 | 2020-03-31 | ||
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| CN114648887B (en) * | 2022-03-24 | 2024-07-23 | 上海舟塔新材料科技有限公司 | Road side punching object warning method, system and device based on luminous marking |
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