CN102490673A - Vehicle active safety control system based on internet of vehicles and control method of vehicle active safety control system - Google Patents
Vehicle active safety control system based on internet of vehicles and control method of vehicle active safety control system Download PDFInfo
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Abstract
The invention discloses a vehicle active safety control system based on an internet of vehicles, which comprises a vehicular terminal and a management platform of the internet of vehicles. The vehicular terminal is mounted on a vehicle, the management platform of the internet of vehicles is wirelessly communicated with the vehicular terminal, the vehicular terminal consists of a central processing unit, input equipment and output equipment, the input equipment and the output equipment are connected with the central processing unit, the input equipment comprises a binocular camera, a speed sensor and a wireless module, the output equipment consists of an alarm module or a brake module, and the wireless module is wirelessly communicated with the management platform of the internet of vehicles. The invention further discloses a vehicle active safety control method based on the internet of vehicles. The vehicle active safety control system and the vehicle active safety control method sufficiently utilize the V2V (vehicle-to-vehicle) technology in the internet of vehicles, provide anti-collision early warning for terminal users of the internet of vehicles, also provide anti-collision tailgating-preventive early warning when vehicles run in front of vehicles of the terminal users, and timely remind a driver of collision risks in time when a vehicle overtakes in a lane beside the vehicle of the driver. The system has the advantages of high precision, full-direction early warning, active early warning, low cost and the like.
Description
Technical field
The invention belongs to car networking field, be specifically related to a kind of vehicle active security control system and control method thereof based on the car networking.
Background technology
Safety measure can generally be divided into active safety measure (accident that prevents takes place) and passive security measure (minimizing damage sequence).In the existing automotive safety measure; Common passive security measure has safety air bag, belt with pre-load device, occupant's neck protection system (WHIPS), and common active safety measure has AWS anticollision forewarn system, TCS anti-slip regulation, VSA vehicle stability controlled system, ABS anti-skid brake system etc.
The car networking is the developing direction of future transportation system; It is with advanced person's information techenology, data communication transmission technology, electronic sensor technology, control technology and computer technology etc. integrated effectively apply to face traffic control system entirely and set up a kind of on a large scale in, comprehensive playing a role, in real time, comprehensive traffic transportation management system accurately and efficiently.It can effectively utilize existing traffic facilities, reduces traffic loading and environmental pollution, assurance safety traffic, improve conveying efficiency, thereby, receive the attention of various countries day by day.
Vehicle active security control system and control method thereof that Chinese patent discloses a kind of based on binocular stereo vision No. 201010592712.9.Comprise input equipment, outdevice and treater, outdevice is a brake actuator, and its main points are; Input equipment comprises binocular camera; Speed sensor and braking information sensor, input equipment, treater and outdevice are electrically connected in proper order, and binocular camera is installed in the windshield glass of automobile; Speed sensor is taken from former car, generally is installed in the change speed gear box.Though this technical scheme is simple, processing speed reaches in real time, range accuracy is high, satisfy the needs of automobile active safety aspect.But still have following deficiency: the safe early warning information when it does not provide the side track and has passing vehicle.
Summary of the invention
To the deficiency of prior art, the technical matters that the present invention solves provides a kind of vehicle active security control system and control method thereof based on the car networking, and control system of the present invention has precision height, the omnibearing advantage of early warning.
For solving the problems of the technologies described above; Technical scheme of the present invention is achieved in that a kind of vehicle active security control system based on the car networking; Comprise that the car-mounted terminal that is installed on the vehicle reaches the car network management platform that carries out radio communication with said car-mounted terminal; Especially, said car-mounted terminal comprise central process unit and with said central process unit bonded assembly input equipment and outdevice, said input equipment comprises binocular camera, speed sensor and wireless module; Said outdevice comprises alarm module or brake module; Carry out radio communication between said wireless module and the car network management platform, said binocular camera is gathered the graphicinformation of target vehicle, and fore-and-aft distance and side distance between this car and the target vehicle are handled and obtained to central process unit to this graphicinformation.
Preferably, in the vehicle active security control system of above-mentioned car networking, carry out radio communication between said wireless module and other vehicles.
Preferably, in the vehicle active security control system of above-mentioned car networking, said alarm module comprises light warning, audio alert or picture display alarm.
Preferably, in the vehicle active security control system of above-mentioned car networking, said binocular camera is installed on the place ahead of vehicle, comprises left pick up camera and right pick up camera, connects into integral body through anchor fitting between said left pick up camera and the right pick up camera.
Preferably, in the vehicle active security control system of above-mentioned car networking, said binocular camera is installed on the rear of vehicle, comprises left pick up camera and right pick up camera, connects into integral body through anchor fitting between said left pick up camera and the right pick up camera.
The invention also discloses a kind of control method of the vehicle active security control system based on car networking, comprise the steps:
(1) binocular camera is gathered the 3 D stereo information of target vehicle;
(2) central process unit go out according to the 3 D stereo information calculations and target vehicle between fore-and-aft distance and side distance;
(3) speed sensor obtains the velocity information of this car, and wireless module obtains the velocity information of target vehicle through communicating by letter with car network management platform or target vehicle;
(4) whether central process unit has the collision or the danger of overtaking other vehicles according to the velocity information of fore-and-aft distance, side distance, this car and the velocity information interpretation of target vehicle;
(5) if the collision or the danger of overtaking other vehicles are arranged, alarm module provides early warning or brake module is braked.
Preferably, in the control method of the vehicle active security control system that above-mentioned car is networked, in the said step (1), the 3 D stereo information acquisition process of target vehicle comprises that camera calibration, image rectification, three-dimensional coupling and parallax calculate.
The present invention makes full use of V2V (vehicle to vehicle, the communication between vehicle) technology in the car networking, and the terminal user provides anti-collision early warning for the car networking, comprises when there is vehicle in the place ahead, and the crashproof anti-early warning of knocking into the back is provided; When the existence of track, next door is overtaken other vehicles, in time remind the driver whether the danger of collision is arranged.The system that the present invention proposes has the precision height, and early warning is comprehensive, initiatively early warning, low cost and other advantages.
Description of drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the invention; The accompanying drawing of required use is done to introduce simply in will describing embodiment below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Shown in Figure 1 is the frame principle figure that the present invention is based on the vehicle active security control system of car networking;
Shown in Figure 2 is the diagram of circuit that the present invention is based on the automobile active safety control method of car networking;
Shown in Figure 3 is to utilize parallax to ask for the calculating principle schematic of distance in the specific embodiment of the invention;
Shown in Figure 4 is the principle schematic of target vehicle distance calculation in the specific embodiment of the invention;
Shown in Figure 5 be in the specific embodiment of the invention between binocular camera and the target vehicle position concern scheme drawing.
The specific embodiment
The objective of the invention is to make full use of V2V (vehicle to vehicle, the communication between vehicle) technology in the car networking, the terminal user provides anti-collision early warning for the car networking, comprises when there is vehicle in the place ahead, and the crashproof anti-early warning of knocking into the back is provided; When the existence of track, next door is overtaken other vehicles, in time remind the driver whether the danger of collision is arranged.
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out detailed description, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, the every other embodiment that those of ordinary skills are obtained under the prerequisite of not making creative work belongs to the scope that the present invention protects.
Join shown in Figure 1; The embodiment of the invention discloses a kind of vehicle active security control system based on the car networking; Comprise that the car-mounted terminal that is installed on the vehicle reaches the car network management platform that carries out radio communication with said car-mounted terminal; Said car-mounted terminal comprise central process unit and with said central process unit bonded assembly input equipment and outdevice; Said input equipment comprises binocular camera, speed sensor and wireless module, and said outdevice comprises alarm module or brake module, carries out radio communication between said wireless module and the car network management platform; Said binocular camera is gathered the graphicinformation of target vehicle, and fore-and-aft distance and side distance between this car and the target vehicle are handled and obtained to central process unit to this graphicinformation.
Preferably, in the vehicle active security control system of above-mentioned car networking, carry out radio communication between said wireless module and other vehicles.It utilizes V2V (vehicle to vehicle, the communication between vehicle) technology in the car networking, can realize the information sharing between vehicle.Communication between the vehicle can also realize like this: in the actv. communication range (general) to the less zone of distance, and each vehicle composition mobile self-grouping network that also can communicate with one another through wireless module separately.When the distance between the vehicle of a certain car and original mobile self-grouping network surpasses the actv. communication range; The original mobile self-grouping network of this vehicle derailing, and through wireless module and the new mobile self-grouping network of other vehicles compositions that is in the efficient communication scope.
MANET (Ad-hoc Network) is under a kind of condition that does not have a backbone network, or the network system organized interconnected through distributed protocol by the communication node in the system.Mobile self-grouping network (Mobile Ad-hoc Network) comes from military applications, and through the research and development of three more than ten years, application target expands vast civil areas such as home network, personal radio communication to.Mobile ad hoc network is a MANET of supporting that communication node moves, it mainly be in the open air or the place of not having a fixed base stations provide communication service to propose.
The communication means of wireless module comprises WiFi, Zigbee etc.
In the vehicle active security control system of above-mentioned car networking, said alarm module preferably includes light warning, audio alert or picture display alarm.Said binocular camera comprises left pick up camera and right pick up camera, connects into integral body through anchor fitting between said left pick up camera and the right pick up camera.Binocular camera can be installed on the place ahead of vehicle, in order to measure with front vehicles between fore-and-aft distance (on the direction that vehicle is advanced with target vehicle between distance) and the side distance (on the direction that vertical vehicle is advanced and the distance between target vehicle).Binocular camera also can be installed on the rear of vehicle, in order to fore-and-aft distance and the side distance between measurement and the front vehicle.Binocular camera can also be separately positioned on the place ahead and the rear of vehicle, vehicle forward-and-rearward vehicle is carried out simultaneously the measurement of fore-and-aft distance and lateral distance.Speed sensor can adopt the speed sensor of vehicle itself, also a speed sensor can be set separately again.
The embodiment of the invention also discloses a kind of control method of the vehicle active security control system based on car networking, comprise the steps:
(1) binocular camera is gathered the 3 D stereo information of target vehicle;
(2) central process unit go out according to the 3 D stereo information calculations and target vehicle between fore-and-aft distance and side distance;
(3) speed sensor obtains the velocity information of this car, and wireless module obtains the velocity information of target vehicle through communicating by letter with car network management platform or target vehicle;
(4) whether central process unit has the collision or the danger of overtaking other vehicles according to the velocity information of fore-and-aft distance, side distance, this car and the velocity information interpretation of target vehicle;
(5) if the collision or the danger of overtaking other vehicles are arranged, alarm module provides early warning or brake module is braked.
Preferably, in the control method of the vehicle active security control system that above-mentioned car is networked, in the said step (1), the 3 D stereo information acquisition process of target vehicle comprises that camera calibration, image rectification, three-dimensional coupling and parallax calculate.
Join shown in Figure 2, in the embodiment of the invention based on the diagram of circuit of the automobile active safety control method of car networking.Its principle of work is: at first according to hard-wired binocular camera, carry out Camera calibration, the inside and outside parameter of the left and right cameras that obtains is stored as specific file.Gather two width of cloth images of synchronization left and right cameras, read in the parameter of left and right cameras, after the image rectification two width of cloth images are carried out the solid coupling, calculate parallax value.Obtain the 3 D stereo information of object according to resulting parallax value, obtain the three-dimensional information of target vehicle apart from this car; According to fore-and-aft distance and the side distance between resulting three-dimensional information calculating and the target vehicle; Speed according to present speed and front vehicles has judged whether collision risk, if there is collision risk then in time to provide early warning.Its flow process specifically describes as follows.
One, camera calibration
Camera calibration be meant utilize shot by camera to image reduce the object in the space.
Left and right cameras is demarcated respectively, draw inner parameter matrix, ambient parameter matrix and the distortion parameter of left and right cameras.
The inner parameter matrix does
F wherein
xAnd f
yRepresent x respectively, the effective focal length of y axle, u
0And v
0Expression is the centre coordinate of the image of unit with the pixel.
The radial distortion parameter is (k
1, k
2, k
3), the tangential distortion parameter is (p
1, p
2).
The ambient parameter matrix does
Wherein R representes the rotating vector of pick up camera in world coordinate system, t=(T
x, T
y, T
z) translation vector of expression pick up camera in world coordinate system.Three components are respectively x, y, z.
Two, image acquisition and pretreatment
1, image acquisition
The left and right cameras that use is contained on the vehicle is respectively taken piece image simultaneously from two different angles, and getting left image is benchmark image, and right image is an alignment image.
2, pretreatment
Get access to image and carry out Laplce-gaussian filtering, suppress picture noise, increase picture contrast, remove the image irradiation influence.
The formula of Laplce-gaussian filtering is:
Wherein, x, y are the horizontal and vertical coordinate figure of image, and σ is the yardstick of Gaussian function.
Three, image rectification
The algorithm that adopts Bouguet to propose is proofreaied and correct image, remove image laterally and tangential distortion, make two width of cloth image places at grade, and about making in two width of cloth images corresponding pixel be on the identical row.Thereby, improve matching precision and computation speed simultaneously for to solve the ambiguity problem that exists in the binocular stereo vision system images match better.
Four, three-dimensional coupling
Three-dimensional matching process is exactly from two images of having proofreaied and correct, seeks the corresponding pixel points in the image, obtains the parallax value of pixel.That is to say from multiple image, to seek and be divided into three steps with the pairing imaging point stereo coupling of Same Scene spatial point:
1, image pre-filtering
Adopt the mean filter algorithm that image is carried out pre-filtering,, strengthen image texture to reduce illumination effect.Filter window is elected 7*7 as,
The gray value unification at the center of overlay area is set under the window
Wherein
Be the aviation value of the gray value of window overlay area, I
CapBe the threshold value of fixing, be generally 30.
I
CIt is the gray value of the center-point of the image-region that covers of filter window.
2, pixel coupling
Employing is based on the solid matching method in the zone of gray scale: choose a sub-windows image in the left therein width of cloth image, in the same delegation in right width of cloth image, according to absolute grayscale difference minimum criteria, seek the subimage the most similar with the subpanel image then.
Measuring similarity adopts the SAD standard, and the gray value of establishing point to be matched and candidate matches point is respectively P
i, P
j, the then absolute value of pixel gray scale difference and, i.e. SAD:
C
SAD＝∑|p
i-p
j|
The basic procedure of matching algorithm is wicket of structure; Similar and convolution kernel covers the image on the left side then with window, select all pixels in the window overlay area; Equally cover the image on the right and select the pixel of overlay area with window; Overlay area, the left side deduct the right the overlay area, and obtain all pixel differences absolute value with, be designated as ∑
1Move the window of right image, calculate the pixel of window overlay area in the image of the left and right sides absolute value be designated as ∑
2, ∑
3... ∑
n, (min disparity＜n＜max disparity).Wherein min disparity and max disparity are predefined constant value.At ∑
1, ∑
2... ∑
nFind the minimum window of sad value in the sequence, promptly found the block of pixels of the optimum matching of left image.The central value of the window of sad value minimum is the pixel of coupling in two corresponding objects.
3, back Filtering Processing
Be to reduce the mistake coupling, to search element to matching point further optimize.Get f=-C
SADBe adaptation function, when then f gets maxim, left and right sides images match success, (match_value-min_match)/value of min_match thinks and matees successfully less than certain ratio.Wherein match value is the f value of coupling, and min_match is the minimum value of f.
Three-dimensional coupling can also adopt based on characteristic in Stereo Matching Algorithm with based on the phase place Stereo Matching Algorithm.
Five, three-dimensional distance calculates
Join shown in Figure 3ly, ask for the calculating principle of distance for utilizing parallax.Wherein, O
l, O
rBe respectively the photocentre of left pick up camera and right pick up camera, T is two distances between the camera photocentre.The P point is (target vehicle) more arbitrarily in the space, and it is imaging point position x in the picture of left shot by camera
l, imaging point is x in the picture of right shot by camera
rD=x
l-x
rThe expression parallax.Represent the depth distance that P is ordered with Z,, can obtain so according to the triangle similarity theorem:
The relation of depth distance Z and parallax d is so:
During actual computation, directly utilize the re-projection matrix, can obtain depth image, the every bit on the depth image can be obtained (x, y, z) coordinate under the every bit world coordinate system in the corresponding three-dimensional world with the re-projection matrix
C wherein
x, c
yHorizontal stroke, ordinate value for the angle point of the camera optical axis and the plane of delineation.F is a focus of camera.Tx is in the external parameters of cameras matrix
The x component of translation vector t.
Six, target vehicle distance estimations and warning
Join shown in Figure 4ly, world coordinate system is an initial point with two pick up camera centers.The left and right cameras system of axes is an initial point with the pick up camera photocentre.The x axle of world coordinate system overlaps with the left and right cameras system of axes.The Z axle of world coordinate system points to the dead ahead of vehicle ', and the xy direction of principal axis is a criterion with the right-handed helix system of axes, and the Y axle straight up.Dz representes the forward direction distance of target vehicle apart from this car, and Dx representes the lateral distance of target vehicle.
Obtain the speed V of front vehicles through car networking terminal new automobile communication system V2V
o, through reading this vehicle speed V
s, and bump against time t according to the expectation of computes two cars.
Use T
WthT
AthRepresent predefined warning threshold value run up time and brake equipment threshold value run up time.If t≤T
Wth, then warning device provides and is about to bump against signal.If t≤T
AthBrake equipment starts.
Join shown in Figure 5ly, according to the installation of binocular camera, two pick up cameras are at a distance of being T.The width of automobile is represented with W.The center of supposing W is O
W, also be the w/2 place of automobile width, the wide center-point of automobile if
D
X＜D
th
D
ThBe distance threshold, if satisfy following formula, it is dangerous then to exist the side to bump against, and danger possibly come from next door track vehicle cut-ins or this car vehicle has the track of surmounting danger.
In sum, the advantage of technical scheme of the present invention is:
1. utilize two pick up cameras to be linked as a binocular camera through anchor fitting; The binocular stereo vision distance measuring precision is higher than monocular machine; Fixing onboard after, after adjusting first through the calibration procedure in the central process unit, just can accurately locate target vehicle; Therefore not high to the installation requirement of pick up camera, need not to utilize road known length line segment to confirm setting height(from bottom).
2. utilize two pick up cameras to carry out simultaneously reporting to the police from the danger in the place ahead and side such as the overtaking process.The more safety of broad range is provided in the car networking in the running car.
3. binocular camera can also be installed on the rear of vehicle, and the distance between front vehicle is measured, and so can report to the police to the danger that front vehicle knocks into the back or overtakes other vehicles.
4. the present invention is simple, processing speed reaches in real time, range accuracy is high, satisfies the needs of automobile active safety aspect.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned example embodiment, and under the situation that does not deviate from spirit of the present invention or essential characteristic, can realize the present invention with other concrete form.Therefore; No matter from which point; All should regard embodiment as exemplary; And be nonrestrictive, scope of the present invention is limited accompanying claims rather than above-mentioned explanation, therefore is intended to the implication of the equivalents that drops on claim and all changes in the scope are included in the present invention.Should any Reference numeral in the claim be regarded as limit related claim.
In addition; Describing according to embodiment though should be appreciated that this specification sheets, is not that each embodiment only comprises an independently technical scheme; This narrating mode of specification sheets only is for clarity sake; Those skilled in the art should make specification sheets as a whole, and the technical scheme among each embodiment also can form other embodiments that it will be appreciated by those skilled in the art that through appropriate combination.
Claims (7)
1. vehicle active security control system based on car networking; Comprise that the car-mounted terminal that is installed on the vehicle reaches the car network management platform that carries out radio communication with said car-mounted terminal; It is characterized in that; Said car-mounted terminal comprise central process unit and with said central process unit bonded assembly input equipment and outdevice; Said input equipment comprises binocular camera, speed sensor and wireless module, and said outdevice comprises alarm module or brake module, carries out radio communication between said wireless module and the car network management platform; Said binocular camera is gathered the graphicinformation of target vehicle, and fore-and-aft distance and side distance between this car and the target vehicle are handled and obtained to central process unit to this graphicinformation.
2. the vehicle active security control system based on the car networking according to claim 1 is characterized in that: carry out radio communication between said wireless module and other vehicles.
3. the vehicle active security control system based on the car networking according to claim 1, it is characterized in that: said alarm module comprises light warning, audio alert or picture display alarm.
4. the vehicle active security control system based on the car networking according to claim 1; It is characterized in that: said binocular camera is installed on the place ahead of vehicle; Comprise left pick up camera and right pick up camera, connect into integral body through anchor fitting between said left pick up camera and the right pick up camera.
5. the vehicle active security control system based on the car networking according to claim 1; It is characterized in that: said binocular camera is installed on the rear of vehicle; Comprise left pick up camera and right pick up camera, connect into integral body through anchor fitting between said left pick up camera and the right pick up camera.
6. the control method like any described vehicle active security control system based on car networking of claim 1 to 5 is characterized in that, comprises the steps:
(1) binocular camera is gathered the 3 D stereo information of target vehicle;
(2) central process unit go out according to the 3 D stereo information calculations and target vehicle between fore-and-aft distance and side distance;
(3) speed sensor obtains the velocity information of this car, and wireless module obtains the velocity information of target vehicle through communicating by letter with car network management platform or target vehicle;
(4) whether central process unit has the collision or the danger of overtaking other vehicles according to the velocity information of fore-and-aft distance, side distance, this car and the velocity information interpretation of target vehicle;
(5) if the collision or the danger of overtaking other vehicles are arranged, alarm module provides early warning or brake module is braked.
7. the control method of the vehicle active security control system based on car networking according to claim 6; It is characterized in that: in the said step (1), the 3 D stereo information acquisition process of target vehicle comprises that camera calibration, image rectification, three-dimensional coupling and parallax calculate.
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