CN100429101C - Safety monitoring system for running car and monitoring method - Google Patents

Abstract

The present invention relates to a vehicle driving safety monitoring system and monitoring method. The system includes a vehicle-mounted digital image information acquisition unit and a vehicle-mounted embedded computer platform. The vehicle-mounted embedded computer platform is provided with a system image processing and decision-making control unit. The vehicle-mounted digital image information acquisition unit acquires the real scene image around the vehicle by its built-in digital camera device, and generates pre-processed digital image information and sends it to the system image processing and decision-making control unit, and the system image processing and decision-making control unit The pre-processed digital image signal is analyzed and processed to generate threat type and threat level signals, and when the threat type and threat level reach the alarm standard, an alarm command is sent to the sound and light alarm device connected to the bus for alarm. The present invention can remind the driver of the threat in time and greatly improve the safety of driving.

Description

Automobile driving safety monitoring system and monitoring method

technical field

The invention relates to a vehicle driving safety monitoring system and a monitoring method.

Background technique

The popularization of automobiles increases people's activity radius, accelerates the pace of production and life, improves office efficiency, and improves people's quality of life. Now it is increasingly entering the families of ordinary people and has become an indispensable part of people's production and life. Important means of transportation to leave. However, with the continuous increase of car ownership, when we see that cars bring huge benefits to mankind, we must also see that due to road congestion, incomplete technical performance of cars, and drivers' "overloaded driving, fatigue driving, Driving under the influence of alcohol, speeding, grabbing the road, and driving on the road for a long time", or "overturning, car crashing, car hitting people" and other vicious traffic caused by reasons such as "overturning, car crashing, car hitting people" caused by not being familiar with the road conditions and terrain Accidents happen from time to time, and they have indeed led to many human tragedies. Research data provided by the U.S. Department of Transportation shows that about 23% of motor vehicle collisions in the United States are caused by rear-end collisions; According to statistics, 48,469 of them were caused by the driver's inattention causing the car to deviate from the lane. After the car deviates from its own lane, there may be rear-end collisions, car-car side collisions, scratches, injuries or rollover accidents, so how to prevent cars from deviating from the normal lane, occupying the lane for a long time, grabbing the lane and speeding, People must pay great attention to it. In order to reduce the loss caused by rear-end collisions and ensure the safety of their own vehicles, people have installed bumpers at the front and rear of the car, which reduces their own losses to a certain extent, but this method is passive and cannot actively avoid rear-end collisions; With the development of technology, in recent years, some people have invented the reversing warning device, etc., but this device is generally used when meeting cars and parking, and generally speaking, it cannot effectively solve problems such as rear-end collisions and side collisions. The technology of colliding, people-vehicle collision, car-vehicle side collision/side scraping has not been seen so far.

Contents of the invention

Aiming at the defects of the prior art, the object of the present invention is to provide a vehicle driving safety monitoring system and monitoring method. This system and method can be used when the vehicle that is driving deviates from its own lane for a long time or there is a danger of a traffic accident. , to send out an alarm to remind the driver.

In order to realize the purpose of the present invention, the present invention adopts following technical scheme:

A vehicle driving safety monitoring system, comprising a vehicle-mounted digital image information acquisition unit and a vehicle-mounted embedded computer platform, and an acousto-optic alarm device connected to the vehicle-mounted embedded computer platform through a bus, the vehicle-mounted embedded computer platform is equipped with The system image processing and decision-making control unit, the vehicle-mounted digital image information acquisition unit acquires the real scene image around the vehicle by its built-in digital camera device, and generates pre-processed digital image information and sends it to the system image processing and decision-making control unit, The system image processing and decision-making control unit analyzes and processes the pre-processed digital image signal to generate threat type and threat level signals, and when the threat type and threat level reach the alarm standard, send an alarm command to the sound and light alarm device, Make an alarm.

The bus of the vehicle-mounted embedded computer unit may be connected to a vehicle-mounted display, and the system image processing and decision-making control unit generates vector digital image information after receiving the pre-processed digital image information and sends it to the vehicle-mounted display for display.

The bus of the vehicle-mounted embedded computer unit can be connected to one or more electronic control units of the vehicle itself, and the system image processing and decision-making control unit judges the threat type and level signal generated by it. When the threat type and threat level reach When the emergency avoidance automatic control is standard, the emergency avoidance automatic control command is sent to the corresponding electronic control unit of the vehicle to control the movement of the vehicle.

The bus of the vehicle-mounted embedded computer unit can be connected with a mobile digital communication device, and the system image processing and decision-making control unit judges the threat type and level signal generated by it, and when the threat type and threat level reach the emergency call standard, send The mobile digital communication device sends out an emergency call for help command, and starts the mobile digital communication device to send an emergency call for help signal in a predetermined manner.

The vehicle-mounted digital image information acquisition unit can be composed of several digital cameras, buffer circuits, and digital image preprocessing modules, and the several digital cameras can include a high-performance automatic zoom digital camera and several digital cameras. The high-performance automatic zoom digital video camera and the digital video camera should generally have a shading shield, wherein the high-performance automatic zoom digital video camera is placed on the front end of the car through a shockproof bracket, and the digital camera is fixed and distributed in the car through a shockproof bracket. The front sides, sides and back of the front, the digital image preprocessing module is mainly composed of a digital signal processing chip with an image preprocessing module, which is used for image distortion correction, smoothing filter noise reduction processing, image enhancement and sharpening Processing, edge detection processing, in order to effectively filter out various interferences and reduce image distortion, the original image signals generated by digital camera devices such as automatic zoom digital cameras and digital cameras are sent to the digital signal processing chip through the buffer circuit. processing to generate high-fidelity digital image data, and then send it to the system image processing and decision-making control unit of the vehicle-mounted embedded computer platform through CAN/LIN bus and serial port RS-232 for further processing.

The system image processing and decision-making control unit may include a video image main processing module, an image display control module, a threat priority processing module, and a system decision-making control module. The video image main processing module receives the vehicle-mounted digital image information acquisition unit through the bus The output preprocessed digital image information is processed to generate the vector digital image, and the vector digital image information is sent to the image display control module and the threat priority processing module respectively, so as to perform image display and threat type and threat level judgment , the threat priority processing module extracts the threat type and threat level information from the vector digital image, and sends the information all the way to the vehicle display to display the threat type and threat level, and all the way to the system decision control module for processing , the system decision control module compares the threat type and threat level data with the data in the preset threat processing plan database, and generates the alarm, emergency avoidance automatic control and emergency response corresponding to the threat type and threat level Call for help.

The image display control module is provided with a vehicle-mounted display partition control program and an image display control program based on the relationship between pixels and screen size. With the support of the vehicle-mounted display partition control program, the vehicle-mounted display is divided into a main display area, a threat parameter display area, a car icon display area, and a touch keyboard display area; Identify and classify the output data information of the image main processing module and the threat priority processing module, send the identified and classified vector digital image data to the main display area of the vehicle display for image display, and send the threat priority attribute parameter data to Go to the threat parameter display area for table display, or perform stepless zooming, panning, scrolling, arbitrary angle rotation and/or dynamic update processing on the displayed image according to man-machine dialogue commands.

The system can also be provided with a man-machine dialogue device, which communicates with the vehicle-mounted embedded computer platform and inputs manual commands to the vehicle-mounted embedded computer platform. As a preferred embodiment, the man-machine dialogue device may be composed of a group of software touch switches, and these software touch switches are integrated with the vehicle display to form a combination of a vehicle display and a man-machine dialogue device. The man-machine dialogue device can also use other touch screens or keyboards.

A monitoring method for a vehicle driving safety monitoring system, the method includes the following main steps:

(1) Acquire real-scene images of roads around the vehicle with the system's on-board digital camera device and perform preprocessing to obtain high-fidelity digital images of the real scene around the vehicle;

(2) Mainly process the high-fidelity real-scene figures around the vehicle to obtain vector digital images around the vehicle;

(3) From the vector data images around the vehicle, extract the relative position information of the lane line, other vehicles or obstacles around the target and the vehicle, and use the distance between the edge of the vehicle and the type of the surrounding objects and the edge of the target image The size is the criterion, and the type and level description of the current safety of the vehicle is given;

(4) In the event of a threat, perform corresponding alarms, emergency automatic avoidance control and/or emergency help according to the threat type and threat level.

The concrete process of described step (1) mainly is:

(1.1) Adopt the vehicle-mounted digital camera device to obtain the original image of the target scene including the lane boundary line, front and rear vehicles, and other driving signs around the vehicle;

(1.2) Process the original image of the target scene, including image distortion correction, smoothing filter noise reduction processing, image enhancement and sharpening processing, edge detection processing, etc., to effectively filter out various interferences and reduce image distortion. A high-fidelity digital image of the real scene around the vehicle.

The concrete process of described step (3) mainly is:

(3.1) Extract and calculate the distance between the edge of the lane line, other surrounding vehicles or obstacles and the edge of the vehicle from the vector digital image of the target around the vehicle, and use this as a criterion to determine the current position of the vehicle Threat categories and threat levels are given a quantitative description;

(3.2) Comparing with the preset threat processing plan database, judge whether it is necessary to carry out alarm, emergency avoidance automatic control and/or emergency help under the current threat type and threat level of the vehicle, and issue corresponding instructions if necessary , control the corresponding device to do the corresponding action, wherein the alarm, automatic control of emergency avoidance and emergency call for help are carried out in the following ways:

(a) Send threat type and threat level display instructions to the on-board display, and the threat type and threat level information will be displayed by the on-board display;

(b) Send an emergency avoidance automatic control command to the corresponding electronic control unit of the vehicle itself, and control the vehicle to perform corresponding emergency avoidance actions through the electronic control unit;

(c) Send an emergency call instruction to the mobile digital communication device, and activate the mobile digital communication device to send an emergency call signal to the outside world (for example, the public security traffic management center) according to a preset method.

Due to the automatic processing of the system, the present invention can automatically warn and display the threat on the display when it deviates from its own driving lane for a long time, or is approached by other vehicles or obstacles, so that the driver can avoid the danger , to effectively avoid accidents caused by driver negligence, and at the same time, when necessary, it can automatically control the vehicle for emergency avoidance, and automatically send out an emergency signal to reduce the possibility of accidents.

Description of drawings

Figure 1 is a simplified schematic diagram of an embodiment of the system of the present invention;

Figure 2 is a schematic diagram of another embodiment of the system of the present invention;

Fig. 3 is a schematic diagram of an installation position of the system digital camera device of the present invention;

Fig. 4 is the composition block diagram of system image processing and decision-making control unit of the present invention;

Fig. 5 is a schematic diagram of calculation of threat discrimination parameters in the dynamic coordinate system;

Fig. 6 is a detailed flow chart of the process of making control decisions by the system.

Detailed ways

Referring to Fig. 1 and Fig. 2, described vehicle-mounted digital image information acquisition unit 1 comprises its built-in digital camera device, and described digital camera device obtains the real-scene image around the vehicle, and sends to described system image processing and processing through bus after preprocessing The decision-making control unit 5 processes and extracts the relative position information of the surrounding objects (such as lane lines, other vehicles around or obstacles, etc. that limit or hinder the vehicle's travel) and the vehicle, and use this as a criterion to determine the impact of the vehicle. The threat level is judged, and then a control decision is made accordingly, and corresponding instructions are issued, and the decision results (instructions or information) are respectively given to the vehicle display 3, sound and light alarm by the vehicle embedded computer platform 2 through the control bus. The device 6, the electronic control unit 7 or the vehicle-mounted digital mobile communication device 8, or display the threat level, or issue an audible and visual alarm, or quickly change the motion state of the vehicle through a group of electronic control units, so that the vehicle can quickly leave the danger zone; When necessary, the system decision-making control module will directly control the vehicle-mounted digital mobile communication device to send request support information to the traffic management center through the vehicle-mounted embedded computer platform.

Referring to Fig. 3, the distribution mode of described digital camera automatic zoom digital video camera and digital camera on the car should guarantee to obtain the complete image around this car, the embodiment shown in Fig. 2 is provided with a high-performance automatic zoom digital video camera, is installed in The front end of the vehicle, which is the main direction that affects the driving of the vehicle (or sources of danger), five low-cost digital cameras 1.2, 1.3, 1.4, 1.5 and 1.6 are distributed around the car.

Since the safety monitoring of driving requires information support, considering that the image information is easy to obtain and the cost is cheap, the present invention uses the image of the road as the information source. Preferably, the vehicle-mounted digital image information acquisition unit 1 can be composed of a high-performance automatic zoom digital camera, several digital cameras, buffer circuits, and digital image signal preprocessing modules, and the automatic zoom digital camera and the digital camera all have light-shielding protection cover; the automatic zoom digital camera is placed on the front end of the car through the anti-vibration bracket, and the digital camera is respectively fixed on the front, side and rear of the car through the anti-vibration bracket; the digital image preprocessing module consists of a dedicated digital signal processing chip, the chip There is a set of image pre-processing module software for image distortion correction, smoothing filter noise reduction processing, image enhancement and sharpening processing, edge detection processing and other processing. Its function is to effectively filter out various interferences and reduce image distortion. In order to provide a more accurate and reliable basis for security monitoring.

The original image signals sent by digital camera devices such as automatic zoom digital cameras and digital cameras are sent to the signal input end of the digital signal processing chip through the buffer circuit, and are processed by the digital image preprocessing module to obtain The high-fidelity digital image data is then sent to the main video image processing module of the vehicle-mounted embedded computer platform through the control bus CAN/LIN and the serial port RS-232 for further processing. By the way, it is very necessary to preprocess the original image because, although it is simpler and cheaper to use the image as the information source, it is easy to cause distortion, thermal noise, light pollution and other interference due to the positional relationship between the camera and the target , these factors are sometimes very serious, so these useless and even destructive information must be removed first, which is why preprocessing is required first.

Referring to Fig. 4, in the system image processing and decision-making control unit, the digital signal processing chip 5 is coordinated and controlled by the system work coordination service software, including a main video image processing module 5.1, an image display control module 5.2, a threat priority processing module 5.3, System decision-making control module 5.4, the main video image processing module 5.1 receives the pre-processing image information output by the vehicle-mounted digital image information acquisition unit 1 through the bus, and obtains the vector digital image around the car after its processing, and sends it to the image display respectively The control module 5.2 and the threat priority processing module 5.3 perform image display and judgment processing of threat types and threat levels. After the threat priority processing module 5.3 extracts the threat level information from the vector digital image, it sends all the way to the on-board display 3 to determine the threat level. It is shown that one path is sent to the system decision control module 5.4 for processing, and a system control decision is made according to the threat level, and corresponding instructions are issued.

The process of decision-making realization is: through the vehicle-mounted embedded computer platform 1, the control information output by the system decision-making control module 5.4 is handed over to the vehicle-mounted display 3, the sound and light warning device 6, each relevant electronic control unit 7 or the vehicle-mounted control bus through the control bus. The digital mobile communication device can either display the threat level, or send out sound and light alarms, or quickly change the motion state of the car through a group of electronic control units (to make the control mechanical device brake, change the driving direction and driving speed), so that the car can quickly Get out of the danger zone. When necessary, the system decision-making control module 5.4 will directly control the vehicle-mounted digital mobile communication device 8 through the vehicle-mounted embedded computer platform 1 to send request support information to the traffic management center.

The on-vehicle display 3 displays different contents in a partitioned manner, which is beneficial for observation. The on-vehicle display partition includes a main display area, a threat level attribute and a threat icon display area, a car icon display area and a touch keyboard display area, and the main display area displays the vector digital image of the road in a background mode, the threat level attribute and a threat icon display area The threat level attribute parameters (threat type and threat level, etc.) are displayed in the superimposed form of the table. The car icon display area displays the car icon on the background image (the center below the main display area) in the superimposed mode of the car icon. The touch keyboard display area is integrated with a touch screen. , for man-machine dialogue, which can reduce the number of on-board displays. As a preferred embodiment, the main display area is located on the right side of the vehicle display, and its area accounts for about 2/3 of the full screen. The threat parameter display area is located at the upper left corner of the vehicle display, and its area accounts for about 1/6 of the full screen. The display area is located in the main display area, and its size is determined by the icon. The touch keyboard display area is located in the lower right corner of the vehicle display, and its area accounts for about 1/6 of the full screen.

The display of the image is mainly completed by the image display control module 5.2, which is provided with a special program for image display control based on the relationship between pixels and screen size, which is used to partition the vehicle display and control the image display. Its implementation is as follows: First, establish a display coordinate system, that is, take the upper left corner of the vehicle display screen as the coordinate origin, and use the corresponding relationship between pixels and screen sizes according to the screen size of the vehicle display to obtain the pixels required for full-scale display. and the number of pixels that each row/column should have; then, according to the above-mentioned regulations, open windows at different positions on the screen, and name them respectively as the display areas. The so-called display processing and control are at first based on the same method (regarding each district as a small vehicle display), sending the content to be displayed to this district, and if necessary, using pixel size processing, page processing and data update technology, Perform stepless zooming, panning, scrolling, rotation at any angle, dynamic update, etc. on the displayed content. The data received by the software is the information output by the video image main processing module 5.1 and the threat priority processing module 5.3; the image display control processing software will identify and classify the image digital information sent for display, and after the identification and classification The road vector digital image data is sent to the main display area for image display, and the threat priority attribute parameter data is sent to the threat parameter display area for table display, under the control of the man-machine dialogue or the system work coordination service software The video image main processing module of the image display control processing software can also perform stepless zooming, translation, scrolling, rotation at any angle, dynamic update processing, etc. for the content displayed in the main display area, so as to meet different display requirements and facilitate drivers. Observe the traffic image.

As an integral part of executive control decision-making, the electronic control unit group ECU is also an important part, so it is necessary to make some introduction. Here, the electronic control unit 7 of the electronic control unit group mainly includes a braking electronic control unit, a traction electronic control unit, an automatic transmission electronic control unit, and an electronic power steering electronic control unit, which are coordinated by the system work coordination service software. The vehicle-mounted embedded computer platform directly sends the control information output by the system decision-making control module to the control information processor of each electronic control unit for processing through the system control bus, and generates the control signals required by the corresponding controlled mechanical devices Make it produce corresponding actions, change the motion state and motion parameters of the car.

The present invention also provides the monitoring method of the automobile running safety monitoring system shown in the present invention, and this method comprises several main steps as follows:

(1) Acquire real-scene images of roads around the vehicle with the system's on-board digital camera device and perform preprocessing to obtain high-fidelity digital images of the real scene around the vehicle;

(2) Mainly process the high-fidelity real-scene figures around the vehicle to obtain vector digital images around the vehicle;

(3) From the vector data images around the vehicle, extract the relative position information of the lane line, other vehicles or obstacles around the target and the vehicle, and use the distance between the edge of the vehicle and the type of the surrounding objects and the edge of the target image The size is the criterion, and the type and level description of the current safety of the vehicle is given;

(4) In the event of a threat, perform corresponding alarms, emergency automatic avoidance control and/or emergency help according to the threat type and threat level.

The concrete process of described step (1) mainly is:

(1.1) Adopt the vehicle-mounted digital camera device to obtain the original image of the target scene including the lane boundary line, front and rear vehicles, and other driving signs around the vehicle;

(1.2) Process the original image of the target scene, including image distortion correction, smoothing filter noise reduction processing, image enhancement and sharpening processing, edge detection processing, etc., to effectively filter out various interferences and reduce image distortion. A high-fidelity digital image of the real scene around the vehicle.

The concrete process of described step (3) mainly is:

(3.1) Extract and calculate the distance between the edge of the lane line, other surrounding vehicles or obstacles and the edge of the vehicle from the vector digital image of the target around the vehicle, and use this as a criterion to determine the current position of the vehicle Threat categories and threat levels are given a quantitative description;

(3.2) Comparing with the preset threat processing plan database, judge whether it is necessary to carry out alarm, emergency avoidance automatic control and/or emergency help under the current threat type and threat level of the vehicle, and issue corresponding instructions if necessary , control the corresponding device to do the corresponding action, wherein the alarm, automatic control of emergency avoidance and emergency call for help are carried out in the following ways:

(a) Send threat type and threat level display instructions to the on-board display, and the threat type and threat level information will be displayed by the on-board display;

(b) Send an emergency avoidance automatic control command to the corresponding electronic control unit of the vehicle itself, and control the vehicle to perform corresponding emergency avoidance actions through the electronic control unit;

(c) Send an emergency call instruction to the mobile digital communication device, and activate the mobile digital communication device to send an emergency call signal to the outside world (for example, the public security traffic management center) according to a preset method.

Referring to Fig. 5, the system decision-making control unit can use the so-called "dynamic coordinate system" when making warning and control decisions for threats and displaying vector digital images of the road through the vehicle-mounted display. The coordinate system is stipulated as follows: the longitudinal axis of the vehicle body is the x-axis, and the forward direction of the vehicle is the positive direction of the axis, and the horizontal axis of the vehicle body is the y-axis, and the positive direction of the axis conforms to the right-handed spiral Then, the geometric center of the vehicle always coincides with the origin of the coordinate system such a coordinate system. This coordinate system is particularly convenient for the driver to observe the scene images around the vehicle through the vehicle-mounted display.

In order to make control decisions for the system in this coordinate system, Figure 4 shows the definition and calculation schematic diagram of the threat discrimination parameters in this dynamic coordinate system. In the figure, ρ _AMh and ρ _AMv are the vertical distances from the longitudinal/transverse edge of the vehicle to the coordinate origin ρ _AMh , ρ _AMv , ρ _lr , ρ _ll are the vertical distances from the left and right boundary lines of the lane to the coordinate origin, ρ _tf , ρ _tb d _i =ρ _li (t)-ρ _AMh is the lateral error, d _j =ρ _tj (t)-ρ _AMv is the longitudinal error d _j =ρ _tj (t) - ρ _AMv , (i=r, l; j=f, b). According to this figure, the calculation method of the discriminant parameters can be calculated when the "distance criterion" is used as the criterion in the dynamic coordinate system.

Figure 6 shows the detailed process of the system to identify threats and make control decisions based on the above principles. In the monitoring method of a kind of automobile running safety monitoring system shown in the present invention, use the threat priority processing module in the described number to the current safety level of this car (because safety level and threat type and threat level all express vehicle Driving safety, these two concepts are considered to be equivalent in this manual) to give a quantitative description for the mark, which mainly includes the following specific steps:

1) Extract the position information of lane lines, other vehicles around, and other obstacles and marker edges in the dynamic coordinate system and their dynamic coordinates [x _k (t _i ), y _k (t _i )], where the subscript k It is used to distinguish traffic lanes, vehicles in front of and behind the vehicle, and other markers and obstacles. The subscript i is used to indicate the current time;

2) According to the dynamic position coordinates [x _k (t _i ), y _k (t _i )] of the target edge, respectively calculate ρ _AMh , ρ _AMv , ρ _lr , ρ _ll , ρ _tf , ρ _tb , and lateral error d _i =ρ _li (t)-ρ _AMh and longitudinal error d _j =ρ _tj (t)-ρ _AMv , (i=r,l;j=f,b);

3) According to the values and signs of the errors d _i and d _j , combined with the intuitive image of the road, use the threat priority processing module and the system decision control module to give a quantitative description of the current safety level of the vehicle according to the following method, and give Control measures:

①When 0≤d _i and D _sf ≤d _j ≤∞, (i=r, l; j=f, b) the alarm control system does not send out an alarm signal, the color of the alarm threat level displayed on the on-board display is green, and the vehicle You can continue to drive safely in your own lane;

② When d _i ≤ 0 but D _sf ≤ d _j ≤ ∞, the color of the warning threat level displayed on the on-board display is yellow, and the sound and light warning device sends out a soft warning signal to warn the driver of the vehicle to quickly return the vehicle to his own lane;

③ When 0 ≤ _{d i} but d _j ≤ D _sf , the threat level signal displayed on the on-board display is orange, and the sound and light alarm device sends an alarm to the driver of the vehicle, and controls the horn/lights of the vehicle to send a message to the driver located in the vehicle. Vehicles in front/rear of the vehicle send out sound and light warning signals to let them speed up or slow down to avoid collision or rear-end collision;

④ When d _i ≤ 0 and d _j ≤ D _sf , the alarm control system sends out a loud alarm signal, and the threat level signal displayed on the on-board display is red. The driver of the car, on the other hand, sends out sound and light warning signals to the vehicles located in front and behind of the car by honking the whistle, turning on the lights, etc. At the same time, the system is coordinated by the system work coordination service software. The vehicle-mounted embedded computer platform described above sends the decision-making control information output by the system decision-making control module to the electronic control unit through the bus, changes the driving speed by automatically controlling the size of the accelerator, stops the car quickly by braking, or uses the power of the chassis The system changes the driving direction of the car to make the car out of danger quickly;

⑤ When the vehicle collides with other vehicles, collides, scratches or has other major traffic accidents, so that the vehicle cannot continue to drive normally, the monitoring and alarm system can send an alarm to the traffic control center in time through the vehicle wireless communication unit, calling for help. information.

Claims (8)

1, a kind of ride safety of automobile monitored control system comprises vehicle-mounted digital image information acquisition unit and vehicle-mounted embedded type computer platform, and the sound and light alarm device that joins by bus and described vehicle-mounted embedded type computer platform, wherein:

Described vehicle-mounted embedded type computer platform is provided with system's image processing and Decision Control unit;

Described vehicle-mounted digital image information acquisition unit obtains the real scene image of vehicle periphery by its built-in digital camera, and generates the pretreatment digital image information and give described system image processing and Decision Control unit;

Described system image processing and Decision Control unit carry out analyzing and processing to described pretreatment data image signal, generate threat category and threat level signal, when threat category and threat level arrival alarm standard, send alarm command to described sound and light alarm device, alarm, it is characterized in that:

The bus of described vehicle-mounted embedded type computer unit is connected with the mobile digital communicator, described system image processing and Decision Control unit are judged the threat category and the level signal of its generation, when threat category and threat level arrive when promptly requiring assistance standard, send the instruction of promptly requiring assistance to described mobile digital communicator, start described mobile digital communicator and send urgent Call for assistance according to the mode of subscribing.

2, ride safety of automobile monitored control system as claimed in claim 1, the bus that it is characterized in that described vehicle-mounted embedded type computer unit is connected with Vehicular display device, after described system image processing and Decision Control unit receive described pretreatment digital image information, generate the vector digital image information and be sent to described Vehicular display device demonstration.

3, ride safety of automobile monitored control system as claimed in claim 1, the one or more ECU (Electrical Control Unit) that it is characterized in that total wire joint vehicle self of described vehicle-mounted embedded type computer unit, described system image processing and Decision Control unit are judged the threat category and the level signal of its generation, when threat category and threat level arrival urgent danger prevention automatic guidance standard, send the instruction of urgent danger prevention automatic guidance to the corresponding ECU (Electrical Control Unit) of vehicle, move with control vehicle.

4, as claim 1,2 or 3 described ride safety of automobile monitored control systems, it is characterized in that described vehicle-mounted digital image information acquisition unit can be by some digital cameras, buffer circuit, the digital image pre-processing module is formed, described digital image pre-processing module mainly is made up of the digital signal processing chip that is provided with the image pre-processing module, be used to carry out image distortion correction, the smothing filtering noise reduction process, figure image intensifying and sharpening are handled, the edge detects to be handled, with the various interference of effective filtering, reduce image fault, original image signal by autozoom DV and the first-class digital camera generation of digital vedio recording, deliver to the signal of described digital signal processing chip handles by buffer circuit, generate the high-fidelity digital view data, further processing is done in system's image processing and the Decision Control unit of sending into the vehicle-mounted embedded type computer platform by CAN/LIN bus and serial ports RS-232 then, described some digital cameras comprise a High Performance autozoom DV and several digital cameras, described High Performance autozoom DV and digital camera head generally all should have the sunscreen protection cover, wherein said High Performance autozoom DV is positioned in the positive front end of automobile by quakeproof bracket, and digital camera head is then by the front both sides of quakeproof bracket stationary distribution at automobile, side and back.

5, ride safety of automobile monitored control system as claimed in claim 4, it is characterized in that described system image processing and Decision Control unit comprise the video image main processing block, the image display control module, threaten the processed module, system decision-making control module, described video image main processing block returns the vehicle to the garage and knock off by bus interface and carries the pretreatment digital image information of digital image information acquiring unit output, handle the back and generate described vector digital image, and this vector digital image information given the image display control module respectively and threaten the processed module, so that carrying out image demonstration and threat category and threat level judges, threaten the processed module from the vector digital image, to extract threat category and threat level information, and this information one road delivered to the impend demonstration of kind and threat level of described Vehicular display device, one the road delivers to described system decision-making control module handles, described system decision-making control module compares described threat category and threat level data with default threat processing scheme data of database, generate and this threat category and the corresponding described alarm of threat level, the urgent danger prevention automatic guidance and the instruction of promptly requiring assistance.

6, ride safety of automobile monitored control system as claimed in claim 5, it is characterized in that described image display control module is provided with Vehicular display device subregion control program and the image display control program based on pixel and screen size relation, under the support of described Vehicular display device subregion control program, Vehicular display device is divided into main display space, threatens parameter display area, car icon display space and touch keyboard display space; Under the support of described image display control program, to discerning from video image main processing block and the output data information that threatens the processed module and classifying, the apparent district of master that vector digital image data behind the discriminator is delivered to Vehicular display device carries out the image demonstration, to threaten the priority attribute supplemental characteristic to deliver to and threaten parameter display area to carry out the form demonstration, or shown image be carried out stepless zooming, translation, rolling, arbitrarily angled rotation and/or dynamically updates processing according to the man machine communication order.

7, a kind of ride safety of automobile method for supervising comprises following several key step:

(1) the vehicle-mounted digital camera with system obtains the real scene image of vehicle periphery road etc. and carries out pretreatment, draws the high-fidelity digital image of vehicle periphery outdoor scene;

(2) the outdoor scene high-fidelity digital of vehicle periphery is led processing, draw this car vector digital image on every side;

(3) extract lane mark, the relative position information of target such as other vehicles or obstacle and this car on every side the vector data image around described the car, with this car edge from every side targeted species and apart from the target image edge be criterion apart from size, generate present threat category of this car and threat level information;

(4) according to threat category and threat level alarm accordingly, urgent hedging automatically control and/or promptly require assistance, it is characterized in that:

The detailed process of described step (1) mainly is:

(1.1) adopt vehicle-mounted digital camera to obtain the primary image that this car comprises the object scene of lane line, front and back vehicle and other operation signs on every side;

(1.2) primary image of object scene is handled, comprise that image distortion correction, smothing filtering noise reduction process, figure image intensifying and sharpening processing, edge detect processing etc., with the various interference of effective filtering, reduce image fault, draw the high-fidelity digital image of vehicle periphery outdoor scene;

The detailed process of described step (3) mainly is:

(3.1) from the vector digital image of vehicle periphery target, extract and calculate lane mark, the edge of target such as other vehicles or obstacle and the distance between this car edge on every side, and as criterion, threat category and the threat level present to this car provide quantitative description;

(3.2) the default threat processing scheme data bank of contrast, judgement is under present residing threat category of this car and threat level, whether need to alarm, urgent danger prevention automatic guidance and/or promptly require assistance, as needs, send corresponding instruction, the control corresponding device thereof is done corresponding action, and wherein said alarm, urgent danger prevention automatic guidance and the employing following manner of promptly requiring assistance are carried out:

(a) send threat category and threat level idsplay order to Vehicular display device, demonstrate threat category and threat level information by Vehicular display device;

(b) send the instruction of urgent danger prevention automatic guidance to the corresponding ECU (Electrical Control Unit) of vehicle self, do corresponding urgent danger prevention action by the ECU (Electrical Control Unit) control vehicle;

(c) send the instruction of promptly requiring assistance to the mobile digital communicator, start the mobile digital communicator and send urgent Call for assistance to the external world according to default mode.

8, ride safety of automobile method for supervising as claimed in claim 7 is characterized in that described analysis to threat category and threat level mainly comprises following several concrete steps:

(3.1) from described vector figure, extract lane mark, other vehicles and other obstacles and mark edge location information and the dynamic coordinate [x thereof in dynamic coordinate system on every side _k(t _i), y _k(t _i)], wherein subscript k is used to distinguish vehicle before and after the lane, this car, and other marks, obstacle, and subscript i is used to represent the current time;

(3.2) according to the dynamic position coordinate [x at described target edge _k(t _i), y _k(t _i)], the vertical/widthwise edge that calculates this car respectively is along the vertical distance ρ to the origin of coordinates _AMh, ρ _AMv, left and right boundary line, track is to the vertical distance ρ of the origin of coordinates _Lr, ρ _Ll, the vehicle before and after this car is to the vertical distance ρ of the origin of coordinates _Tf, ρ _Tb, safety distance w, D between lane width and front and back vehicle _Sf, and lateral error d _i=ρ _Li(t)-ρ _AMhWith longitudinal error d _j=ρ _Tj(t)-ρ _AMv, (i=r, l; J=f, b);

(3.3) according to error d _iAnd d _jNumerical value and symbol, in conjunction with the visual image of road,, provide quantitative description for as follows the current safe class of vehicle, and provide Control Countermeasure with threatening processed module, system decision-making control module:

1. as 0≤d _iAnd D _Sf≤ d _jDuring≤∞, (i=r, l; J=f, b) alarming control system does not send warning signal, and the alarm threat level color that Vehicular display device shows is green, and this car can continue safety traffic in the track of oneself;

2. work as d _i≤ 0 but D _Sf≤ d _jDuring≤∞, the alarm threat level color that Vehicular display device shows is yellow, and sound and light alarm device sends soft warning signal, and alarm Ben Che driver makes car return the moving traffic lane driving of oneself rapidly;

3. as 0≤d _iBut d _j≤ D _SfThe time, the threat level signal that Vehicular display device shows is orange, sound and light alarm device Xiang Benche driver sends alarm prompt, and control loudspeaker/illuminating lamp of this car etc., send the audible and visual alarm signal to being positioned at the front/rear vehicle of this car, allow their accelerate or reduce road speed, to avoid collision or knock into the back;

4. work as d _i≤ 0 and d _j≤ D _SfThe time, alarming control system sends loud warning signal, the threat level signal that Vehicular display device shows is red, at this moment, system tells Ben Che driver by sound and light alarm device with special acousto-optic on the one hand, on the other hand then by blowing a whistle, modes such as bright car light, send the audible and visual alarm cue to the vehicle that is positioned at this car front and back, meanwhile, system is under the coordination of described system works coordination service software, give ECU (Electrical Control Unit) with the Decision Control information of system decision-making control module output by bus by described vehicle-mounted embedded type computer platform, size by the automatic guidance throttle changes road speed, make car stop rapidly travelling by drag, or pass through the travel direction that the domain afterburner system changes car, make this car hightail danger;

5. as Ben Che and other vehicles knock into the back, collide, abrade or other major traffic accidents, to such an extent as to when making this car can't continue normally to drive a vehicle, described monitoring warning system can in time send alarm, distress signals to the traffic control center by the in-vehicle wireless communication unit.

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