CN101337536A - Vehicle device and method for determining vehicle-distance - Google Patents
Vehicle device and method for determining vehicle-distance Download PDFInfo
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- CN101337536A CN101337536A CNA2008101180896A CN200810118089A CN101337536A CN 101337536 A CN101337536 A CN 101337536A CN A2008101180896 A CNA2008101180896 A CN A2008101180896A CN 200810118089 A CN200810118089 A CN 200810118089A CN 101337536 A CN101337536 A CN 101337536A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000004807 localization Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 3
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- 238000005516 engineering process Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
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- 238000012015 optical character recognition Methods 0.000 description 3
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- 230000003100 immobilizing effect Effects 0.000 description 1
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Abstract
The invention discloses a vehicle device and a method for measuring the space between vehicles, and aims to increase the measurable range of the space between vehicles, further improves the measurement result of the space between vehicles, and enables the security of vehicle in running to be improved. The invention provides the vehicle device including: an image acquiring unit used for acquiring images; a license plate detection unit used for detecting the images and determining the size of the license plate images in the images; and a vehicle space detection unit used for determining the space between the vehicle where the device is mounted and the vehicle which the license plate images belong to according to the size of the license plate images and the actual size of the license plate. The vehicle device and the method are used for measuring the space between vehicles, automatically determining longer space between vehicles, improving the security of vehicle in running, and facilitating the driving operations of a driver.
Description
Technical field
The present invention relates to technical field of image processing, relate in particular to the method for a kind of automotive fittings and a kind of definite spacing.
Background technology
In the process that chaufeur drives a car, need to measure automobile that chaufeur drives and the spacing between other automobiles sometimes, to reach the purpose of safe driving.
In the prior art, often adopt trailer-mounted radar to measure distance between spacing or measured automobiles and near the object.Feedway in the radar is initiatively launched infrared ray or super sonic etc., infrared ray or super sonic are understood corresponding infrared ray of reflected back or super sonic after running into object, receiving device in the radar receives infrared ray or the super sonic that object reflects, thereby launches infrared ray or super sonic and receive infrared ray or hypracoustic time gap or phase difference just can be determined distance between the object by calculating.
For example, the Reverse Sensor that uses during reversing, what adopt is exactly the principle of work of infrared ray or ultrasonic reflections, thereby avoid moveing backward and bump against near the object of the tailstock accidentally, because the speed of a motor vehicle is not very fast during reversing, automobile is shorter apart from the distance of rear object, so with the radar application effect of can being found range preferably under the reversing situation.
But, adopt radar surveying on highway between the traveling automobile apart from the time, will receive considerable restraint, because the speed of a motor vehicle of traveling automobile is than very fast on highway, distance between the automobile is also distant, infrared ray that radar emission goes out or super sonic often can't arrive the other side's automobile, therefore can't form reflection, also just can't realize measuring the purpose of spacing.And, when adopting the radar surveying spacing, be subjected to the influence of other objects toward the contact meeting, that is to say, radar can't be discerned automobile, and its can all carry out distance detecting to the object that all infrared rays of launching or super sonic can arrive, and therefore utilizes the radar surveying spacing to cause mistake to survey sometimes.
In sum, when adopting prior art to measure spacing, can only record the spacing in the shorter scope, measurement effect is relatively poor.
Summary of the invention
The embodiment of the invention provides the method for a kind of automotive fittings and a kind of definite spacing, and in order to the scope surveyed of raising spacing, thereby the measurement effect of raising spacing makes running safety also improve thereupon.
A kind of automotive fittings that the embodiment of the invention provides comprises:
Image acquisition units is used for images acquired;
The car plate detecting unit is used for described image is detected, and determines the size of license plate image in the described image;
The spacing detecting unit is used for the size according to described license plate image, and the actual size of car plate, determines the automobile at described device place and the distance between the affiliated automobile of described license plate image.
The method of a kind of definite spacing that the embodiment of the invention provides comprises:
By being arranged on the camera collection image on the current automobile, and described image is detected, determine the size of license plate image in the described image;
According to the size of described license plate image, and the actual size of car plate, determine the distance between the affiliated automobile of described current automobile and described license plate image.
The embodiment of the invention by being arranged on the camera collection image on the current automobile, and detects described image, determines the size of license plate image in the described image; Size according to described license plate image, and the actual size of car plate, determine the distance between the affiliated automobile of described current automobile and described license plate image, thereby improved the scope surveyed of spacing, promptly can determine the distance between the automobile in larger scope, make running safety higher, and make things convenient for the driver behavior of chaufeur.
Description of drawings
The camera image-forming principle scheme drawing that Fig. 1 provides for the embodiment of the invention;
The structural representation of a kind of automotive fittings that Fig. 2 provides for the embodiment of the invention;
The method flow scheme drawing of a kind of definite spacing that Fig. 3 provides for the embodiment of the invention.
The specific embodiment
The embodiment of the invention provides the method for a kind of automotive fittings and a kind of definite spacing, and in order to the scope surveyed of raising spacing, thereby the measurement effect of raising spacing makes running safety also improve thereupon.
The embodiment of the invention is by being arranged on the camera collection image on the automobile, and the size of definite license plate image, according to the size of license plate image and the actual size of car plate, utilizes image-forming principle, determines tired between the automobile.
At first introducing the embodiment of the invention below is how to utilize image-forming principle to determine spacing.
Referring to Fig. 1, be imaged as example with camera, when camera normally used, object distance was during greater than two times of focal length 2f, become inverted real image, according to the convex lens image-forming principle, in the time of outside object distance is in 2f, represent the size of thing respectively with H, h represents the size of picture, A represents object distance, and a represents image distance, and then the geometric relationship according to light has:
So have
Promptly as big or small h and object distance A are inversely proportional to, it is constant then to work as focal distance f, image distance a is similar to f, when the big or small H of thing is approximate constant, therefore can judge the object distance size by the size of picture, and digital camera, the image-forming principle of other image capture devices such as DV is similar with camera, also has identical conclusion.
For certain fixing image capture device (comprising camera, digital camera and pick up camera etc.), according to image-forming principle, when its camera lens and fixed focal length, become the size of image just to depend on the size of object distance and object, and when sensor devices area fixedly the time, the size of image just is presented as the elemental area that this image is shared, just the number of pixels in this image region; Be presented as this image on pixel distance two between, just number of pixels two between as last distance at 2.
The image that image capture device collected is the projection of image on the picture plane.And the conventional images collecting device is generally the digitized image collecting device, and the image that collects is represented the image of discretization with two-dimensional matrix.For the sensor devices that a resolution is M*N, be equivalent to the discrete matrix that turns to M*N of image.At the analog image that sensor devices is obtained (promptly truly looking like) thus carrying out digitalisation obtains in the process of digital image, the area of supposing sensor devices is B*C, resolution is W*D, and B/W=C/D is then arranged, the pixel count on the unit sizes is B/W or C/D.Like this, under the situation that the sensor devices area is fixed, can not adopt the physics size of analog image, but the size that elemental area on the digital image that obtains after the employing analog image projection discretization or pixel distance are weighed analog image, thereby can be according to the size measurement object distance of analog image.
Preferably, what the embodiment of the invention adopted is the digitized image collecting device, represents a sub-picture with two-dimensional matrix.For each point on the image, digitized coordinate (x, y) correspondence are arranged all.For example, for the image of one 640 * 480 resolution, the coordinate position of any point on this image (x, y) satisfy:
{(x，y)|x＞＝0&&x＜640，y＞＝0&&y＜480}
Becoming the pixel distance between 2 on the digital image in the embodiment of the invention is distance between two point coordinate on the digital image, and elemental area can calculate by corresponding pixel distance.
The number of pixels of the digital image of the cooresponding unit sizes of analog image is B/W or C/D, if the pixel distance between 2 is m on the digital image, then 2 distances are on the analog image that is become:
H=m*B/W formula (2)
As seen 2 pixel distances on digital image of the distance between two points on the analog image and this are directly proportional.According to formula (1) and formula (2), can get:
In like manner can get:
When the big or small H of thing is constant, focal distance f immobilizes (be image distance a also approximate immobilize), and the area of sensor devices is constant, i.e. B (or C) when immobilizing, object distance A with
(or
) be inversely proportional to.
Further, for same image capture device, can the resolution that change its output image be set by software, promptly the size of M and N can change with software set.Therefore, preferably, embodiment of the invention definition normalization method pixel distance m ' is pixel distance m and the ratio of M (the perhaps ratio of m and N).Then:
In like manner can get:
Therefore, still image collecting device focal distance f is constant, a is just constant, the object of the image acquisition in the embodiment of the invention is a car plate, think that the car plate actual size is identical, the actual size that is car plate is exactly the big or small H of above-mentioned thing, between car plate and the sensor devices distance be approximately equal to automobile and the affiliated image capture device of sensor devices under this car plate set automobile between distance, just above-mentioned object distance A.A and m ' are inversely proportional to, be camera set automobile and the distance between other automobiles near more, then m ' is big more, camera set automobile and the distance between other automobiles far away more, then m ' is more little, utilize license plate image size just can calculate camera set automobile and the distance between other automobiles.
Image capture device can be placed in the headstock and/or the tailstock in the embodiment of the invention, thereby can estimate the ground distance between the automobile at the place ahead of this automobile and this automobile and/or rear.
Based on above-mentioned principle, introduce the automotive fittings of the self-measuring spacing that the embodiment of the invention provides below and how to realize.
Referring to Fig. 2, a kind of automotive fittings that the embodiment of the invention provides comprises:
Preferably, this image acquisition units 21 is positioned at the headstock and/or the tailstock of automobile, can gather the image at vehicle front and/or rear like this, and certainly, the both sides that are arranged on automobile also are fine, and comprise car plate at interior image as long as can collect.
Car plate detecting unit 22 is used for detecting in the image that described image acquisition units 21 is collected, and determines the size of license plate image in this image, for example the length and width of this license plate image or area.
Particularly, the image that image acquisition units 21 is collected detects, and the method for determining the size of license plate image in this image has a variety of, and most method all is that the features such as edge, grey scale change and color of utilizing car plate detect basically.For example: adopt method based on rim detection, at first utilize edge detection operator, as Canny operator (Canon) operator, Suo Beier operator (Sobel) operator etc., calculate the outline map of car plate, in this outline map, utilize two overlapping horizontal linears of vertical projection of hough transform (Hough) transformation search then, at last near the horizontal linear that obtains, search for vertical line, thereby the license plate area in the images acquired is positioned.In addition, can also utilize the color characteristic of car plate, the coloured image of car plate be carried out color cut apart, on the achromatic map of car plate background color (as blue, white or black), adopt the method location license plate area of projection again.After having located the car plate region, just can utilize the number of pixels in this zone to determine the size that this is regional at an easy rate.
Preferably, described car plate detecting unit 22 comprises:
Detecting unit is used for detecting license plate image from image.
The size determining unit is used for the number of pixels according to license plate image, determines the size of this license plate image.
It also can be a plurality of that described car plate detecting unit 22 detected car plate from image can be one, promptly certain fixing car plate detects in the image that can collect image acquisition units 21, also all car plates that this image comprised all can be detected, thereby spacing detecting unit 23 can be determined the distance between affiliated automobile of one or more license plate images and the camera place automobile.
Preferably, this device further comprises:
License plate number detecting unit 25 is used for detecting the license plate number in this license plate image when the distance between the automobile is less than or equal to the threshold value of predefined safe distance between vehicles under the automobile at described automotive fittings place and the license plate image, and triggers Alarm Unit 26.
Car plate detecting unit 22 has been located license plate area from image after, can be further detect license plate number in the license plate image that this license plate area comprises by license plate number detecting unit 25, for example, detected license plate area is carried out binary conversion treatment, obtain the binary map of car plate, vertically projection on the binary map of car plate utilizes characters on license plate wide, and the characteristics such as queueing discipline of characters on license plate are carried out the cutting of characters on license plate; Carry out the identification of characters on license plate then, because the Chinese character that may occur on the car plate and the number of character are limited, therefore utilize optical character recognition (OCR, Optical Character Recognition) technology is discerned each character on the small characters storehouse, and the result who obtains is exactly a license plate number.
Certainly, described Alarm Unit 26 also can be directly according to the triggering of judging unit 24, when the distance between the automobile is less than or equal to the threshold value of predefined safe distance between vehicles under the automobile at described automotive fittings place and the license plate image, send warning signal immediately, this warning signal can be a speech form, also can be other forms of warning signal etc.
Preferably, this device further comprises:
Speed of a motor vehicle control unit 27, be used for when the distance between the automobile is less than or equal to the threshold value of predefined safe distance between vehicles under the automobile at described automotive fittings place and the license plate image, according to the license plate number in the described license plate number detecting unit 25 detected license plate images, automobile under this license plate image is carried out track and localization, and reduce the speed of a motor vehicle of the automobile at described automotive fittings place according to positioning result, up to the distance between the automobile under the automobile at described device place and this license plate image greater than the threshold value of predefined safe distance between vehicles.
The effect of this speed of a motor vehicle control unit 27 is exactly to realize the automatic guidance speed of a motor vehicle, distance between assurance driver-operated automobile and other automobiles is in safe range, improve the driving safety of automobile, this shows that the technical scheme that provides by the embodiment of the invention can realize automatic steering.Certainly, chaufeur also can select not use this function, but according to the prompting of Alarm Unit 26, changes the speed of a motor vehicle artificially.
Introduce the method that the embodiment of the invention provides below.
Referring to Fig. 3, the method for a kind of definite spacing that the embodiment of the invention provides comprises:
S301, by being arranged on the camera collection image on the automobile, and determine the size of license plate image in this image.
S302, according to the size of license plate image and the actual size of car plate, determine the distance between the automobile under camera place automobile and this license plate image.
Preferably, this method further comprises:
When the distance between the automobile is less than or equal to the threshold value of predefined safe distance between vehicles under camera place automobile and the license plate image, send warning signal.
Preferably, when the distance between the automobile was less than or equal to the threshold value of predefined safe distance between vehicles under camera place automobile and the license plate image, this method further comprised: detect the license plate number in this license plate image.
Preferably, warning signal is sent in the voice suggestion mode, and the content of this voice suggestion comprises license plate number.
Preferably, when the distance between the automobile was less than or equal to the threshold value of predefined safe distance between vehicles under camera place automobile and the license plate image, this method further comprised:
According to the license plate number in the license plate image, automobile under this license plate image is carried out track and localization;
Automatically reduce the speed of a motor vehicle of camera place automobile according to positioning result, up to the distance between the automobile under camera place automobile and the license plate image greater than the threshold value of predefined safe distance between vehicles.
In sum, the embodiment of the invention is by being arranged on the camera collection image on the automobile, and the size of license plate image in definite image, according to the size of license plate image, and the actual size of car plate, utilize the image-forming principle of camera, determine the distance between the affiliated automobile of camera place automobile and license plate image, thereby realized determining the technical scheme of spacing automatically, and the spacing in can determining in a big way, make running safety higher, make things convenient for the driver behavior of chaufeur.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (12)
1, a kind of automotive fittings is characterized in that, comprising:
Image acquisition units is used for images acquired;
The car plate detecting unit is used for described image is detected, and determines the size of license plate image in the described image;
The spacing detecting unit is used for the size according to described license plate image, and the actual size of car plate, determines the automobile at described device place and the distance between the affiliated automobile of described license plate image.
2, device according to claim 1 is characterized in that, this device also comprises:
Judging unit is used to judge whether the automobile at described device place and the distance between the affiliated automobile of described license plate image are less than or equal to pre-set threshold;
Alarm Unit is used for sending warning signal when the distance between the automobile is less than or equal to pre-set threshold under the automobile at described device place and the described license plate image.
3, device according to claim 2 is characterized in that, this device also comprises:
The license plate number detecting unit is used for detecting the license plate number in the described license plate image, and triggering described Alarm Unit when the distance between the automobile is less than or equal to pre-set threshold under the automobile at described device place and the described license plate image;
Described Alarm Unit sends warning signal according to the triggering of described license plate number detecting unit with voice prompting mode, and the content of described voice suggestion comprises described license plate number.
4, device according to claim 3 is characterized in that, this device also comprises:
Speed of a motor vehicle control unit, be used for when the distance between the automobile is less than or equal to pre-set threshold under the automobile at described device place and the described license plate image, according to the license plate number in the detected described license plate image of described license plate number detecting unit, automobile under the described license plate image is carried out track and localization, and reduce the automobile speed at described device place according to positioning result, up to the distance between the automobile under the automobile at described device place and the described license plate image greater than described threshold value.
5, device according to claim 1 is characterized in that, described car plate detecting unit comprises:
Detecting unit is used for detecting license plate image from described image;
The size determining unit is used for the number of pixels according to described license plate image, determines the size of described license plate image.
According to the described device of the arbitrary claim of claim 1 to 5, it is characterized in that 6, described image acquisition units is positioned at the headstock and/or the tailstock of automobile.
7, a kind of method of definite spacing is characterized in that, this method comprises:
By being arranged on the camera collection image on the current automobile, and described image is detected, determine the size of license plate image in the described image;
According to the size of described license plate image, and the actual size of car plate, determine the distance between the affiliated automobile of described current automobile and described license plate image.
8, method according to claim 7 is characterized in that, this method also comprises:
When the distance between the automobile is less than or equal to pre-set threshold under described current automobile and the described license plate image, send warning signal.
9, method according to claim 8 is characterized in that, when the distance between the automobile was less than or equal to pre-set threshold under described current automobile and the described license plate image, this method further comprised:
Detect the license plate number in the described license plate image.
10, method according to claim 9 is characterized in that, described warning signal is sent in the voice suggestion mode, and the content of described voice suggestion comprises described license plate number.
11, method according to claim 9 is characterized in that, when the distance between the automobile was less than or equal to pre-set threshold under described current automobile and the described license plate image, this method further comprised:
According to the license plate number in the described license plate image, automobile under the described license plate image is carried out track and localization;
Reduce the speed of a motor vehicle of described current automobile according to described positioning result, up to the distance between the automobile under described current automobile and the described license plate image greater than described threshold value.
12, method according to claim 11 is characterized in that, reduces the speed of a motor vehicle of described current automobile according to predefined speed.
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