CN109050388B - A lane line projection system and method based on digital micromirror technology - Google Patents
A lane line projection system and method based on digital micromirror technology Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
- B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
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Abstract
本发明提出了一种基于数字微镜技术的车道线投影系统及方法。本发明系统包括摄像头模块、雷达定位模块、模数转换模块、车联网模块、ECU、DLP处理器、数字微镜数字图像驱动模块、数字微镜元件、LED光源、导光管、聚光透镜、颜色过滤器、整形透镜、投影透镜。本发明方法开启LED光源，光线经光路传播至数字微镜元件；通过摄像头模块以及雷达定位模块采集信号，通过模数转换模块转换后传输至ECU；ECU将数字图像信号通过图像预处理得到车道线投影信号，根据数字距离信号与安全距离比较调整车道线投影信号以得到虚拟车道线投影信号，并传输至DLP处理器；DLP处理器根据虚拟车道线投影信号得到虚拟车道线，通过数字微镜原件将虚拟车道线投射到地面。
The invention provides a lane line projection system and method based on digital micromirror technology. The system of the invention includes a camera module, a radar positioning module, an analog-to-digital conversion module, a car networking module, an ECU, a DLP processor, a digital micromirror digital image driving module, a digital micromirror element, an LED light source, a light guide tube, a condenser lens, Color filters, shaping lenses, projection lenses. The method of the invention turns on the LED light source, and the light is transmitted to the digital micro-mirror element through the optical path; the signal is collected by the camera module and the radar positioning module, converted by the analog-to-digital conversion module, and then transmitted to the ECU; the ECU obtains the lane line by preprocessing the digital image signal through the image. Projection signal, adjust the lane line projection signal according to the comparison between the digital distance signal and the safety distance to obtain the virtual lane line projection signal, and transmit it to the DLP processor; the DLP processor obtains the virtual lane line according to the virtual lane line projection signal, and passes the original digital micromirror. Projects virtual lane lines to the ground.
Description
Technical Field
The invention relates to the field of automobile headlamp systems, in particular to a lane line projection system and method based on a digital micromirror technology.
Background
The headlamp system is an important safety system of the automobile, mainly plays a role in providing illumination for a traffic environment, so that a driver can obtain accurate road information to perform corresponding driving operation, and the headlamp system is a precondition guarantee for safe driving of the automobile at night.
Traditional vehicle headlamps system can not satisfy people's demand under complicated highway section and the environment of turning, the illumination mode is not enough, adaptability regulatory ability is relatively poor, there are great traffic hidden danger scheduling problem, along with the development of technical field, the LED matrix head-light of using widely now outside, along with the birth and the technological maturity of digital micro mirror lighting technique, can use it to the head-light field, can integrate millions of light-emitting points in a car light, and can distribute car light and utilize light and surrounding environment exchange information better, utilize unique projection technique, can project corresponding road route on the road and go to the road with supplementary driver, consequently, it has important meaning to study a lane line projection system and method based on digital micro mirror technique.
Disclosure of Invention
In order to solve the problem of traffic hidden trouble of the existing headlamp system, the invention provides a lane line projection system and method based on a digital micromirror technology.
The technical scheme of the system is a lane line projection system based on the digital micromirror technology, which is characterized by comprising the following steps: the system comprises a camera module, a radar positioning module, an analog-to-digital conversion module, an internet of vehicles module, an ECU (electronic control Unit), a DLP (digital light processing) processor, a digital micromirror digital image driving module, a digital micromirror element, an LED (light-emitting diode) light source, a light pipe, a condensing lens, a color filter, a shaping lens and a projection lens;
the camera module is connected with the analog-to-digital conversion module; the radar positioning module is connected with the analog-to-digital conversion module; the analog-to-digital conversion module is connected with the ECU; the Internet of vehicles module is connected with the ECU; the ECU, the DLP processor, the digital micromirror digital image driving module and the digital micromirror element are sequentially connected in series; the LED light source, the light pipe, the condensing lens, the color filter, the shaping lens and the digital micromirror element are sequentially connected in series; the digital micromirror device is coupled to the projection lens.
Preferably, the camera module is used for collecting images of a road ahead; the radar positioning module is used for detecting the distance between the edge of the right front wheel and the edge of the road in real time; the analog-to-digital conversion module is used for respectively converting the front road image into a digital image signal and transmitting the digital image signal to the ECU, and converting the distance between the edge of the right front wheel and the edge of the road into a digital distance signal and transmitting the digital distance signal to the ECU; the vehicle networking module is used for transmitting vehicle information acquired by the ECU to the remote monitoring terminal; the ECU is used for obtaining a lane line projection signal from the digital image signal according to an image processing algorithm, comparing and adjusting the lane line projection signal according to the digital distance signal and the safe distance to obtain a virtual lane line projection signal, and transmitting the virtual lane line projection signal to the DLP processor; the DLP processor converts the virtual lane line projection signals into advanced RGB data meeting the requirements of the digital micromirror element format, converts the advanced RGB data into all plane binary data, and is used for carrying out bit division and cache on all the plane binary data and converting the all plane binary data into driving data signals corresponding to the digital micromirror digital image driving module; the digital micromirror digital image driving module controls the micromirrors in the digital micromirror element to perform driving, turning and time sequence control according to driving data signals, so as to project virtual lane lines; the digital micromirror element projects the virtual lane line to the road surface; the LED light source is used for providing a light source; the light guide pipe is used for light uniformity; the condenser lens is used for condensing the uniform light; the color filter is used for filtering out stray light from the condensed light; the shaping lens is used for projecting the light rays after the stray light is filtered to the digital micromirror element.
The technical scheme of the method is a lane line projection method based on a digital micromirror technology, which is characterized by comprising the following steps of:
step 1: turning on the LED light source, and transmitting light to the digital micromirror element through the light path;
step 2: the camera module and the radar positioning module are used for acquiring signals, and the signals are converted by the analog-to-digital conversion module and then transmitted to the ECU;
and step 3: the ECU obtains a lane line projection signal by image preprocessing the digital image signal, adjusts the lane line projection signal according to the comparison of the digital distance signal and the safe distance to obtain a virtual lane line projection signal, and transmits the virtual lane line projection signal to the DLP processor;
and 4, step 4: the DLP processor obtains a virtual lane line according to the virtual lane line projection signal, converts the virtual lane line into a digital signal conforming to the DMD drive module, and projects the virtual lane line to the ground through a digital micromirror element;
preferably, the light propagating through the optical path to the dmd in step 1 is:
the LED light source provides a light source, light is reflected by the reflecting bowl, is uniform through the light guide pipe, is condensed by the condensing lens, is filtered by the color filter to remove stray light, and is projected to the digital micromirror element through the shaping lens;
preferably, the step 2 of acquiring signals by the camera module and the radar positioning module is that:
the camera module collects front road images, and the radar positioning module collects the distance between a vehicle and a road guardrail;
the step 2 of transmitting the data converted by the analog-to-digital conversion module to the ECU is as follows:
the analog-digital conversion module converts the front road image into a digital image signal and transmits the digital image signal to the ECU, and converts the distance between the vehicle and the road guardrail into a digital distance signal and transmits the digital distance signal to the ECU;
preferably, the specific process of the ECU preprocessing the digital image signal to obtain the lane line projection signal in step 3 is as follows:
the ECU performs image gray processing on the digital image signal, a sobel operator is adopted to perform binarization processing, enhancement and denoising on the image after the gray processing, then image segmentation is performed, an image area with a lane line is extracted, edge points of the lane line are detected, and the ECU fits and synthesizes a lane line projection signal according to the edge points of the lane line;
the specific process of obtaining the virtual lane line projection signal in the step 3 is as follows:
taking the edge plane of the right front wheel of the automobile as a positioning reference for the lane line projection signal;
the left edge of the lane line projection signal is parallel to and connected with the ground projection line position of the automobile right front wheel edge plane under the condition of straight line, the digital distance signal L is compared with a safety distance L1 between the wheel edge and the road edge which is preset in an ECU according to the digital distance signal L between the right front wheel edge and the road edge which is detected by a radar positioning module in real time, when the distance between the wheel edge and the right road edge is greater than the safety distance, the ECU deviates the projection position of the lane line projection signal to the right (L-L1) by adjusting the distance, and when the distance between the wheel edge and the right road edge is less than the safety distance, the projection position of the lane line projection signal to the left (L1-L) is obtained, so that the virtual lane line projection signal is obtained to provide safety warning effect for a driver;
under the condition of a curve, the dynamic deflection direction of the right front wheel reflects the curvature change of the curve, and a straight line parallel to a projection line on the ground on the outer side plane of the right front wheel in the deflection direction is taken based on the plane of the edge of the right front wheel, the straight line is tangent to the inner side of a virtual lane line, and the lane line projection signal can be projected on a safe distance in real time to obtain the virtual lane line projection signal by changing the distance between the corresponding tangent line on the lane line projection signal and the outer side plane of the right front wheel;
preferably, the DLP processor in step 4 obtains the virtual lane line according to the virtual lane line projection signal as follows:
the DLP processor converts the virtual lane line projection signals into advanced RGB data meeting the requirements of the digital micromirror element format, converts the advanced RGB data into all plane binary data, is used for carrying out bit division and cache on all the plane binary data and converts the all plane binary data into driving data signals corresponding to the digital micromirror digital image driving module; the digital micromirror digital image driving module controls the micromirror in the digital micromirror element to drive, turn and control the time sequence according to the driving data signal, thereby projecting the virtual lane line.
Compared with the prior art, the invention utilizes the unique projection technology, can project the corresponding road route on the road to assist the driver to drive, and improves the safety of vehicle driving.
Drawings
FIG. 1: the invention is a system structure block diagram;
FIG. 2: the method of the invention is a flow chart.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a block diagram of a system structure according to the present invention, and a technical solution of a summary system according to an embodiment of the present invention is a lane line projection system based on a digital micromirror technology, including: the system comprises a camera module, a radar positioning module, an analog-to-digital conversion module, an internet of vehicles module, an ECU (electronic control Unit), a DLP (digital light processing) processor, a digital micromirror digital image driving module, a digital micromirror element, an LED (light-emitting diode) light source, a light pipe, a condensing lens, a color filter, a shaping lens and a projection lens;
the camera module is connected with the analog-to-digital conversion module; the radar positioning module is connected with the analog-to-digital conversion module; the analog-to-digital conversion module is connected with the ECU; the Internet of vehicles module is connected with the ECU; the ECU, the DLP processor, the digital micromirror digital image driving module and the digital micromirror element are sequentially connected in series; the LED light source, the light pipe, the condensing lens, the color filter, the shaping lens and the digital micromirror element are sequentially connected in series; the digital micromirror device is coupled to the projection lens.
The camera module is used for collecting a front road image; the radar positioning module is used for detecting the distance between the edge of the right front wheel and the edge of the road in real time; the analog-to-digital conversion module is used for respectively converting the front road image into a digital image signal and transmitting the digital image signal to the ECU, and converting the distance between the edge of the right front wheel and the edge of the road into a digital distance signal and transmitting the digital distance signal to the ECU; the vehicle networking module is used for transmitting vehicle information acquired by the ECU to the remote monitoring terminal; the ECU is used for obtaining a lane line projection signal from the digital image signal according to an image processing algorithm, comparing and adjusting the lane line projection signal according to the digital distance signal and the safe distance to obtain a virtual lane line projection signal, and transmitting the virtual lane line projection signal to the DLP processor; the DLP processor is used for converting the lane line projection signals into advanced RGB data meeting the requirements of the digital micromirror element format, converting the advanced RGB data into all plane binary data, and performing bit division and cache on all the plane binary data and converting the all plane binary data into driving data signals corresponding to the digital micromirror digital image driving module; the digital micromirror digital image driving module controls the micromirrors in the digital micromirror element to perform driving, turning and time sequence control according to driving data signals, so as to project virtual lane lines; the digital micromirror element projects a virtual lane line to a road surface, and the distance between the virtual lane line and a road guardrail is a safe distance; the LED light source is used for providing a light source; the light guide pipe is used for light uniformity; the condenser lens is used for condensing the uniform light; the color filter is used for filtering out stray light from the condensed light; the shaping lens is used for projecting the light rays after the stray light is filtered to the digital micromirror element.
The type of the camera module is selected to be max 96705; the radar positioning module is a Velarry laser radar in a selected type; the analog-to-digital conversion module is selected as AD 9923A; the main chip in the ECU is selected to be a DM3730 singlechip; the DLP processor is selected as DDP 200; the digital micromirror element is selected to be a single-chip DMD digital micromirror element; the LED light source is selected to be
MK-R2; the light pipe is a prism light pipe; the condensing lens is a convex lens; the color filter is selected to be a common color filter sheet; the shaping lens is a cylindrical optical lens; the projection lens is selected to be a plano-convex lens.
The technical scheme of the method in the embodiment of the invention is a lane line projection method based on a digital micromirror technology, which is characterized by comprising the following steps:
step 1: turning on the LED light source, and transmitting light to the digital micromirror element through the light path;
in the step 1, the light transmitted to the digital micromirror element through the light path is:
the LED light source provides a light source, light is reflected by the reflecting bowl, is uniform through the light guide pipe, is condensed by the condensing lens, is filtered by the color filter to remove stray light, and is projected to the digital micromirror element through the shaping lens;
step 2: the camera module and the radar positioning module are used for acquiring signals, and the signals are converted by the analog-to-digital conversion module and then transmitted to the ECU;
in step 2, the signal acquisition through the camera module and the radar positioning module is as follows:
the camera module collects front road images, and the radar positioning module collects the distance between a vehicle and a road guardrail;
the step 2 of transmitting the data converted by the analog-to-digital conversion module to the ECU is as follows:
the analog-digital conversion module converts the front road image into a digital image signal and transmits the digital image signal to the ECU, and converts the distance between the vehicle and the road guardrail into a digital distance signal and transmits the digital distance signal to the ECU;
and step 3: the ECU obtains a lane line projection signal by image preprocessing the digital image signal, adjusts the lane line projection signal according to the comparison of the digital distance signal and the safe distance to obtain a virtual lane line projection signal, and transmits the virtual lane line projection signal to the DLP processor;
the specific process of the ECU performing image preprocessing on the digital image signal to obtain the lane line projection signal in the step 3 is as follows:
the ECU performs image gray processing on the digital image signal, a sobel operator is adopted to perform binarization processing, enhancement and denoising on the image after the gray processing, then image segmentation is performed, an image area with a lane line is extracted, edge points of the lane line are detected, and the ECU fits and synthesizes a lane line projection signal according to the edge points of the lane line;
the specific process of obtaining the virtual lane line projection signal in the step 3 is as follows:
taking the edge plane of the right front wheel of the automobile as a positioning reference for the lane line projection signal;
the left edge of the lane line projection signal is parallel to and connected with the ground projection line position of the automobile right front wheel edge plane under the condition of straight line, according to the digital distance signal L of the right front wheel edge and the road edge detected by a radar positioning module in real time, the digital distance signal L is compared with the safety distance L1 between the wheel edge and the road edge which is preset in an ECU (electronic control unit), when the distance between the wheel edge and the right road edge is greater than the safety distance, the ECU sends an instruction to shift the projection position of the lane line projection signal to the right by a distance of (L-L1), and when the distance between the wheel edge and the right road edge is less than the safety distance, the projection position of the lane line projection signal is shifted to the left by a distance of (L1-L), so that the virtual lane line projection signal is obtained to provide a safety warning effect for a driver;
under the condition of a curve, the dynamic deflection direction of the right front wheel reflects the curvature change of the curve, and a straight line parallel to a projection line of the plane on the ground outside the right front wheel is taken by taking the plane on which the edge of the right front wheel is positioned as a reference, the straight line is tangent with the inner side of a virtual lane line, and the lane line projection signal can be projected on a safe distance in real time to obtain the virtual lane line projection signal by changing the distance between the corresponding tangent line on the lane line projection signal and the plane outside the right front wheel;
and 4, step 4: the DLP processor obtains a virtual lane line according to the virtual lane line projection signal, and projects the virtual lane line to the ground through a digital micromirror element;
in the step 4, the DLP processor obtains the virtual lane line according to the virtual lane line projection signal as follows:
the DLP processor converts the virtual lane line projection signals into advanced RGB data meeting the requirements of the digital micromirror element format, converts the advanced RGB data into all plane binary data, is used for carrying out bit division and cache on all the plane binary data and converts the all plane binary data into driving data signals corresponding to the digital micromirror digital image driving module; the digital micromirror digital image driving module controls the micromirror in the digital micromirror element to drive, turn and control the time sequence according to the driving data signal, thereby projecting the virtual lane line.
Although the terms camera module, radar positioning module, analog-to-digital conversion module, car networking module, ECU, DLP processor, digital micromirror digital image driving module, digital micromirror element, LED light source, light pipe, condenser lens, color filter, shaping lens, projection lens, etc. are used more often herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe the nature of the invention and they are to be construed as any additional limitation which is not in accordance with the spirit of the invention.
It should be understood that the above description of the preferred embodiments is given for clarity and not for any purpose of limitation, and that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
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| DE102010034853A1 (en) * | 2010-08-18 | 2012-02-23 | Gm Global Technology Operations Llc (N.D.Ges.D. Staates Delaware) | Motor vehicle with digital projectors |
| CN202419429U (en) * | 2012-01-16 | 2012-09-05 | 安徽师范大学 | Self-adaptive automobile headlamp device based on digital micro-mirror element |
| CN103832433B (en) * | 2012-11-21 | 2016-08-10 | 中国科学院沈阳计算技术研究所有限公司 | Deviation and front truck anti-collision alarm system and its implementation |
| CN105774651A (en) * | 2014-12-26 | 2016-07-20 | 德尔福电子(苏州)有限公司 | Vehicle lane change auxiliary system |
| CN112061022B (en) * | 2015-04-10 | 2024-08-09 | 麦克赛尔株式会社 | Vehicle with a vehicle body having a vehicle body support |
| US20170106793A1 (en) * | 2015-10-19 | 2017-04-20 | Ford Global Technologies, Llc | Vehicle lighting system with dynamic beam pattern |
| CN105922991B (en) * | 2016-05-27 | 2018-08-17 | 广州大学 | Based on the lane departure warning method and system for generating virtual lane line |
| CN205836647U (en) * | 2016-07-20 | 2016-12-28 | 上海小糸车灯有限公司 | A kind of car lighting advertiser based on LiFi and DLP |
| CN107066986A (en) * | 2017-04-21 | 2017-08-18 | 哈尔滨工业大学 | A kind of lane line based on monocular vision and preceding object object detecting method |
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