CN109671299A - It is a kind of based on crossing camera probe to the system and method for pedestrian's danger early warning - Google Patents
It is a kind of based on crossing camera probe to the system and method for pedestrian's danger early warning Download PDFInfo
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Abstract
本发明公开了一种基于路口摄像探头对行人危险预警的系统，包括：路口图像采集模块，采集车辆和行人的动态图像信息，并发送到路口图像处理模块；路口图像处理模块，接收动态图像信息，组合成平面动态图，并将平面动态图发送到安全车速预警模块和行车盲区预测模块；安全车速预警模块，接收平面动态图，判断车辆的车速是否异常，若异常，则发送危险信息给路口预警模块；行车盲区预测模块，接收平面动态图，判断行人是否处于行车盲区，若处于行车盲区，则发送行车盲区信息给路口预警模块；路口预警模块，接收危险信息和行车盲区信息，作出危险预警或盲区预警。可以预先对行人实施预警以减小交通事故发生的概率，保障路口行人的人身安全。
The invention discloses a pedestrian danger warning system based on intersection camera probe, comprising: intersection image acquisition module, which collects dynamic image information of vehicles and pedestrians and sends it to the intersection image processing module; intersection image processing module receives the dynamic image information , combined into a plane dynamic map, and send the plane dynamic map to the safe vehicle speed warning module and the driving blind spot prediction module; the safe vehicle speed early warning module receives the plane dynamic map, judges whether the vehicle's speed is abnormal, and if it is abnormal, it sends danger information to the intersection Early warning module; driving blind spot prediction module, receives the plane dynamic map, judges whether the pedestrian is in the driving blind spot, if it is in the driving blind spot, it sends the driving blind spot information to the intersection warning module; the intersection warning module, receives the danger information and the driving blind spot information, and makes a danger warning or blind spot warning. Pedestrians can be warned in advance to reduce the probability of traffic accidents and ensure the personal safety of pedestrians at intersections.
Description
Technical field
It is the present invention relates to traffic safety technical field, in particular to a kind of dangerous to pedestrian based on crossing camera probe
Pre-warning system and method.
Background technique
Currently, traffic accident at intersection frequently occurs, a portion is from car owner and pedestrian because not to driving blind area
It is clear and not note that car owner it is not rigorous to the driving habits at crossing, automobile is out of control suddenly.
The patent document of Publication No. CN103280122A discloses a kind of signal controlled junctions collision prevention of vehicle early warning system,
Include three modules: information acquisition module, accident judgment module, accident early warning module.Information collection is mainly used and is mounted laterally
Microwave detector carry out speed data collection, using single-chip microcontroller to speed signal carry out processing and to may the vehicle that bump against do
Correct judgement out, finally carries out accident early warning using LED electronic display and lamplight scintillator.Signal control of the present invention
Intersection collision avoidance early warning system, design rationally, increase anticollision warning function on the basis of existing vehicle speed measuring technology,
It is effective supplement to traffic lights, and is only detected just progress early warning in possible collision, in this way to road occupation
The early warning effect of person is more preferable, has certain effect to the accident rate for reducing crossing.The disadvantage is that: the invention can only be for relatively close
The traffic hazard accident early warning of distance dependent speed, can not early warning driving blind area have the case where pedestrian passes through.
The patent document of Publication No. CN10376735A discloses a kind of blind area crossing vehicle driving safety early warning system,
Including roadside unit and on board unit, roadside unit is mounted on the cross bar of trackside column, including camera, calculating and processing module
With wireless communication module one, it includes locating module, computing unit, alarm module and wireless communication that on board unit, which is installed in the car,
Module two.Calculating and processing mould the present invention also provides a kind of blind area crossing vehicle driving safety method for early warning, in roadside unit
Block carries out identification and classification processing to predetermined road vehicle by camera, and then provides speed, direction and the position of vehicle
Coordinate, and encode and obtain blind area crossing event information, module one is broadcasted by wireless communication, and on board unit passes through channel radio
Believe that module two receives blind area crossing event information, and combine itself positioning and movement state information, carries out vehicle driving safety
State judgement, by alarm module to driver with the prompt and early warning of sound and image format.The disadvantage is that: it can not early warning driving
There is the case where pedestrian passes through in blind area.
The patent document of Publication No. CN207424276U discloses a kind of eliminating driving blind area early warning based on thermal infrared imaging
System, including be arranged on the pillar of vehicle blind zone, the infrared detector of the infra-red radiation for goal seeking object；By infrared
The infra-red radiation for the target object that detector is explored generates the thermal imaging sensor of realtime graphic；Thermal imaging sensor is generated
Realtime graphic is converted into the video frequency collection card of digital information；The data processing dress for the digital information that analysis video frequency collection card is converted into
It sets, alarm system is connected on data processing equipment, data processing equipment passes through alarm system to there are the data for driving hidden danger
Pre-alarm carried out to driver, the system is to the people of motor vehicle environment in automobile a certain range, and vehicle, Lu Jinhang imaging analysis is right
Degree of danger is analyzed, and carries out accident early warning to driver in advance, driver is made to judge and take as early as possible avoiding measures,
Therefore traffic accident caused by the system can be reduced because of driving vision blind area.The disadvantage is that: infrared induction is intuitive not as good as visual pattern
Accurately, pedestrian cannot be reminded.
Summary of the invention
The purpose of the present invention is to provide a kind of based on crossing camera probe to the system and method for pedestrian's danger early warning, can
To implement early warning to pedestrian in advance to reduce the probability of traffic accident generation, the personal safety of crossing pedestrian is ensured.
The invention provides the following technical scheme:
It is a kind of based on crossing camera probe to the system of pedestrian's danger early warning, comprising:
The image of crossing acquisition module, for acquiring vehicle and pedestrian in real time in the dynamic image data in crossing section, concurrently
It is sent to the image of crossing processing module；
The image of crossing processing module is used for receiving dynamic image information, is combined into plane Dynamic Graph, and by plane Dynamic Graph
It is sent to safe speed warning module and driving blind region prediction module；
Safe speed warning module is used for receiving plane Dynamic Graph, judges whether the speed of vehicle is abnormal, if abnormal,
It sends dangerous information and gives crossing warning module；
Blind region prediction module of driving a vehicle judges whether pedestrian is in driving blind area for receiving plane Dynamic Graph, if in row
Vehicle blind area then sends driving dead zone information and gives crossing warning module；
Crossing warning module, for receiving dangerous information and driving dead zone information, using text and voice to the row at crossing
People makes danger early warning or blind area early warning.
The image of crossing acquisition module includes the camera for acquiring dynamic image data；The camera includes four
A main camera and several auxiliary cameras, are separately positioned on four turnings and road roadside at crossing.
The image of crossing processing module includes images match module and index module；Described image matching module receives master
The dynamic image data of camera acquisition, is matched by background scenery, is combined into the plane Dynamic Graph at crossing；The index module
Rectangular coordinate system is established using crossing center as origin, determines the collected vehicle and pedestrian of auxiliary camera in plane Dynamic Graph
Coordinate position, and be sent to safe speed warning module and driving blind region prediction module；The index module determines main camera shooting
Coordinate position of the obstacle building in plane Dynamic Graph of head acquisition is simultaneously sent to driving blind region prediction module.
The safe speed warning module includes vehicle speed calculation module and comparison module, and the vehicle computing module, which receives, to be sat
The coordinate position for marking the vehicle that module is sent, calculates the acceleration of vehicle, is sent to comparison module；The comparison module vehicle
Acceleration and preset safe acceleration threshold values, if more than safe acceleration threshold values, then vehicle speed is abnormal, sends dangerous
Information is to crossing warning module.
Specifically, when main camera captures new vehicle, at once vehicle image is uploaded to update and arrives crossroad
Plane Dynamic Graph, the coordinate position of second camera overhead pass vehicle at this time, after by multiple Δ t, second camera overhead pass
After undergoing each Δ t, the new coordinate position of vehicle.The absolute distance Δ s of vehicle speed calculation module coordinates computed evolution,
Speed v=Δ s/ Δ t, acceleration a=(after v before-v)/Δ t.Comparison module acceleration and preset safe acceleration valve
It is worth [v], when acceleration a is greater than preset safe acceleration threshold values [v], then vehicle speed is abnormal, exports dangerous information；Instead
It, vehicle speed is normal.
The driving blind region prediction module includes blind area computing module and prediction module, and the blind area computing module, which receives, to be sat
The coordinate position for the pedestrian that module is sent and the coordinate position of obstacle building are marked, the blind area argument value θ for calculating pedestrian is covered
Blind area range, and be sent to prediction module；The prediction module receives the coordinate position for the vehicle that index module is sent, and works as vehicle
Coordinate position when being within the scope of blind area, send driving dead zone information to crossing warning module.
The crossing warning module includes broadcasting equipment and electronic direction board, is respectively used to make danger early warning or blind area early warning
Voice broadcast service and text importing out.
The present invention also provides a kind of methods to pedestrian's danger early warning based on crossing camera probe, comprising the following steps:
(1) dynamic image data that background scenery, obstacle building are acquired by main camera, is sent respectively to image
With module and index module；Vehicle and pedestrian is acquired in the dynamic image data in crossing section by auxiliary camera, is sent to
Index module；
(2) dynamic image data that images match module acquires main camera is matched by background scenery, is combined into road
The plane Dynamic Graph of mouth；Index module establishes rectangular coordinate system using crossing center as origin, determines the dynamic of auxiliary camera acquisition
Coordinate position of the vehicle and pedestrian in plane Dynamic Graph in state image information determines that the obstacle building of main camera acquisition exists
Coordinate position in plane Dynamic Graph；And the coordinate position of vehicle is sent to vehicle speed calculation module, by the seat of vehicle and pedestrian
Cursor position, obstacle building coordinate position be sent to blind area computing module；
(3) vehicle speed calculation module calculates the acceleration of vehicle according to the coordinate position of vehicle；Comparison module by acceleration with
Preset safe acceleration threshold values, if more than safe acceleration threshold values, then vehicle speed is abnormal, sends dangerous information, makes danger
Dangerous early warning；
(4) blind area computing module calculates the blind area argument value θ institute of pedestrian according to the coordinate position of pedestrian and obstacle building
The blind area range of covering；When the coordinate position of vehicle is within the scope of blind area, prediction module sends driving dead zone information, makes
Driving blind area early warning.
In step (4), the blind area be using pedestrian as the line of origin, pedestrian and barrier Center for Architecture be on one side,
The maximum sight of pedestrian is the fan-shaped region of another side composition；The angle of fan-shaped region is blind area argument value θ, and θ is sat according to pedestrian
The vertical range of cursor position to pedestrian advancing direction reference axis calculates, linearly increasing from 7.5 ° when vertical range is 10m-5m
To 10 °, when vertical range is 5m-4m, 0 ° is linearly reduced to from 10 °.
Compared with prior art, the system and side provided by the invention based on crossing camera probe to pedestrian's danger early warning
Method can implement early warning to pedestrian in advance to reduce the probability of traffic accident generation, ensure the personal safety of crossing pedestrian.
Detailed description of the invention
Fig. 1 is the structure chart of early warning system provided by the invention；
Fig. 2 is the flow chart of method for early warning provided by the invention；
Fig. 3 is the schematic diagram for the rectangular coordinate system established in Examples 1 and 2 by origin of crossing center.
Specific embodiment
Every process under various functions and different situations of the invention is carried out below by specific embodiment
It specifically illustrates in detail:
As depicted in figs. 1 and 2, system provided by the invention include the image of crossing acquisition module, the image of crossing processing module,
Safe speed warning module, driving blind region prediction module and crossing warning module.The image of crossing acquisition module acquires vehicle in real time
Dynamic image data with pedestrian in crossing section, and it is sent to the image of crossing processing module；The image of crossing processing module receives
It is combined into plane Dynamic Graph after dynamic image data, and sends safe speed warning module and driving blind area for plane Dynamic Graph
Prediction module；After safe speed warning module receiving plane Dynamic Graph, judge whether the speed of vehicle is abnormal, if abnormal, sends out
Dangerous information is sent to give crossing warning module；It drives a vehicle after blind region prediction module receiving plane Dynamic Graph, judges whether pedestrian is in capable
Vehicle blind area, if sending driving dead zone information in driving blind area to crossing warning module crossing warning module and receiving dangerous letter
After breath and driving dead zone information, danger early warning or blind area early warning are made to the pedestrian at crossing using text and voice.
Embodiment 1 carries out danger early warning to pedestrian
As shown in figure 3, the image of crossing acquisition module includes images match module and index module in the present embodiment.Image
Matching module includes four main cameras, and four turnings at crossing are arranged in；Several auxiliary cameras of index module, along road
Roadside setting, average headway are 6 meters.
Meanwhile images match module by four main cameras by collected dynamic image data, pass through background scenery
Match, is combined into the plane Dynamic Graph at crossing.Index module establishes rectangular coordinate system using crossing center as origin, determines second camera
Coordinate position of the collected vehicle and pedestrian in plane Dynamic Graph, is sent to safe speed warning module.
In the present embodiment, specifically, the coordinate position of the collected vehicle A of auxiliary camera be respectively (- 8,0), (-
6,0), (- 3,0).
Safe speed warning module includes vehicle speed calculation module and comparison module, is calculated through vehicle speed calculation module, vehicle A's
Acceleration is 1.02G.Preset safe acceleration threshold values is < 0.5G in comparison module.Therefore, vehicle A drives over the speed limit, and sends danger
Dangerous information is to crossing warning module.
The dangerous information received is broadcast to pedestrian by broadcasting equipment by crossing warning module, and text importing is set at crossing
On the electronic direction board set, pedestrian's Emergency avoidance is reminded, accident is avoided the occurrence of.
Embodiment 2 carries out blind area early warning to pedestrian
As shown in figure 3, the image of crossing acquisition module includes images match module and index module in the present embodiment.Image
Matching module includes four main cameras, and four turnings at crossing are arranged in；Several auxiliary cameras of index module, along road
Roadside setting, average headway are 6 meters.
Meanwhile images match module by four main cameras by collected dynamic image data, pass through background scenery
Match, is combined into the plane Dynamic Graph at crossing.Index module establishes rectangular coordinate system using crossing center as origin, determines second camera
Coordinate position of the collected vehicle and pedestrian in plane Dynamic Graph is sent to driving blind region prediction module.
In the present embodiment, specifically, the coordinate position of the collected pedestrian B of auxiliary camera is respectively B1(6,-5)、B2
(5,-5)、B3(4.5,-4.5)。
Driving blind region prediction module includes blind area computing module and prediction module, and blind area computing module is according to the seat of pedestrian B
Cursor position calculates the blind area range that its blind area argument value θ is covered.
Specifically, B1(6,-5)、B2(5,-5)、B3The blind area range that the blind area argument value θ of (4.5, -4.5) is covered be with
The line at sight and obstacle building center be the angle of middle line be 9.5 °, 10 °, 5 ° of fan-shaped range is (with the coordinate bit of pedestrian
Set and calculated with the vertical range of X-axis), it is sent to prediction module.Prediction module is according to the coordinate position of vehicle, with pedestrian B's
Whether coordinate position variation real-time judge vehicle is within the scope of the blind area of present co-ordinate position.
In the present embodiment, when pedestrian B is in coordinate position B2When (5, -5), the coordinate position of vehicle C is (3, -15),
The blind area range that blind area argument value θ in pedestrian B is covered sends driving dead zone information to crossing warning module.
The dangerous information received is broadcast to pedestrian by broadcasting equipment by mouth warning module, and text importing is arranged at crossing
Electronic direction board on, remind pedestrains safety current, avoid because pedestrian is in accident caused by driving blind area.
Claims (8)
1. it is a kind of based on crossing camera probe to the system of pedestrian's danger early warning characterized by comprising
The image of crossing acquisition module for acquiring vehicle and pedestrian in real time in the dynamic image data in crossing section, and is sent to
The image of crossing processing module；
The image of crossing processing module is used for receiving dynamic image information, is combined into plane Dynamic Graph, and plane Dynamic Graph is sent
To safe speed warning module and driving blind region prediction module；
Safe speed warning module is used for receiving plane Dynamic Graph, judges whether the speed of vehicle is abnormal, if abnormal, sends
Dangerous information gives crossing warning module；
Blind region prediction module of driving a vehicle judges whether there is the blind area that vehicle is in pedestrian, if there is vehicle for receiving plane Dynamic Graph
Blind area range in pedestrian then sends driving dead zone information and gives crossing warning module；
Crossing warning module makees the pedestrian at crossing using text and voice for receiving dangerous information and driving dead zone information
Danger early warning or blind area early warning out.
2. it is according to claim 1 based on crossing camera probe to the system of pedestrian's danger early warning, which is characterized in that it is described
The image of crossing acquisition module includes the camera for acquiring dynamic image data；The camera include four main cameras and
Several auxiliary cameras are separately positioned on four turnings and road roadside at crossing.
3. it is according to claim 2 based on crossing camera probe to the system of pedestrian's danger early warning, which is characterized in that it is described
The image of crossing processing module includes images match module and index module；Described image matching module receives main camera acquisition
Dynamic image data is matched by background scenery, is combined into the plane Dynamic Graph at crossing；The index module is with crossing center
Origin establishes rectangular coordinate system, determines coordinate position of the collected vehicle and pedestrian of auxiliary camera in plane Dynamic Graph,
And it is sent to safe speed warning module and driving blind region prediction module；The index module determines the obstacle of main camera acquisition
Coordinate position of the building in plane Dynamic Graph is simultaneously sent to driving blind region prediction module.
4. it is according to claim 2 based on crossing camera probe to the system of pedestrian's danger early warning, which is characterized in that it is described
Safe speed warning module includes vehicle speed calculation module and comparison module, and the vehicle computing module receives what index module was sent
The coordinate position of vehicle calculates the acceleration of vehicle, is sent to comparison module；The acceleration of the comparison module vehicle and
Preset safe acceleration threshold values, if more than safe acceleration threshold values, then vehicle speed is abnormal, and it is pre- to crossing to send dangerous information
Alert module.
5. it is according to claim 3 based on crossing camera probe to the system of pedestrian's danger early warning, which is characterized in that it is described
Driving blind region prediction module includes blind area computing module and prediction module, and the blind area computing module receives what index module was sent
The coordinate position of pedestrian and the coordinate position of obstacle building calculate the blind area range that the blind area argument value θ of pedestrian is covered, and
It is sent to prediction module；The prediction module receives the coordinate position for the vehicle that index module is sent, when the coordinate position of vehicle
When within the scope of blind area, driving dead zone information is sent to crossing warning module.
6. it is according to claim 4 or 5 based on crossing camera probe to the system of pedestrian's danger early warning, which is characterized in that
The crossing warning module includes broadcasting equipment and electronic direction board, is respectively used to make voice to danger early warning or blind area early warning wide
It broadcasts and text importing.
7. it is a kind of using claim 1-6 it is any it is described based on crossing camera probe to the side of the system of pedestrian's danger early warning
Method, which comprises the following steps:
(1) dynamic image data that background scenery, obstacle building are acquired by main camera, is sent respectively to images match mould
Block and index module；Vehicle and pedestrian is acquired in the dynamic image data in crossing section by auxiliary camera, is sent to coordinate
Module；
(2) dynamic image data that images match module acquires main camera is matched by background scenery, is combined into crossing
Plane Dynamic Graph；Index module establishes rectangular coordinate system using crossing center as origin, determines the Dynamic Graph of auxiliary camera acquisition
As coordinate position of the vehicle and pedestrian in plane Dynamic Graph in information, determine the obstacle building of main camera acquisition in plane
Coordinate position in Dynamic Graph；And the coordinate position of vehicle is sent to vehicle speed calculation module, by the coordinate bit of vehicle and pedestrian
It sets, the coordinate position of obstacle building is sent to blind area computing module；
(3) vehicle speed calculation module calculates the acceleration of vehicle according to the coordinate position of vehicle；Comparison module is by acceleration and presets
Safe acceleration threshold values, if more than safe acceleration threshold values, then vehicle speed is abnormal, sends dangerous information, makes dangerous pre-
It is alert；
(4) according to the coordinate position of pedestrian and obstacle building, the blind area argument value θ for calculating pedestrian is covered blind area computing module
Blind area range；When the coordinate position of vehicle is within the scope of blind area, prediction module sends driving dead zone information, makes driving
Blind area early warning.
8. it is according to claim 7 based on crossing camera probe to the method for pedestrian's danger early warning, which is characterized in that in step
Suddenly in (4), the blind area be using pedestrian as the line of origin, pedestrian and barrier Center for Architecture be on one side, the maximum view of pedestrian
Line is the fan-shaped region of another side composition；The angle of fan-shaped region is blind area argument value θ, θ according to pedestrian's coordinate position to pedestrian
The vertical range of direction of advance reference axis calculates, and when vertical range is 10m-5m, 10 ° is increased linearly to from 7.5 °, when vertical
When distance is 5m-4m, 0 ° is linearly reduced to from 10 °.
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| CN110223519A (en) * | 2019-07-01 | 2019-09-10 | 重庆清文科技有限公司 | A kind of intelligent transportation guidance method and system |
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