CN111366165B - Road sight distance detection method based on network geographic information system and machine vision - Google Patents
Road sight distance detection method based on network geographic information system and machine vision Download PDFInfo
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Abstract
本发明公开了一种基于网络地理信息系统和机器视觉的道路视距检测方法：首先在两个检测车辆上分别搭载一个基于同一个网络地理信息系统的定位终端；然后将两个定位终端进行信息关联处理后，使两个检测车辆在目标道路上前后行驶，当前车从后车上搭载的摄像机视野中消失时，自动触发后车中的自动触发装置，此时，网络地理信息系统根据两个检测车辆上的定位终端的位置计算获得两个检测车辆之间的道路线形长度，即为后车视距；约束前后车的速度，使前车多次出现并多次消失在后车摄像机视野中；如此反复多次，完成对目标道路的视距检测，最后获得两个检测车辆的位置与后车视距的对应序列。本发明可快捷、准确地测量出道路视距，并可保证测量的连续性。The invention discloses a road line-of-sight detection method based on a network geographic information system and machine vision: firstly, two detection vehicles are respectively equipped with a positioning terminal based on the same network geographic information system; After the association processing, the two detection vehicles are driven forward and backward on the target road. When the front vehicle disappears from the field of view of the camera mounted on the rear vehicle, the automatic trigger device in the rear vehicle is automatically triggered. At this time, the network geographic information system is based on the two Calculate the position of the positioning terminal on the detection vehicle to obtain the road linear length between the two detection vehicles, which is the sight distance of the rear vehicle; constrain the speed of the front and rear vehicles so that the front vehicle appears and disappears in the view of the rear camera for many times ; Repeat this many times to complete the line-of-sight detection of the target road, and finally obtain the corresponding sequence of the positions of the two detected vehicles and the line-of-sight of the rear vehicle. The invention can quickly and accurately measure the road sight distance, and can ensure the continuity of measurement.
Description
技术领域technical field
本发明涉及道路交通安全评价技术领域，尤其涉及一种基于网络地理信息系统和机器视觉的道路视距检测方法。The invention relates to the technical field of road traffic safety evaluation, in particular to a road sight distance detection method based on a network geographic information system and machine vision.
背景技术Background technique
视距是保证道路行车安全的一个重要设计因素，在道路建设标准中是一项强制性指标。道路沿线的每一条车道都应具有足够的视距，以保证驾驶人在遇到紧急情况时能够及时做出相应的反应，保证行车安全。尤其对于高速公路来说，车辆行驶速度快，因此更需要有充足的视距保障。Sight distance is an important design factor to ensure road safety, and it is a mandatory indicator in road construction standards. Each lane along the road should have enough sight distance to ensure that the driver can respond in time when encountering an emergency and ensure driving safety. Especially for highways, vehicles are traveling at a high speed, so sufficient line-of-sight protection is required.
从测距的手段来看，现在应用的测距技术主要分为以下几种：激光测距、微波雷达测距、超声波测距以及机器视觉系统测距。但道路视距的检测有其与众不同的特点，因为视距是指人的视野在道路方向上的最大延伸。道路视距检测的难点就在于如何模拟人的视觉，在视距终点找到合适的参照物，以及如何应对复杂的道路线形。而目前的道路视距检测方法往往注重于测距，而忽略了上述道路视距的独有特点。因此目前的道路视距检测技术还不够成熟，检测的速度以及精度都不高。From the point of view of the means of ranging, the ranging technologies currently used are mainly divided into the following types: laser ranging, microwave radar ranging, ultrasonic ranging and machine vision system ranging. However, the detection of road sight distance has its unique characteristics, because sight distance refers to the maximum extension of human vision in the direction of the road. The difficulty of road sight distance detection lies in how to simulate human vision, find a suitable reference object at the end of sight distance, and how to deal with complex road alignments. However, the current road sight distance detection methods often focus on distance measurement, while ignoring the above-mentioned unique characteristics of road sight distance. Therefore, the current road line-of-sight detection technology is not mature enough, and the detection speed and accuracy are not high.
因此基于道路视距的视觉特性，比较有效的方法是采用机器视觉测距，或者凭借人眼的生理机制找到视距终点的参照物，然后选取合适的测距手段加以测量。Therefore, based on the visual characteristics of road sight distance, a more effective method is to use machine vision distance measurement, or rely on the physiological mechanism of the human eye to find the reference object of the end point of the sight distance, and then select an appropriate distance measurement method for measurement.
发明内容Contents of the invention
针对现有技术中存在的问题，本发明的目的在于提供一种基于网络地理信息系统和机器视觉的道路视距检测方法，利用网络地理信息系统精密的路网信息以及精确的定位能力，可有效解决道路线形的复杂性以及道路视距终点不确定性的问题；此外，利用机器视觉判断出道路视距重点，并合理地设置参照物，可快捷、准确地测量出道路视距，并可保证测量的连续性。Aiming at the problems existing in the prior art, the object of the present invention is to provide a road sight distance detection method based on network geographic information system and machine vision, which can effectively Solve the problem of the complexity of the road alignment and the uncertainty of the end point of the road sight distance; in addition, use machine vision to judge the key points of the road sight distance, and set up reference objects reasonably, which can quickly and accurately measure the road sight distance and ensure Continuity of measurement.
为达到上述目的，本发明采用以下技术方案予以实现。In order to achieve the above object, the present invention adopts the following technical solutions to achieve.
一种基于网络地理信息系统和机器视觉的道路视距检测方法，包括以下步骤：A road line-of-sight detection method based on network geographic information system and machine vision, comprising the following steps:
S1：在两个检测车辆上分别搭载一个基于同一个网络地理信息系统的定位终端；S1: Install a positioning terminal based on the same network geographic information system on the two detection vehicles;
S2：在所述网络地理信息系统上锁定目标道路；S2: Locking the target road on the network geographic information system;
S3：将两个检测车辆上的定位终端进行信息关联处理；S3: Perform information association processing on the positioning terminals on the two detection vehicles;
S4：将两个检测车辆置于目标道路上，并一前一后行驶，记为前车和后车；在后车上搭载摄像机，所述摄像机用于采集后车前方的路况信息以及前车的位置信息；在后车的定位终端上设置自动触发装置，所述摄像机与所述自动触发装置连接，所述自动触发装置与后车上搭载的网络地理信息系统连接；当前车从摄像机视野中消失时，自动触发所述自动触发装置，并使摄像机视野后车上搭载的网络地理信息系统根据两个检测车辆上的定位终端的位置计算获得两个检测车辆之间的道路线形长度，即为后车视距；S4: Place two detection vehicles on the target road and drive one in front of the other, which are recorded as the front vehicle and the rear vehicle; a camera is mounted on the rear vehicle, and the camera is used to collect road condition information in front of the rear vehicle and the front vehicle position information; an automatic trigger device is set on the positioning terminal of the rear car, the camera is connected to the automatic trigger device, and the automatic trigger device is connected to the network geographic information system carried on the rear car; When it disappears, the automatic triggering device is automatically triggered, and the network geographic information system carried on the vehicle behind the camera field of view is calculated according to the positions of the positioning terminals on the two detection vehicles to obtain the road linear length between the two detection vehicles, which is rear sight distance;
S5：约束前车和后车的行驶速度，使前车多次出现并多次消失在后车摄像机视野中；并在前车每次消失在后车摄像机视野中时，后车自动触发所述自动触发装置，并使后车上搭载的网络地理信息系统根据前车和后车上定位终端的位置计算后车视距，如此反复多次，完成对目标道路的视距检测；S5: Constrain the driving speed of the front car and the rear car, so that the front car appears and disappears from the rear camera's field of view multiple times; and each time the front car disappears from the rear car's camera field of view, the rear car automatically triggers the Automatically trigger the device, and make the network geographic information system on the rear car calculate the sight distance of the rear car according to the positions of the positioning terminals on the front car and the rear car, and repeat this many times to complete the sight distance detection of the target road;
S6：后车上搭载的网络地理信息系统将每次计算获得的后车视距进行存储，并获得两个检测车辆的位置与后车视距的对应序列。S6: The network geographic information system mounted on the rear vehicle stores the rear vehicle sight distance obtained by each calculation, and obtains the corresponding sequence of the positions of the two detected vehicles and the rear vehicle sight distance.
本发明技术方案的特点和进一步的改进在于：The characteristics of the technical solution of the present invention and further improvement are:
(1)所述网络地理信息系统为电子导航系统。(1) The network geographic information system is an electronic navigation system.
(2)所述定位终端为具备联网通信功能并可搭载所述网络地理信息系统的移动设备。(2) The positioning terminal is a mobile device that has a network communication function and can be equipped with the network geographic information system.
(3)S2中，所述锁定目标道路具体为：利用网络地理信息系统，使所述定位终端在所述网络地理信息系统的路线上移动，并使两个检测车辆上的定位终端之间的距离为路径长度。(3) In S2, the locking target road is specifically: using the network geographic information system to make the positioning terminal move on the route of the network geographic information system, and make the positioning terminal on the two detection vehicles move The distance is the path length.
(4)S3中，所述将两个检测车辆上的定位终端进行信息关联处理具体为：前车上的定位终端将前车的定位信息发送至后车的定位终端。(4) In S3, the information association processing of the positioning terminals on the two detected vehicles specifically includes: the positioning terminal on the preceding vehicle sends the positioning information of the preceding vehicle to the positioning terminal of the following vehicle.
(5)S4中，所述当前车从摄像机视野中消失时，自动触发所述自动触发装置，具体为：首先对所述摄像机所采集的图像进行分析处理，提取出前车的轮廓信息；并根据所述前车的轮廓信息获得前车在所述摄像机中所采集的图像中所占的像素点个数，记为s；设定前车像素点个数阈值s0；当s≤s0时，即为前车从摄像机视野中消失的时刻，此时自动触发所述自动触发装置。(5) In S4, when the vehicle in front disappears from the field of view of the camera, the automatic triggering device is automatically triggered, specifically: first, the image collected by the camera is analyzed and processed, and the contour information of the vehicle in front is extracted; and according to The contour information of the vehicle in front obtains the number of pixels occupied by the vehicle in front in the image collected by the camera, which is denoted as s; the pixel number threshold of the vehicle in front is set as s 0 ; when s ≤ s 0 , which is the moment when the vehicle in front disappears from the camera field of view, at which time the automatic triggering device is automatically triggered.
(6)S5中，所述约束前车和后车的行驶速度具体为：令前车以速度vmin匀速前进，当前车消失在后车摄像机视野中时，后车应加速至其车速大于vmin且小于vmax，使前车再次出现在后车摄像机视野中，然后再减速至其车速小于vmin，等待前车再次消失在后车摄像机视野中；其中，vmin为任一行驶速度；vmax为后车以vmax加速时不超过前车。(6) In S5, the constraint on the driving speeds of the front vehicle and the rear vehicle is specifically: let the front vehicle move forward at a constant speed vmin , and when the front vehicle disappears in the field of view of the camera of the rear vehicle, the rear vehicle should accelerate until its speed is greater than v min and less than v max , so that the front car appears in the field of view of the rear car camera again, and then decelerates until its speed is less than v min , and waits for the front car to disappear again in the field of view of the rear car camera; where, v min is any driving speed; v max means that the rear vehicle does not exceed the front vehicle when accelerating at v max .
与现有技术相比，本发明的有益效果为：Compared with prior art, the beneficial effect of the present invention is:
本发明的基于网络地理信息系统和机器视觉的道路视距检测方法测量利用网络地理信息系统精密的路网信息以及精确的定位能力，有效解决了道路线形的复杂性以及道路视距终点不确定性的问题；此外，利用机器视觉判断出道路视距重点，并合理设置参照物，可快捷、准确地测量出道路视距，并保证了测量的连续性。The road sight distance detection method based on the network geographic information system and machine vision of the present invention uses the precise road network information and precise positioning capabilities of the network geographic information system to effectively solve the complexity of the road alignment and the uncertainty of the end point of the road sight distance In addition, using machine vision to judge the key points of road sight distance, and setting up reference objects reasonably, the road sight distance can be measured quickly and accurately, and the continuity of measurement is guaranteed.
具体实施方式Detailed ways
下面对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following clearly and completely describes the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
本发明实施例提供了一种基于网络地理信息系统和机器视觉的道路视距检测方法，包括以下步骤：Embodiments of the present invention provide a road sight distance detection method based on network geographic information system and machine vision, comprising the following steps:
S1：在两个检测车辆上分别搭载一个基于同一个网络地理信息系统的定位终端；从而使两个检测车辆的位置可以在同一个网络地理信息系统中显示。S1: Install a positioning terminal based on the same network geographic information system on the two detection vehicles, so that the positions of the two detection vehicles can be displayed in the same network geographic information system.
其中，网络地理信息系统为电子导航系统，其不仅具有精确的路网信息，而且具有很高的定位精度和先进的计算模块以及方便的操作模块等。具体的，可为常用的谷歌地图、高德地图、百度地图或其他电子地图。Among them, the network geographic information system is an electronic navigation system, which not only has accurate road network information, but also has high positioning accuracy, advanced calculation modules, and convenient operation modules. Specifically, it may be commonly used Google Maps, AutoNavi Maps, Baidu Maps or other electronic maps.
定位终端为具备联网通信功能并可搭载所述网络地理信息系统的移动设备；具体的，可为常用的笔记本电脑、平板电脑、手机等移动设备。The positioning terminal is a mobile device that has a network communication function and can be equipped with the network geographic information system; specifically, it can be a commonly used mobile device such as a notebook computer, a tablet computer, and a mobile phone.
S2：在所述网络地理信息系统上锁定目标道路；具体是指利用网络地理信息系统，使定位终端在网络地理信息系统的路线上移动，并使两个检测车辆上的定位终端之间的距离为路径长度，而不是直线长度。S2: Lock the target road on the network geographic information system; specifically refers to using the network geographic information system to make the positioning terminal move on the route of the network geographic information system, and make the distance between the positioning terminals on the two detection vehicles is the path length, not the line length.
S3：将两个检测车辆上的定位终端进行信息关联处理；具体为：在两个定位终端联网的条件下，由前车上的定位终端将前车的定位信息发送至后车的定位终端。为了保证两个检测车辆的准确性和连续性，在定位过程中卫星定位与基站定位联合发挥作用。S3: Perform information association processing on the positioning terminals on the two detected vehicles; specifically: under the condition that the two positioning terminals are connected to each other, the positioning terminal on the preceding vehicle sends the positioning information of the preceding vehicle to the positioning terminal of the following vehicle. In order to ensure the accuracy and continuity of the two detection vehicles, satellite positioning and base station positioning play a joint role in the positioning process.
S4：将两个检测车辆置于目标道路上，并一前一后行驶，记为前车和后车；在后车上搭载摄像机，所述摄像机用于采集后车前方的路况信息以及前车的位置信息；在后车的定位终端上设置自动触发装置，所述摄像机与所述自动触发装置连接，所述自动触发装置与后车上搭载的网络地理信息系统连接；当前车从摄像机视野中消失时，自动触发所述自动触发装置，并使后车上搭载的网络地理信息系统根据两个检测车辆上的定位终端的位置计算获得两个检测车辆之间的道路线形长度，即为后车视距；S4: Place two detection vehicles on the target road and drive one in front of the other, which are recorded as the front vehicle and the rear vehicle; a camera is mounted on the rear vehicle, and the camera is used to collect road condition information in front of the rear vehicle and the front vehicle position information; an automatic trigger device is set on the positioning terminal of the rear car, the camera is connected to the automatic trigger device, and the automatic trigger device is connected to the network geographic information system carried on the rear car; When it disappears, the automatic triggering device is automatically triggered, and the network geographic information system carried on the rear vehicle is calculated according to the positions of the positioning terminals on the two detection vehicles to obtain the road linear length between the two detection vehicles, which is the rear vehicle line of sight;
进一步的，摄像机中还设置有图像处理器，图像处理器连接自动触发装置；首先利用图像处理器对所述摄像机所采集的图像进行分析处理，提取出前车的轮廓信息；并根据所述前车的轮廓信息获得前车在所述摄像机中所采集的图像中所占的像素点个数，记为s；设定前车像素点个数阈值s0；当s≤s0时，即为前车从摄像机视野中消失的时刻，此时图像处理器自动触发所述自动触发装置，自动触发装置启动后，后车上搭载的网络地理信息系统立即开始计算后车视距。Further, the camera is also provided with an image processor, and the image processor is connected to the automatic trigger device; first, the image processor is used to analyze and process the image collected by the camera to extract the outline information of the vehicle in front; and according to the information of the vehicle in front, Obtain the number of pixels of the front car in the image collected by the camera, denoted as s; set the threshold of the number of pixels of the front car s 0 ; when s ≤ s 0 , it is the front At the moment when the car disappears from the camera field of view, the image processor automatically triggers the automatic trigger device. After the automatic trigger device starts, the network geographic information system carried on the rear car immediately begins to calculate the rear car sight distance.
其中，采用图像二值化处理方法提取前车的轮廓信息，前车像素点个数阈值s0可根据具体试验获得，即前车即将从后车摄像机图像中消失时，前车在摄像机图像中所占的像素点个数。当s≤s0时，可认为前车在后车摄像机图像中的尺寸足够小，即前车距离后车足够远，可认为是前车从后车摄像机视野中消失的临界时刻。Among them, the image binarization processing method is used to extract the contour information of the front car, and the threshold s 0 of the number of pixels of the front car can be obtained according to specific experiments, that is, when the front car is about to disappear from the rear car camera image, the front car in the camera image The number of pixels occupied. When s≤s 0 , it can be considered that the size of the front car in the rear car camera image is small enough, that is, the front car is far enough away from the rear car, which can be considered as the critical moment when the front car disappears from the rear car camera's field of view.
S5：约束前车和后车的行驶速度，使前车多次出现并多次消失在后车摄像机视野中；并在前车每次消失在后车摄像机视野中时，自动触发所述自动触发装置，后车上搭载的网络地理信息系统根据前车和后车上定位终端的位置计算后车视距；S5: Constrain the driving speed of the front car and the rear car, so that the front car appears and disappears in the field of view of the camera of the rear car multiple times; and when the car in front disappears in the field of view of the camera of the rear car, the automatic trigger is automatically triggered device, the network geographic information system carried on the rear vehicle calculates the sight distance of the rear vehicle according to the positions of the positioning terminals on the front vehicle and the rear vehicle;
当完成一次出发测量后，前车继续行驶，后车先加速使前车再次出现在摄像机视野中，然后再减速，当前车从摄像机视野中消失时，自动触发所述自动触发装置，进行第二次测量；如此反复，直至对目标道路测试完毕。After completing a starting measurement, the vehicle in front continues to drive, and the vehicle in front accelerates to make the vehicle in front appear in the camera field of view again, and then decelerates. When the vehicle in front disappears from the field of view of the camera, the automatic triggering device is automatically triggered to perform the second Measurements; repeated until the target road test is completed.
具体的：specific:
为了达到对目标道路的视距持续测量的目的，需对两个检测车辆的行驶速度进行约束：令前车以速度vmin匀速前进，当前车消失在后车摄像机视野中，完成一次测量之后，后车应根据情况及时调整车速，先加速至其车速大于vmin且小于vmax，使前车再次出现在后车摄像机视野中，然后再减速至其车速小于vmin，等待前车再次消失在后车摄像机视野中，进行下一次测量，如此反复进行，实现对目标道路视距的持续测量。In order to achieve the purpose of continuous measurement of the sight distance of the target road, it is necessary to constrain the driving speed of the two detection vehicles: let the front vehicle move forward at a constant speed v min , and the current vehicle disappears in the field of view of the camera of the rear vehicle. After a measurement is completed, The rear car should adjust its speed in time according to the situation, first accelerate until its speed is greater than v min and less than v max , so that the front car appears in the field of view of the camera of the rear car again, then decelerate until its speed is less than v min , and wait for the front car to disappear again In the field of view of the rear car camera, the next measurement is performed, and this is repeated to achieve continuous measurement of the sight distance of the target road.
即在整个测量过程中：That is, throughout the measurement:
v前车＝vmin；v front vehicle = v min ;
后车经过一系列的加速阶段和减速阶段，其中加速阶段中：The following vehicle goes through a series of acceleration phases and deceleration phases, among which in the acceleration phase:
vmin<v后车<vmax；v min < v back car < v max ;
减速阶段中：During the deceleration phase:
0<v后车<vmin。0<v rear car <v min .
其中，vmin为任一行驶速度；后车在加速过程中的速度不能超过vmax，这样约束的目的首先是保证后车加速时不超过前车，其次是为了保证为了测距点的密度，提高测量的准确性。Among them, v min is any driving speed; the speed of the rear vehicle cannot exceed v max during the acceleration process. The purpose of this constraint is firstly to ensure that the rear vehicle does not exceed the front vehicle when accelerating, and secondly to ensure the density of distance measurement points. Improve measurement accuracy.
S6：后车上搭载的网络地理信息系统将每次计算获得的后车视距进行存储，并获得两个检测车辆的位置与后车视距的对应序列。S6: The network geographic information system mounted on the rear vehicle stores the rear vehicle sight distance obtained by each calculation, and obtains the corresponding sequence of the positions of the two detected vehicles and the rear vehicle sight distance.
本发明充分考虑了道路线性复杂性以及道路视距重点的不确定性，针对前者，本发明利用了网络地理信息系统精密的路网信息以及精确的定位能力加以解决；针对后者，本发明直接根据机器视觉判断出道路视距终点，并合理的设置了参照物。由此使得本发明的视距检测方法能够快捷、准确的测量出道路的视距，并保证了测量的连续性。The present invention fully considers the complexity of road linearity and the uncertainty of key points of road line-of-sight. For the former, the present invention utilizes the precise road network information and precise positioning capabilities of the network geographic information system to solve it; for the latter, the present invention directly The end point of the road line-of-sight is judged based on machine vision, and a reference object is reasonably set. Therefore, the line-of-sight detection method of the present invention can quickly and accurately measure the line-of-sight of the road, and ensure the continuity of measurement.
本发明的视距检测方法主要应用于道路交通安全评价场合，为道路的提升改善以及路段车速的限定提供了有利的依据。The line-of-sight detection method of the present invention is mainly used in road traffic safety evaluation occasions, and provides a favorable basis for improving the road and limiting the speed of road sections.
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
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