CN105513358A - Driving behavior assessment and vehicle driving state monitoring early warning system and method - Google Patents
Driving behavior assessment and vehicle driving state monitoring early warning system and method Download PDFInfo
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- 230000010365 information processing Effects 0.000 claims abstract description 21
- 230000004927 fusion Effects 0.000 claims abstract description 8
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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Abstract
The invention relates to a driving behavior assessment and vehicle driving state monitoring early warning system and method. The method comprises a video information collection unit, a video information processing unit, an identity information verification unit, a vehicle running state collection unit, an integrated information processing unit and an information management unit. The system constructs an assessment mechanism specific to driving behaviors, collects road condition video information, vehicle driving state information and driver vehicle operation process data information, excavates data characteristics, and performs weight distribution, information fusion and comprehensive determination, thereby realizing real time assessment of driving behaviors, and providing early warning specific to possible dangers.
Description
Technical field
The invention belongs to intelligent transportation field, relate to driving behavior assessment and vehicle running state monitor and early warning system and method.
Background technology
In current management such as the vehicle in use as logistics, shipping company, public transport company etc., general just installs the equipment such as BDS/GPS/GPRS automobile travel recorder device additional, be difficult to evaluate to running state of the vehicle, driver custom, evaluation index can only be examined by the violation record of traffic control department, is difficult to reach the improvement of driving habits and the effect occurred of preventing accident.
In the patent achievement in similar technique field, what have only relates to driver actions's information acquisition, passes judgment on driving behavior; The evaluation of the collection only relating to traffic information had, process and the car associated with it, pedestrian is fed back, and passes judgment on driving behavior.The present invention is by building the evaluation mechanism for driving behavior, gather road conditions video information, vehicle running state information and driver to data messages such as vehicle operating processes, excavate its data characteristics and carry out weight allocation, information fusion, synthetic determination, realize the real-time assessment of driving behavior and early warning is carried out to the danger that may exist.The present invention is also for road junction roadway line more complicated special road section, turn inside diameter, turn around easily to produce erroneous judgement, misjudgement situation to vehicle line ball, adopt video information and the multi-factor comprehensive such as travel condition of vehicle and driver actions to consider, avoid the erroneous judgement adopting separately video information to produce.
Summary of the invention
Technical matters to be solved by this invention is to provide driving behavior assessment and vehicle running state monitor and early warning system and method, by to the process of video traffic information and the collection of travel condition of vehicle information, in real time the operating process of driver is assessed, and to producing accident or precarious position carries out early warning.
The technical scheme that the present invention solves the problems of the technologies described above is as follows:
According to one aspect of the present invention, provide driving behavior assessment and vehicle running state monitor and early warning system, it is characterized in that, described system comprises video information collecting unit, video information process unit, identity information authentication unit, travel condition of vehicle collecting unit, integrated information processing unit and information management unit;
Described video information collecting unit, for taking the road conditions video image of vehicle front road, and is passed to video information process unit by road conditions video image;
Described video information process unit, for according to road conditions video image, extracts road conditions information, road conditions information is sent to integrated information processing unit;
Described travel condition of vehicle collecting unit, for obtaining travel condition of vehicle information and driver's operational motion, is passed to integrated information processing unit by travel condition of vehicle information and driver's operational motion;
Described identity information authentication unit, for identifying driver identity, and is passed to integrated information processing unit by driver identity information;
Described integrated information processing unit, for carrying out overall treatment according to the eigenwert of road conditions information, travel condition of vehicle information and driver's operational motion information, and is passed to information management unit by the value of information drawn and driver identity information;
Described information management unit, for the value of information drawn according to integrated information processing unit, carry out weighted value distribution, characteristic quantification and Fusion Features, computing draws assessment result, harmful grade according to assessment result carries out corresponding safe early warning to driver, send the harmful grade of assessment result to vehicle management system or managerial personnel by wireless network simultaneously, and memory of driving person's identity information with by this assessment result.
As a further improvement on the present invention, described video information collecting unit comprises ccd sensor box body and camera, is provided with camera installation cavity in described box body, and described camera is arranged in described installation cavity by mounting bracket.
The beneficial effect of above-mentioned further scheme is adopted to be that camera is closed in shading chamber the stability and authenticity that ensure that and gather image.
As a further improvement on the present invention, described video information process unit comprises vehicle-mounted DSP treatment facility, and described vehicle-mounted DSP treatment facility comprises picture processing chip TMS320C6455.
The beneficial effect of above-mentioned further scheme is adopted to be can fast processing image information.
As a further improvement on the present invention, described travel condition of vehicle collecting unit comprises pedal sensor, BDS/GPS equipment, OBD-II interface, 9 axle sensors, steering indicating light sensor and steering wheel sensor;
Described pedal sensor, for gathering automobile clutch pedal, the amplitude of gas pedal and brake pedal action and speed;
Described BDS/GPS equipment, for receiving car speed and vehicle position information;
Described OBD-II interface, for collection vehicle engine speed, water temperature, inlet exhaust gas temperature, oil temperature, oil consumption;
Described 9 axle sensors, the change at the acceleration run for collection vehicle, the change of vehicle motion track, vehicle operating smoothness and angle of inclination;
Described steering indicating light sensor, opens and closes signal for gathering steering indicating light;
Described steering wheel sensor, for gathering sense of rotation and the angle of bearing circle.
The beneficial effect of above-mentioned further scheme is adopted to be to obtain travel condition of vehicle information and driver's operational motion.
As a further improvement on the present invention, described identity information authentication unit comprises identification sensor, identifies driver identity by driver's account, fingerprint, magnetic card or short message confirming.
The beneficial effect of above-mentioned further scheme is adopted to be to identify driver identity.
As a further improvement on the present invention, described information management unit comprises LCDs, sound reports loudspeaker and wireless telecommunications system; Described LCDs, for showing assessment result; Described sound reports loudspeaker, for carrying out safe early warning according to described assessment result to driver; Described wireless telecommunications system, for wireless telecommunications.
The beneficial effect of above-mentioned further scheme is adopted to be accurately can reflect travel condition of vehicle.
On the other hand, the invention provides driving behavior assessment and vehicle running state monitoring and pre-alarming method, described method comprises:
The road conditions video image of step S1a, shooting vehicle front road;
Step S1b, collection vehicle running state information, driver's operational motion and identification driver identity information;
Step S2, by the travel condition of vehicle information of road conditions video image, collection and driver identity information integerated independent set, and this independent set is carried out extracting and processing;
Step S3, by issue, extract and process after independent set carry out weighted value distribution, characteristic quantification and Fusion Features, computing draws assessment result, according to this assessment result, safe early warning is carried out to driver, and send vehicle management system or managerial personnel according to the harmful grade of assessment result in time to by wireless network simultaneously;
Step S4, by driver identity information with this assessment result record is stored.
Driving behavior assessment provided by the invention and vehicle running state monitor and early warning system and method ensure that the stability and authenticity that gather image by the camera collection traffic information be enclosed in shading chamber, collection vehicle running state information simultaneously, in real time the operating process of driver is assessed, and to producing display automobile real-time running state while accident or precarious position carry out early warning, facilitate driver, and the driving information of driver can be recorded.
Accompanying drawing explanation
Fig. 1 is the perspective view of video information collecting unit.
Fig. 2 is driving behavior assessment and vehicle running state monitor and early warning system schematic diagram.
Fig. 3 is driving behavior assessment and vehicle running state monitor and early warning system and method implementation concrete structure figure.
Fig. 4 is driving behavior assessment and vehicle running state monitoring and pre-alarming method process flow diagram.
In accompanying drawing, the list of parts representated by each label is as follows:
1. video information collecting unit; 2. video information process unit; 3. travel condition of vehicle collecting unit; 4. identity information authentication unit; 5. integrated information processing unit; 6. information management unit; 11. cameras; 12. mounting brackets; 13. box bodys; 14. installation cavitys; 15.CCD sensor; 21.DSP treatment facility; 31. pedal sensors; 32.BDS/GPS equipment; 33.OBD-II interface; 34.9 axle sensors; 35. steering indicating light sensors; 36. steering wheel sensors; 41. identification sensors; 51.ARMA9 chip Exynos4612; 61. LCDs; 62. sound report loudspeaker; 63. wireless telecommunications systems; 211. picture processing chip TMS320C6455.
Embodiment
Be described principle of the present invention and feature below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit scope of the present invention.
Embodiment one, see shown in Fig. 1-Fig. 3, the invention provides driving behavior assessment and vehicle running state monitor and early warning system, comprise video information collecting unit 1, video information process unit 2, identity information authentication unit 4, travel condition of vehicle collecting unit 3, integrated information processing unit 5 and information management unit 6.
Described video information collecting unit 1, for taking the road conditions video image of vehicle front road, and is passed to video information process unit 2 by road conditions video image.
Described video information process unit 2, for according to road conditions video image, extracts road conditions information, road conditions information is sent to integrated information processing unit 5.
Described travel condition of vehicle collecting unit 3, for obtaining travel condition of vehicle information and driver's operational motion, is passed to integrated information processing unit 5 by travel condition of vehicle information and driver's operational motion.
Described identity information authentication unit 4, for identifying driver identity, and is passed to integrated information processing unit 5 by driver identity information.
Described integrated information processing unit 5, for carrying out overall treatment according to the eigenwert of road conditions information, travel condition of vehicle information and driver's operational motion information, and is passed to information management unit 6 by the value of information drawn and driver identity information.
Described information management unit 6, for the value of information drawn according to integrated information processing unit 5, carry out weighted value distribution, characteristic quantification and Fusion Features, computing draws assessment result, harmful grade according to assessment result carries out corresponding safe early warning to driver, send the harmful grade of assessment result to vehicle management system or managerial personnel by wireless network simultaneously, and memory of driving person's identity information with by this assessment result.
Described video information collecting unit 1 comprises ccd sensor 15 box body 13 and camera 11, is provided with camera installation cavity 14 in described box body 13, and described camera 11 is arranged in described installation cavity 14 by mounting bracket 12.
Described video information process unit 2 comprises vehicle-mounted DSP treatment facility 21, and described vehicle-mounted DSP treatment facility 21 comprises picture processing chip TMS320C6455211.
Described travel condition of vehicle collecting unit 3 comprises pedal sensor 31, BDS/GPS equipment 32, OBD-II interface 33,9 axle sensor 34, steering indicating light sensor 35 and steering wheel sensor 36.
Described pedal sensor 31, for gathering automobile clutch pedal, the amplitude of gas pedal and brake pedal action and speed; Described BDS/GPS equipment 32, for receiving car speed and vehicle position information; Described OBD-II interface 33, for collection vehicle engine speed, water temperature, inlet exhaust gas temperature, oil temperature, oil consumption; Described 9 axle sensors 34, the change at the acceleration run for collection vehicle, the change of vehicle motion track, vehicle operating smoothness and angle of inclination; Described steering indicating light sensor 35, opens and closes signal for gathering steering indicating light; Described steering wheel sensor 36, for gathering sense of rotation and the angle of bearing circle.
Described identity information authentication unit 4 comprises identification sensor 41, identifies driver identity by driver's account, fingerprint, magnetic card or short message confirming.
Described information management unit 6 comprises LCDs 61, sound reports loudspeaker 62 and wireless telecommunications system 63; Described LCDs 61, for showing assessment result; Described sound reports loudspeaker 62, for carrying out safe early warning according to described assessment result to driver; Described wireless telecommunications system 63, for wireless telecommunications.
Embodiment two, driving behavior assessment and vehicle running state monitoring and pre-alarming method.Below in conjunction with Fig. 4, the method that the present embodiment provides is described in detail.
The road conditions video image of step S1a, shooting vehicle front road.
Step S1b, collection vehicle running state information, driver's operational motion and identification driver identity information.
Step S2, by the travel condition of vehicle information of road conditions video image, collection and driver identity information integerated independent set, and this independent set is carried out extracting and processing.
Concrete, according to the road conditions video information collected in described step S2, extract road conditions characteristic information and specifically comprise identification to lane line, to front vehicles and the identification of pedestrian and the identification to zebra stripes guiding arrow;
The identification of lane line is comprised:
Adopt medium filtering to suppress noise of video image, adopt Sobel operator as edge detection operator, marginalisation process is carried out to video image, adopt dynamic thresholding method to carry out binary conversion treatment to image, after binaryzation, discrete point is removed to image;
By Hough transformation by remove the video image after discrete point be divided into far, in, nearly 3 visual fields, histogram of gradients is obtained by carrying out process to near-sighted field, try to achieve track expectation value, Hough transform parameter is obtained according to expectation value, middle visual field parameter is determined by near-sighted field parameters, the parameter obtained arranged and solves, solving far visual field parameter by the restriction on the parameters of near, middle visual field;
By above data processed result, extract lane line line type, complete Lane detection;
Identification for front vehicles and pedestrian comprises:
V＝(St-St
-1)/△t
t＝St/V；
Wherein, V is the relative velocity of vehicle and front truck or pedestrian, and St is current time distance, and St-1 was the distance of a upper moment and front truck, and △ t is twice acquisition interval time, when t is less than threshold range, represents to there is potential safety hazard;
Adopt feature histogram HOG algorithm, appear at the position on the image collected according to vehicle and pedestrian, the position demarcated by image phase point, current time vehicle and the distance between front truck and pedestrian can be extrapolated;
The identification of zebra stripes, guiding arrow is comprised:
Adopt and fixed area is selected to car dead ahead line by line scan, and according to the gray-value variation rule of image and gradient direction, identify zebra stripes, guiding arrow.
Step S3, by issue, extract and process after independent set carry out weighted value distribution, characteristic quantification and Fusion Features, computing draws assessment result, according to this assessment result, safe early warning is carried out to driver, and send vehicle management system or managerial personnel according to the harmful grade of assessment result in time to by wireless network simultaneously.
Concrete, in described step S3, comprehensive assessment is carried out to driving behavior and vehicle running state and safe early warning comprises:
Monitored by bearing circle travel direction, judge whether bearing circle has pro-active intervention, if without pro-active intervention, show that lane line occurs to be departed from, then start safe early warning and record;
According to the line ball situation of left and right wheels, judgement is that line ball travels or lane change travels;
By identifying that road guiding arrow detects, judge whether vehicle travels by guiding;
When vehicle exceeds normal braking acceleration or vehicle lateral tilt is greater than 30 degree, judge that toppling appears in vehicle, information management unit can pass vehicle position information and vehicle brake acceleration abnormal information back background management system by wireless signal automatically, and sends running state of the vehicle security alarm;
When zebra stripes appear in front, judge vehicle present speed, be greater than threshold speed as the speed of a motor vehicle and there is no brake, then send safe early warning and the current travelling speed of registration of vehicle.
The judgment criteria of described harmful grade is:
Wherein, x is assessment coefficients, and ki*xi is the evaluation of estimate of each factor, weight be k=(k1, k2 ..., kn)
Τ, n is the kind of evaluation index, and Y is evaluation of estimate variable.
Step S4, by driver identity information with this assessment result record is stored.
The invention has the beneficial effects as follows: driving behavior assessment provided by the invention and vehicle running state monitor and early warning system and method ensure that the stability and authenticity that gather image by the camera collection traffic information be enclosed in shading chamber, collection vehicle running state information simultaneously, in real time the operating process of driver is assessed, and to producing display automobile real-time running state while accident or precarious position carry out early warning, facilitate driver, and the driving information of driver can be recorded.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. driving behavior assessment and vehicle running state monitor and early warning system, it is characterized in that, comprise video information collecting unit (1), video information process unit (2), identity information authentication unit (4), travel condition of vehicle collecting unit (3), integrated information processing unit (5) and information management unit (6);
Described video information collecting unit (1), for taking the road conditions video image of vehicle front road, and is passed to video information process unit (2) by road conditions video image;
Described video information process unit (2), for according to road conditions video image, extracts road conditions information, road conditions information is sent to integrated information processing unit (5);
Described travel condition of vehicle collecting unit (3), for obtaining travel condition of vehicle information and driver's operational motion, is passed to integrated information processing unit (5) by travel condition of vehicle information and driver's operational motion;
Described identity information authentication unit (4), for identifying driver identity, and is passed to integrated information processing unit (5) by driver identity information;
Described integrated information processing unit (5), for carrying out overall treatment according to the eigenwert of road conditions information, travel condition of vehicle information and driver's operational motion information, and the value of information drawn and driver identity information are passed to information management unit (6);
Described information management unit (6), for the value of information drawn according to integrated information processing unit (5), carry out weighted value distribution, characteristic quantification and Fusion Features, computing draws assessment result, harmful grade according to assessment result carries out corresponding safe early warning to driver, send the harmful grade of assessment result to vehicle management system or managerial personnel by wireless network simultaneously, and memory of driving person's identity information with by this assessment result.
2. driving behavior assessment according to claim 1 and vehicle running state monitor and early warning system, it is characterized in that, described video information collecting unit (1) comprises ccd sensor (15) box body (13) and camera (11), be provided with camera installation cavity (14) in described box body (13), described camera (11) is arranged in described installation cavity (14) by mounting bracket (12).
3. driving behavior assessment according to claim 1 and vehicle running state monitor and early warning system, it is characterized in that, described video information process unit (2) comprises vehicle-mounted DSP treatment facility (21), and described vehicle-mounted DSP treatment facility (21) comprises picture processing chip TMS320C6455 (211).
4. driving behavior assessment according to claim 1 and vehicle running state monitor and early warning system, it is characterized in that, described travel condition of vehicle collecting unit (3) comprises pedal sensor (31), BDS/GPS equipment (32), OBD-II interface (33), 9 axle sensors (34), steering indicating light sensor (35) and steering wheel sensor (36);
Described pedal sensor (31), for gathering automobile clutch pedal, the amplitude of gas pedal and brake pedal action and speed;
Described BDS/GPS equipment (32), for receiving car speed and vehicle position information;
Described OBD-II interface (33), for collection vehicle engine speed, water temperature, inlet exhaust gas temperature, oil temperature, oil consumption;
Described 9 axle sensors (34), the change at the acceleration run for collection vehicle, the change of vehicle motion track, vehicle operating smoothness and angle of inclination;
Described steering indicating light sensor (35), opens and closes signal for gathering steering indicating light;
Described steering wheel sensor (36), for gathering sense of rotation and the angle of bearing circle.
5. driving behavior assessment according to claim 1 and vehicle running state monitor and early warning system, it is characterized in that, described identity information authentication unit (4) comprises identification sensor (41), identifies driver identity by driver's account, fingerprint, magnetic card or short message confirming.
6. driving behavior assessment according to claim 1 and vehicle running state monitor and early warning system, it is characterized in that, described information management unit (6) comprises LCDs (61), sound reports loudspeaker (62) and wireless telecommunications system (63);
Described LCDs (61), for showing assessment result;
Described sound reports loudspeaker (62), for carrying out safe early warning according to described assessment result to driver;
Described wireless telecommunications system (63), for wireless telecommunications.
7. driving behavior assessment and vehicle running state monitoring and pre-alarming method, is characterized in that, described method comprises:
The road conditions video image of step S1a, shooting vehicle front road;
Step S1b, collection vehicle running state information, driver's operational motion and identification driver identity information;
Step S2, by the travel condition of vehicle information of road conditions video image, collection and driver identity information integerated independent set, and this independent set is carried out extracting and processing;
Step S3, by issue, extract and process after independent set carry out weighted value distribution, characteristic quantification and Fusion Features, computing draws assessment result, according to this assessment result, safe early warning is carried out to driver, and send vehicle management system or managerial personnel according to the harmful grade of assessment result in time to by wireless network simultaneously;
Step S4, by driver identity information with this assessment result record is stored.
8. driving behavior assessment according to claim 7 and vehicle running state monitoring and pre-alarming method, it is characterized in that, according to the road conditions video information that collects in described step S2, extract road conditions characteristic information and specifically comprise identification to lane line, to front vehicles and the identification of pedestrian and the identification to zebra stripes guiding arrow;
The identification of lane line is comprised:
Adopt medium filtering to suppress noise of video image, adopt Sobel operator as edge detection operator, marginalisation process is carried out to video image, adopt dynamic thresholding method to carry out binary conversion treatment to image, after binaryzation, discrete point is removed to image;
By Hough transformation by remove the video image after discrete point be divided into far, in, nearly 3 visual fields, histogram of gradients is obtained by carrying out process to near-sighted field, try to achieve track expectation value, Hough transform parameter is obtained according to expectation value, middle visual field parameter is determined by near-sighted field parameters, the parameter obtained arranged and solves, solving far visual field parameter by the restriction on the parameters of near, middle visual field;
By above data processed result, extract lane line line type, complete Lane detection;
Identification for front vehicles and pedestrian comprises:
V＝(St-St
-1)/△t
t＝St/V；
Wherein, V is the relative velocity of vehicle and front truck or pedestrian, and St is current time distance, and St-1 was the distance of a upper moment and front truck, and △ t is twice acquisition interval time, when t is less than threshold range, represents to there is potential safety hazard;
Adopt feature histogram HOG algorithm, appear at the position on the image collected according to vehicle and pedestrian, the position demarcated by image phase point, current time vehicle and the distance between front truck and pedestrian can be extrapolated;
The identification of zebra stripes, guiding arrow is comprised:
Adopt and fixed area is selected to car dead ahead line by line scan, and according to the gray-value variation rule of image and gradient direction, identify zebra stripes, guiding arrow.
9. driving behavior assessment according to claim 7 and vehicle running state monitoring and pre-alarming method, is characterized in that, carries out comprehensive assessment and safe early warning comprises in described step S3 to driving behavior and vehicle running state:
Monitored by bearing circle travel direction, judge whether bearing circle has pro-active intervention, if without pro-active intervention, show that lane line occurs to be departed from, then start safe early warning and record;
According to the line ball situation of left and right wheels, judgement is that line ball travels or lane change travels;
By identifying that road guiding arrow detects, judge whether vehicle travels by guiding;
When vehicle exceeds normal braking acceleration or vehicle lateral tilt is greater than 30 degree, judge that toppling appears in vehicle, information management unit can pass vehicle position information and vehicle brake acceleration abnormal information back background management system by wireless signal automatically, and sends running state of the vehicle security alarm;
When zebra stripes appear in front, judge vehicle present speed, be greater than threshold speed as the speed of a motor vehicle and there is no brake, then send safe early warning and the current travelling speed of registration of vehicle.
10. driving behavior assessment according to claim 7 and vehicle running state monitoring and pre-alarming method, is characterized in that, in described step S3, the judgment criteria of harmful grade is:
Wherein, x is assessment coefficients, and ki*xi is the evaluation of estimate of each factor, weight be k=(k1, k2 ..., kn)
Τ, n is the kind of evaluation index, and Y is evaluation of estimate variable.
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Effective date of registration: 20240404 Address after: Room 1209, Building 1, Tianma Center Plaza, No. 161 Changjiang Road, Economic and Technological Development Zone, Yantai City, Shandong Province, 264000 Patentee after: Concrete Software (Yantai) Software Technology Co.,Ltd. Country or region after: China Address before: 264000 No. 133, Chun Ying Avenue, Laishan District, Shandong, Yantai Patentee before: YANTAI WELLSYS ELECTRONIC Co.,Ltd. Country or region before: China |
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