CN109177900A - A kind of the Vehicle Safety Travel - Google Patents
A kind of the Vehicle Safety Travel Download PDFInfo
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- CN109177900A CN109177900A CN201811070707.4A CN201811070707A CN109177900A CN 109177900 A CN109177900 A CN 109177900A CN 201811070707 A CN201811070707 A CN 201811070707A CN 109177900 A CN109177900 A CN 109177900A
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- 238000012545 processing Methods 0.000 claims abstract description 185
- 238000003706 image smoothing Methods 0.000 claims abstract description 32
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- 230000003321 amplification Effects 0.000 claims description 17
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- 230000007613 environmental effect Effects 0.000 abstract description 2
- 206010039203 Road traffic accident Diseases 0.000 description 5
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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Abstract
本发明提供一种汽车安全行驶系统，利用中央处理单元、第一图像采集单元、第二图像采集单元、第一图像处理单元、第二图像处理单元、测距传感器、信号处理器、报警单元、汽车动力控制单元、汽车制动控制单元、存储单元以及远程监控中心，对汽车前方的环境信息、驾驶员疲劳信息进行采集，以保障汽车行驶安全；其中，第一图像处理单元包括第一图像增强模块、第一图像平滑模块以及第一图像去噪模块，第二图像处理单元包括第二图像增强模块、第二图像平滑模块以及第二图像去噪模块。
The present invention provides an automobile safe driving system, which utilizes a central processing unit, a first image acquisition unit, a second image acquisition unit, a first image processing unit, a second image processing unit, a distance measuring sensor, a signal processor, an alarm unit, The vehicle power control unit, the vehicle brake control unit, the storage unit and the remote monitoring center collect environmental information and driver fatigue information in front of the vehicle to ensure the safety of the vehicle; wherein the first image processing unit includes a first image enhancement module, a first image smoothing module and a first image denoising module, and the second image processing unit includes a second image enhancement module, a second image smoothing module and a second image denoising module.
Description
Technical field
The present invention relates to traffic testing field more particularly to a kind of the Vehicle Safety Travels.
Background technique
With the fast development of society and economy, the ownership of automobile is in the trend being stepped up, traffic safety problem
It gets worse.It is counted according to Traffic Administration Bureau: the end of the year 2016 of cut-off, national vehicle guaranteeding organic quantity 2.9 hundred million, wherein 1.94 hundred million, automobile,
3.6 hundred million people of vehicle driver.However, traffic accident also increases in blowout therewith, the data that the World Health Organization announces are aobvious
Show, every year because road fatalities are there are about 1,250,000, be equivalent to the whole world there are 3500 people because of traffic accident daily in the whole world
It is dead.Data show that annual also several million peoples are therefore injured or disable, and traffic accident also becomes 15-29 years old young man
Primary cause of death.It according to incompletely statistics, there are about 60% major traffic accidents is caused by driver tired driving, about
21% traffic accident is caused by the improper run-off-road of automobile, therefore in driver fatigue state and running car
Process detection becomes automobile active safety problem in the urgent need to address.
The major automobile active safety system in the world starts with computer vision technique detection automobile and road markings at present
Line, and China starts late in intelligent automobile and safety assistant driving area research, has compared with developed countries certain
Gap, for many research achievements also in theory stage, commercialization degree is low, main reason is that most researchs and product are only
For the good situation of illumination and road, it can not be suitable for driving the complexity and individuation difference of indoor and outdoor monitoring situation.
Summary of the invention
Therefore, in order to overcome the above problem, the present invention provides a kind of the Vehicle Safety Travel, utilizes central processing list
Member, the first image acquisition units, the second image acquisition units, the first image processing unit, the second image processing unit, ranging pass
Sensor, signal processor, alarm unit, automobile power control unit, automobile brake control unit, storage unit and long-range prison
Control center is acquired environmental information, the driver fatigue information of vehicle front, to ensure ride safety of automobile.
A kind of the Vehicle Safety Travel according to the present invention comprising central processing unit, the first image acquisition units,
Second image acquisition units, the first image processing unit, the second image processing unit, distance measuring sensor, signal processor, alarm
Unit, automobile power control unit, automobile brake control unit, storage unit and remote monitoring center；
Wherein, the input terminal of alarm unit, the input terminal of automobile power control unit, automobile brake control unit input terminal,
The input terminal connection with the output end of central processing unit respectively of the input terminal and remote monitoring center of storage unit, signal
The output end and central processing of the output end of processor, the output end of the first image processing unit and the second image processing unit
The input terminal of unit connects, and the output end of distance measuring sensor and the input terminal of signal processor connect, the first image acquisition units
Output end connect with the input terminal of the first image processing unit, the output end of the second image acquisition units and the second image procossing
The input terminal of unit connects.
Preferably, distance measuring sensor is installed at automotive license plate position, for monitor automobile in the process of moving with front truck
Distance signal, the distance signal of acquisition is converted to voltage signal V0 by distance measuring sensor, and voltage signal V0 is transmitted to letter
Number processor, V1 are the voltage signal after signal processor processes, and signal processor includes signal amplification unit and signal
The input terminal of filter unit, the output end of distance measuring sensor and signal amplification unit connects, the output end of signal amplification unit with
The input terminal of signal filter unit connects, and the output end of signal filter unit and the port ADC of central processing unit connect.
Preferably, signal amplification unit includes integrated transporting discharging A1-A2, resistance R1-R9, capacitor C1-C2 and triode T1-
T2；
Wherein, the output end of distance measuring sensor is connect with the base stage of triode T1, and one end of capacitor C1 is same with integrated transporting discharging A1's
Phase input terminal connection, capacitor C1 the other end ground connection, after one end of resistance R1 is in parallel with one end of capacitor C1 with integrated transporting discharging A1
Non-inverting input terminal connection, one end of resistance R2 connect with the inverting input terminal of integrated transporting discharging A1, the other end of resistance R2 and survey
It is connect after output end away from sensor is in parallel with the base stage of triode T1, one end of capacitor C2 and the output end of integrated transporting discharging A1 connect
It connects, is connect after the other end of capacitor C2 is in parallel with one end of resistance R2 with the inverting input terminal of integrated transporting discharging A1, the one of capacitor C2
End is also connect with one end of resistance R3, and the other end of resistance R3 is connect with one end of resistance R4, one end of resistance R5 and resistance R3
The other end it is in parallel after connect with one end of resistance R4, the other end of resistance R5 is connect with the inverting input terminal of integrated transporting discharging A2,
The other end of resistance R5 is also connect with the collector of triode T1, and+15 DC power supply of another termination of resistance R4, resistance R4's is another
One end is also connect with one end of resistance R6, and the other end of resistance R6 is connect with the non-inverting input terminal of integrated transporting discharging A2, resistance R6's
The other end is also connect with the collector of triode T2, after the emitter connection of the emitter of triode T1 and triode T2 with resistance
One end of R7 connects, another termination -15V DC power supply of resistance R7, after the base stage of diode T2 is in parallel with one end of resistance R9
It is connect with the other end of resistance R1, the other end ground connection of resistance R9, one end of resistance R9 is also connect with one end of resistance R8, resistance
The other end of R8 is connect with the output end of integrated transporting discharging A2.
Preferably, signal filter unit includes resistance R10-R13, capacitor C3-C5 and integrated transporting discharging A3；
Wherein, the output end of signal amplification unit is connect with one end of resistance R10, the output end of signal amplification unit also with capacitor
One end of C3 connects, and the other end ground connection of capacitor C3, the other end of resistance R10 is connect with one end of capacitor C4, and capacitor C4's is another
One end ground connection, the other end of resistance R10 are connect with the inverting input terminal of integrated transporting discharging A3, one end of resistance R12 and integrated transporting discharging
The non-inverting input terminal of A3 connects, the other end ground connection of resistance R12, one end and integrated transporting discharging after resistance R11 is in parallel with capacitor C5
The inverting input terminal of A3 connects, and the other end after resistance R11 is in parallel with capacitor C5 is connect with the output end of integrated transporting discharging A3, resistance
The other end after R11 is in parallel with capacitor C5 is also connect with one end of resistance R13, and one end of resistance R13 is defeated with integrated transporting discharging A3's
The port ADC of outlet connection, the other end of resistance R13 and central processing unit connects, and signal processing unit will treated electricity
Pressure signal V1 is transmitted to the port ADC of central processing unit.
Preferably, the first image processing unit includes the first image enhancement module, the first image smoothing module and first
Image denoising module；
Wherein, the output end of the first image acquisition units is connect with the input terminal of the first image enhancement module, the first image enhancement
The output end of module is connect with the input terminal of the first image smoothing module, the output end and the first image of the first image smoothing module
The input terminal connection of module is denoised, the output end of the first image denoising module and the input terminal of central processing unit connect.
Preferably, the second image processing unit includes the second image enhancement module, the second image smoothing module and second
Image denoising module；
Wherein, the output end of the second image acquisition units is connect with the input terminal of the second image enhancement module, the second image enhancement
The output end of module is connect with the input terminal of the second image smoothing module, the output end and the second image of the second image smoothing module
The input terminal connection of module is denoised, the output end of the second image denoising module and the input terminal of central processing unit connect.
Preferably, the first image collecting device includes three CCD cameras, respectively the first CCD camera, the second CCD camera
And third CCD camera, wherein the first CCD camera is installed on vehicle front windshield, the second CCD camera and the 3rd CCD
Camera is respectively arranged in automobile sided mirror unit, and the first CCD camera is used to acquire the image information of vehicle front, the 2nd CCD
Camera and third CCD camera are used to acquire the image information at automobile side rear, the first CCD camera, the second CCD camera and third
CCD camera is connect with the first image processing unit；
Second image collector is set to infrared camera, and infrared camera is installed on the top of operator seat in driver's cabin, and infrared camera is used
In the facial image information of acquisition driver, infrared camera is connect with the second image processing unit, and the second image processing unit will
The facial image information of acquisition is transmitted to central processing unit after carrying out image procossing, and central processing unit is schemed according to treated
As information judge driver whether fatigue driving.
Preferably, distance measuring sensor is installed at automotive license plate position, for monitor automobile in the process of moving with front truck
Distance signal, and by distance signal transmission to signal processor, signal processor by distance signal transmission to central processing unit,
Distance signal is compared by central processing unit with pre-determined distance threshold value S1 and pre-determined distance threshold value S2, if the numerical value of distance signal
Less than threshold value S1 and being greater than threshold value S2, then central processing unit controls automobile power control unit carries out reduction of speed processing to automobile,
Central processing unit controls alarm unit issues alarm signal, and central processing unit is by the first image processing unit and the second image
The image information of processing unit processes is saved to storage unit, meanwhile, by the first image processing unit and the second image procossing
The image information of cell processing is sent to remote monitoring center by wireless communication networks；If the numerical value of distance signal is less than or waits
In threshold value S2, then central processing unit controls automobile brake control unit carries out braking processing, central processing unit control to automobile
Alarm unit processed issues alarm signal, and central processing unit handles the first image processing unit and the second image processing unit
Image information is saved to storage unit, meanwhile, the image that the first image processing unit and the second image processing unit are handled
Information is sent to remote monitoring center by wireless communication networks；If the numerical value of distance signal is greater than or equal to threshold value S1, in
Central Processing Unit saves the image information that the first image processing unit and the second image processing unit are handled to storage unit,
Meanwhile the image information that the first image processing unit and the second image processing unit are handled being sent to by wireless communication networks
Remote monitoring center.
It preferably, is two-dimensional function f (x, y) by the image definition of the first image acquisition units acquisition, wherein x, y are empty
Between coordinate, the first image enhancement module carries out image enhancement processing, image after image enhancement processing to image f (x, y)
For g (x, y), wherein
；
Wherein, k, q are custom parameter, and the value range of k is (0,1), and the value range of q is；
First image smoothing module carries out picture smooth treatment to the first image enhancement module treated image g (x, y), passes through
Image after picture smooth treatment is p (x, y), wherein
；
First image denoising module carries out image denoising processing to the image p (x, y) after the first image smoothing resume module, passes through
Image denoising treated image is s (x, y), wherein carrying out pretreated image to image s (x, y) is q (x, y),
；
；
First image denoising module will treated that image s (x, y) is transmitted to central processing unit by image denoising.
It preferably, is two-dimensional function k (x, y) by the image definition of the second image acquisition units acquisition, wherein x, y are empty
Between coordinate, the second image enhancement module carries out image enhancement processing, image after image enhancement processing to image k (x, y)
For h (x, y), wherein
；
Wherein, k, q are custom parameter, and the value range of k is (0,1), and the value range of q is；
Second image smoothing module carries out picture smooth treatment to the second image enhancement module treated image h (x, y), passes through
Image after picture smooth treatment is i (x, y), wherein
；
Second image denoising module carries out image denoising processing to the image i (x, y) after the second image smoothing resume module, passes through
Image denoising treated image is m (x, y), wherein carrying out pretreated image to image i (x, y) is n (x, y),
；
；
Second image denoising module will treated that image m (x, y) is transmitted to central processing unit by image denoising.
Preferably, central processing unit is STC12C5A60S2 single-chip microcontroller or MSP430 single-chip microcontroller.
Preferably, remote monitoring center is car owner's mobile phone, and car owner passes through remote monitoring center real-time monitoring running car shape
State.
Compared with prior art, the present invention have it is following the utility model has the advantages that
(1) the Vehicle Safety Travel provided by the invention is that outdoor informational is detected in driver's cabin under adverse circumstances, is vapour
Vehicle safety traffic provides comprehensive guarantee, and reality of the promotion visual perception technology in automobile active safety auxiliary system significantly is answered
With；
(2) the Vehicle Safety Travel provided by the invention, the first image processing unit acquire the first image acquisition units
Image successively carries out image enhancement, image smoothing and image denoising processing, and the second image processing unit is to the second Image Acquisition list
The image of member acquisition successively carries out image enhancement, image smoothing and image denoising processing, can efficiently, quickly extract the first image
The image information of acquisition unit and the second image acquisition units can be improved to the facial information of environment surrounding automobile and driver
Identification precision efficiently reduces erroneous judgement and happens；
(3) the Vehicle Safety Travel provided by the invention, the side combined using visible light, infrared camera with distance measuring sensor
Formula is acquired and monitors to interior external environment data, vehicle driving state, condition of road surface, driving behavior, wherein visible light
CCD camera is used for vehicle front-viewing, side back sight information collection, such as Chinese herbaceous peony condition of road surface, be securable to vehicle front windshield,
At rearview mirror or body top section corresponding position, infrared camera is for obtaining indoor driver's face and behavioural characteristic, ranging sensing
Device provides multi-ensuring for assisting visual perception technology to detect for traffic safety.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of the Vehicle Safety Travel of the invention.
Fig. 2 is the schematic diagram of signal processor of the invention；
Fig. 3 is the schematic diagram of the first image processing unit of the invention；
Fig. 4 is the schematic diagram of the second image processing unit of the invention；
Fig. 5 is the original image information that the first image acquisition units of the invention acquire；
Fig. 6 is that the first image processing unit of the invention carries out image to the original image information that the first image acquisition units acquire
Image information that treated；
Fig. 7 is the original image information that the second image acquisition units of the invention acquire；
Fig. 8 is that the second image processing unit of the invention carries out image to the original image information that the second image acquisition units acquire
Image information that treated.
Appended drawing reference:
1- central processing unit；The first image acquisition units of 2-；The second image acquisition units of 3-；The first image processing unit of 4-；
The second image processing unit of 5-, 6- distance measuring sensor, 7- signal processor, 8- alarm unit, 9- automobile power control unit,
10- automobile brake control unit, 11- storage unit, 12- remote monitoring center.
Specific embodiment
The Vehicle Safety Travel of the present invention is described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the Vehicle Safety Travel provided by the invention includes that central processing unit (1), the first image are adopted
Collect unit (2), the second image acquisition units (3), the first image processing unit (4), the second image processing unit (5), ranging biography
Sensor (6), alarm unit (8), automobile power control unit (9), automobile brake control unit (10), is deposited signal processor (7)
Storage unit (11) and remote monitoring center (12)；
Wherein, the input terminal of alarm unit (8), the input terminal of automobile power control unit (9), automobile brake control unit (10)
Input terminal, storage unit (11) input terminal and remote monitoring center (12) input terminal respectively with central processing unit
(1) connection of output end, the output end and the second figure of the output end of signal processor (7), the first image processing unit (4)
The output end of picture processing unit (5) is connect with the input terminal of central processing unit (1), the output end and letter of distance measuring sensor (6)
The input terminal connection of number processor (7), the output ends of the first image acquisition units (2) are defeated with the first image processing unit (4)
Enter end connection, the output end of the second image acquisition units (3) is connect with the input terminal of the second image processing unit (5).
As shown in Fig. 2, distance measuring sensor (6) is installed at automotive license plate position, for monitoring automobile in the process of moving
With the distance signal of front truck, the distance signal of acquisition is converted to voltage signal V0 by distance measuring sensor (6), and by voltage signal V0
It is transmitted to signal processor (7), V1 is by signal processor (7) treated voltage signal, and signal processor (7) includes letter
Number amplifying unit and signal filter unit, the output end of distance measuring sensor (6) and the input terminal of signal amplification unit connect, signal
The output end of amplifying unit is connect with the input terminal of signal filter unit, the output end and central processing unit of signal filter unit
(1) the port ADC connection.
Specifically, signal amplification unit includes integrated transporting discharging A1-A2, resistance R1-R9, capacitor C1-C2 and triode T1-
T2；
Wherein, the output end of distance measuring sensor (6) is connect with the base stage of triode T1, and one end of capacitor C1 is with integrated transporting discharging A1's
Non-inverting input terminal connection, capacitor C1 the other end ground connection, after one end of resistance R1 is in parallel with one end of capacitor C1 with integrated transporting discharging
The non-inverting input terminal of A1 connects, and one end of resistance R2 is connect with the inverting input terminal of integrated transporting discharging A1, the other end of resistance R2 and
It is connect after the output end of distance measuring sensor (6) is in parallel with the base stage of triode T1, one end of capacitor C2 is defeated with integrated transporting discharging A1's
Outlet connection is connect after the other end of capacitor C2 is in parallel with one end of resistance R2 with the inverting input terminal of integrated transporting discharging A1, capacitor
One end of C2 is also connect with one end of resistance R3, and the other end of resistance R3 is connect with one end of resistance R4, one end of resistance R5 with
It is connect after the other end of resistance R3 is in parallel with one end of resistance R4, the other end of resistance R5 and the inverting input terminal of integrated transporting discharging A2
Connection, the other end of resistance R5 are also connect with the collector of triode T1 ,+15 DC power supply of another termination of resistance R4, resistance
The other end of R4 is also connect with one end of resistance R6, and the other end of resistance R6 is connect with the non-inverting input terminal of integrated transporting discharging A2, electricity
The other end of resistance R6 is also connect with the collector of triode T2, after the emitter of triode T1 is connected with the emitter of triode T2
It is connect with one end of resistance R7, another termination -15V DC power supply of resistance R7, the base stage of diode T2 and one end of resistance R9
It is connect after parallel connection with the other end of resistance R1, the other end ground connection of resistance R9, one end of resistance R9 also connects with one end of resistance R8
It connects, the other end of resistance R8 is connect with the output end of integrated transporting discharging A2.
Specifically, signal filter unit includes resistance R10-R13, capacitor C3-C5 and integrated transporting discharging A3；
Wherein, the output end of signal amplification unit is connect with one end of resistance R10, the output end of signal amplification unit also with capacitor
One end of C3 connects, and the other end ground connection of capacitor C3, the other end of resistance R10 is connect with one end of capacitor C4, and capacitor C4's is another
One end ground connection, the other end of resistance R10 are connect with the inverting input terminal of integrated transporting discharging A3, one end of resistance R12 and integrated transporting discharging
The non-inverting input terminal of A3 connects, the other end ground connection of resistance R12, one end and integrated transporting discharging after resistance R11 is in parallel with capacitor C5
The inverting input terminal of A3 connects, and the other end after resistance R11 is in parallel with capacitor C5 is connect with the output end of integrated transporting discharging A3, resistance
The other end after R11 is in parallel with capacitor C5 is also connect with one end of resistance R13, and one end of resistance R13 is defeated with integrated transporting discharging A3's
Outlet connection, the other end of resistance R13 are connect with the port ADC of central processing unit (1), and signal processing unit will treated
Voltage signal V1 is transmitted to the port ADC of central processing unit (1).
In above embodiment, the noise of signal processing circuit drifts about within 200nV as 0.5 μ V/ DEG C, integrated transporting discharging
A1 is LTC1150 amplifier, and integrated transporting discharging A2 and integrated transporting discharging A3 are LT1097 amplifier, due to the direct current offset of integrated transporting discharging A1
The overall offset that will not influence circuit with drift, so that circuit has extremely low offset and drift.
The resistance value of resistance R1 is 100K Ω, and the resistance value of resistance R2 is 100K Ω, and the resistance value of resistance R3 is 47K Ω, resistance R4
Resistance value be 10K Ω, the resistance value of resistance R5 is 24.9K Ω, and the resistance value of resistance R6 is 51 K Ω, and the resistance value of resistance R7 is 51K Ω,
The resistance value of resistance R8 is 100K Ω, and the resistance value of resistance R9 is 100 Ω, and the resistance value of resistance R10 is 12K Ω, and the resistance value of resistance R11 is
The resistance value of 10K Ω, resistance R12 are 4K Ω, and the resistance value of resistance R13 is 47K Ω, and the capacitance of capacitor C1 is 0.02 μ F, capacitor C2
Capacitance be 0.02 μ F, the capacitance of capacitor C3 is 1 μ F, and the capacitance of capacitor C4 is 470pF, and the capacitance of capacitor C5 is 2 μ
F。
Since the signal of distance measuring sensor (6) acquisition is faint voltage signal, thus signal amplification unit passes through resistance
The voltage V0 that R1-R9, capacitor C1-C2 and integrated transporting discharging A1-A2 export distance measuring sensor (6) amplifies processing, then
Resistance R10-R13, capacitor C3-C5 and integrated transporting discharging A3 is reused to carry out at low-pass filtering to by amplified voltage signal
Reason, to improve the precision of distance detection.
As shown in figure 3, the first image processing unit (4) include the first image enhancement module, the first image smoothing module with
And first image denoising module；
Wherein, the output end of the first image acquisition units (2) is connect with the input terminal of the first image enhancement module, and the first image increases
The output end of strong module is connect with the input terminal of the first image smoothing module, the output end and the first figure of the first image smoothing module
As the input terminal connection of denoising module, the output end of the first image denoising module is connect with the input terminal of central processing unit (1).
As shown in figure 4, the second image processing unit (5) include the second image enhancement module, the second image smoothing module with
And second image denoising module；
Wherein, the output end of the second image acquisition units (3) is connect with the input terminal of the second image enhancement module, and the second image increases
The output end of strong module is connect with the input terminal of the second image smoothing module, the output end and the second figure of the second image smoothing module
As the input terminal connection of denoising module, the output end of the second image denoising module is connect with the input terminal of central processing unit (1).
Specifically, the first image collecting device (1) includes three CCD cameras, respectively the first CCD camera, the 2nd CCD phase
Machine and third CCD camera, wherein the first CCD camera is installed on vehicle front windshield, the second CCD camera and third
CCD camera is respectively arranged in automobile sided mirror unit, and the first CCD camera is used to acquire the image information of vehicle front, and second
CCD camera and third CCD camera are used to acquire the image information at automobile side rear, the first CCD camera, the second CCD camera and
Third CCD camera is connect with the first image processing unit (4).
Second image collecting device (2) is infrared camera, and infrared camera is installed on the top of operator seat in driver's cabin, infrared
Camera is used to acquire the facial image information of driver, and infrared camera is connect with the second image processing unit (5), at the second image
Reason unit (5) is transmitted to central processing unit (1), central processing unit after the facial image information of acquisition is carried out image procossing
(1) according to treated image information judges driver whether fatigue driving.
Driver's eyes are positioned according to the face geometry in driver's facial information, further according to the closure of driver
Fatigue driving is judged.
Specifically, distance measuring sensor (6) is installed at automotive license plate position, for monitor automobile in the process of moving with it is preceding
The distance signal of vehicle, and by distance signal transmission to signal processor (7), signal processor (7) is by distance signal transmission into
Distance signal is compared by central processor (1), central processing unit (1) with pre-determined distance threshold value S1 and pre-determined distance threshold value S2,
If the numerical value of distance signal is less than threshold value S1 and is greater than threshold value S2, central processing unit (1) controls automobile power control unit
(9) reduction of speed processing is carried out to automobile, central processing unit (1) controls alarm unit (8) and issues alarm signal, central processing unit
(1) image information that the first image processing unit (4) and the second image processing unit (5) are handled is saved to storage unit
(11), meanwhile, the image information that the first image processing unit (4) and the second image processing unit (5) are handled is passed through into channel radio
News network is sent to remote monitoring center (12)；If the numerical value of distance signal is less than or equal to threshold value S2, central processing unit
(1) control automobile brake control unit (9) carries out braking processing to automobile, and central processing unit (1) controls alarm unit (8) hair
Alarm signal out, the figure that central processing unit (1) handles the first image processing unit (4) and the second image processing unit (5)
Picture information is saved to storage unit (11), meanwhile, at the first image processing unit (4) and the second image processing unit (5)
The image information of reason is sent to remote monitoring center (12) by wireless communication networks；If the numerical value of distance signal is greater than or equal to
Threshold value S1, the then image that central processing unit (1) handles the first image processing unit (4) and the second image processing unit (5)
Information is saved to storage unit (11), meanwhile, the first image processing unit (4) and the second image processing unit (5) are handled
Image information be sent to remote monitoring center (12) by wireless communication networks.
It specifically, is two-dimensional function f (x, y) by the image definition of the first image acquisition units (2) acquisition, wherein x, y are
Space coordinate, the first image enhancement module carry out image enhancement processing to image f (x, y), the figure after image enhancement processing
As being g (x, y), wherein
；
Wherein, k, q are custom parameter, and the value range of k is (0,1), and the value range of q is；
First image smoothing module carries out picture smooth treatment to the first image enhancement module treated image g (x, y), passes through
Image after picture smooth treatment is p (x, y), wherein
；
First image denoising module carries out image denoising processing to the image p (x, y) after the first image smoothing resume module, passes through
Image denoising treated image is s (x, y), wherein carrying out pretreated image to image s (x, y) is q (x, y),
；
；
First image denoising module will treated that image s (x, y) is transmitted to central processing unit (1) by image denoising.
It specifically, is two-dimensional function k (x, y) by the image definition of the second image acquisition units (3) acquisition, wherein x, y are
Space coordinate, the second image enhancement module carry out image enhancement processing to image k (x, y), the figure after image enhancement processing
As being h (x, y), wherein
；
Wherein, k, q are custom parameter, and the value range of k is (0,1), and the value range of q is；
Second image smoothing module carries out picture smooth treatment to the second image enhancement module treated image h (x, y), passes through
Image after picture smooth treatment is i (x, y), wherein
；
Second image denoising module carries out image denoising processing to the image i (x, y) after the second image smoothing resume module, passes through
Image denoising treated image is m (x, y), wherein carrying out pretreated image to image i (x, y) is n (x, y),
；
；
Second image denoising module will treated that image m (x, y) is transmitted to central processing unit (1) by image denoising.
Specifically, central processing unit (1) is STC12C5A60S2 single-chip microcontroller or MSP430 single-chip microcontroller.
Specifically, remote monitoring center (12) is car owner's mobile phone, and car owner passes through remote monitoring center (12) real-time monitoring vapour
Vehicle travelling state.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, those skilled in the art should understand that, to technical side of the invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Scope of the claims in.
Claims (10)
1. a kind of the Vehicle Safety Travel, which is characterized in that the Vehicle Safety Travel includes central processing unit
(1), the first image acquisition units (2), the second image acquisition units (3), the first image processing unit (4), the second image procossing
Unit (5), distance measuring sensor (6), signal processor (7), alarm unit (8), automobile power control unit (9), automobile brake
Control unit (10), storage unit (11) and remote monitoring center (12)；
Wherein, the input terminal of the alarm unit (8), the automobile power control unit (9) input terminal, the automobile brake
The input terminal of the input terminal of control unit (10), the input terminal of the storage unit (11) and the remote monitoring center (12)
Respectively with the connection of the output end of the central processing unit (1), output end, first figure of the signal processor (7)
As the output end of processing unit (4) and the output end of second image processing unit (5) and the central processing unit (1)
Input terminal connection, the output end of the distance measuring sensor (6) connect with the input terminal of the signal processor (7), described the
The output end of one image acquisition units (2) is connect with the input terminal of the first image processing unit (4), and second image is adopted
The output end of collection unit (3) is connect with the input terminal of second image processing unit (5)；
Wherein, the distance measuring sensor (6) is installed at automotive license plate position, for monitor automobile in the process of moving with front truck
Distance signal, the distance signal of acquisition is converted to voltage signal V0 by the distance measuring sensor (6), and voltage signal V0 is passed
It transports to the signal processor (7), V1 is by the signal processor (7) treated voltage signal, the signal processing
Device (7) includes signal amplification unit and signal filter unit, and the output end of the distance measuring sensor (6) and signal amplification are single
The input terminal connection of member, the output end of the signal amplification unit are connect with the input terminal of the signal filter unit, the letter
The output end of number filter unit is connect with the port ADC of the central processing unit (1).
2. the Vehicle Safety Travel according to claim 1, which is characterized in that the signal amplification unit includes integrated
Amplifier A1-A2, resistance R1-R9, capacitor C1-C2 and triode T1-T2,
Wherein, the output end of the distance measuring sensor (6) is connect with the base stage of triode T1, one end of capacitor C1 and integrated transporting discharging
The non-inverting input terminal of A1 connects, the other end ground connection of capacitor C1, after one end of resistance R1 is in parallel with one end of capacitor C1 and integrated
The non-inverting input terminal of amplifier A1 connects, and one end of resistance R2 is connect with the inverting input terminal of integrated transporting discharging A1, and resistance R2's is another
It holds and is connect with after the parallel connection of the output end of the distance measuring sensor (6) with the base stage of triode T1, one end of capacitor C2 and integrated fortune
The output end connection for putting A1, connects after the other end of capacitor C2 is in parallel with one end of resistance R2 with the inverting input terminal of integrated transporting discharging A1
It connects, one end of capacitor C2 is also connect with one end of resistance R3, and the other end of resistance R3 is connect with one end of resistance R4, resistance R5's
It is connect after one end is in parallel with the other end of resistance R3 with one end of resistance R4, the other end of resistance R5 and the reverse phase of integrated transporting discharging A2
Input terminal connection, the other end of resistance R5 are also connect with the collector of triode T1 ,+15 direct current of another termination of resistance R4
Source, the other end of resistance R4 are also connect with one end of resistance R6, the other end of resistance R6 and the non-inverting input terminal of integrated transporting discharging A2
Connection, the other end of resistance R6 are also connect with the collector of triode T2, the transmitting of the emitter and triode T2 of triode T1
It is connect after the connection of pole with one end of resistance R7, another termination -15V DC power supply of resistance R7, the base stage and resistance of diode T2
Connect after one end of R9 is in parallel with the other end of resistance R1, the other end of resistance R9 is grounded, one end of resistance R9 also with resistance R8
One end connection, the other end of resistance R8 connect with the output end of integrated transporting discharging A2.
3. the Vehicle Safety Travel according to claim 2, which is characterized in that the signal filter unit includes resistance
R10-R13, capacitor C3-C5 and integrated transporting discharging A3；
Wherein, the output end of the signal amplification unit is connect with one end of resistance R10, the output end of the signal amplification unit
It is also connect with one end of capacitor C3, the other end ground connection of capacitor C3, the other end of resistance R10 is connect with one end of capacitor C4, electricity
Hold the other end ground connection of C4, the other end of resistance R10 connect with the inverting input terminal of integrated transporting discharging A3, one end of resistance R12 and
The non-inverting input terminal of integrated transporting discharging A3 connects, the other end ground connection of resistance R12, one end after resistance R11 is in parallel with capacitor C5 and
The inverting input terminal of integrated transporting discharging A3 connects, the output end of the other end and integrated transporting discharging A3 after resistance R11 is in parallel with capacitor C5
Connection, the other end after resistance R11 is in parallel with capacitor C5 are also connect with one end of resistance R13, one end of resistance R13 and integrated fortune
The output end connection of A3 is put, the other end of resistance R13 is connect with the port ADC of central processing unit (1), the signal processing list
Member will treated voltage signal V1 the is transmitted to central processing unit (1) the port ADC.
4. the Vehicle Safety Travel according to claim 1, which is characterized in that the first image processing unit (4)
Including the first image enhancement module, the first image smoothing module and the first image denoising module；
Wherein, the output end of the first image acquisition unit (2) is connect with the input terminal of the first image enhancing module, institute
The output end for stating the first image enhancement module is connect with the input terminal of the first image Leveling Block, and the first image is smooth
The input terminal of the output end of module and the first image denoising module connect, the first image denoise module output end and
The input terminal of the central processing unit (1) connects.
5. the Vehicle Safety Travel according to claim 1, which is characterized in that second image processing unit (5)
Including the second image enhancement module, the second image smoothing module and the second image denoising module；
Wherein, the output end of second image acquisition units (3) is connect with the input terminal of second image enhancement module, institute
The output end for stating the second image enhancement module is connect with the input terminal of the second image smoothing module, second image smoothing
The output end of module is connect with the input terminal of second image denoising module, the output end of second image denoising module with
The input terminal of the central processing unit (1) connects.
6. the Vehicle Safety Travel according to claim 1, which is characterized in that the first image acquisition device (1)
Including three CCD cameras, respectively the first CCD camera, the second CCD camera and third CCD camera, wherein the first CCD
Camera is installed on vehicle front windshield, and second CCD camera and the third CCD camera are respectively arranged in automobile two
On rearview mirror, first CCD camera is used to acquire the image information of vehicle front, second CCD camera and described the
Three CCD cameras are used to acquire the image information at automobile side rear, first CCD camera, second CCD camera and described
Third CCD camera is connect with the first image processing unit (4)；
Second image collecting device (2) is infrared camera, and the infrared camera is installed on the top of operator seat in driver's cabin,
The infrared camera is used to acquire the facial image information of driver, the infrared camera and second image processing unit
(5) it connects, second image processing unit (5) is transmitted to institute after the facial image information of acquisition is carried out image procossing
It states central processing unit (1), image information judges driver whether fatigue is driven according to treated for the central processing unit (1)
It sails.
7. the Vehicle Safety Travel according to claim 1, which is characterized in that the distance measuring sensor (6) is installed on
At automotive license plate position, for monitor automobile in the process of moving with the distance signal of front truck, and by the distance signal transmission
To the signal processor (7), the signal processor (7) is by the distance signal transmission to the central processing unit (1), institute
It states central processing unit (1) and is compared the distance signal with pre-determined distance threshold value S1 and pre-determined distance threshold value S2, if described
The numerical value of distance signal is less than the threshold value S1 and is greater than the threshold value S2, then the central processing unit (1) controls the vapour
Vehicle power control unit (9) carries out reduction of speed processing to automobile, and the central processing unit (1) controls alarm unit (8) hair
Alarm signal out, the central processing unit (1) is by the first image processing unit (4) and second image processing unit
(5) image information handled is saved to the storage unit (11), meanwhile, by the first image processing unit (4) and institute
The image information for stating the second image processing unit (5) processing is sent to the remote monitoring center by wireless communication networks
(12)；If the numerical value of the distance signal is less than or equal to the threshold value S2, the central processing unit (1) controls the vapour
Vehicle brak control unit (9) carries out braking processing to automobile, and the central processing unit (1) controls alarm unit (8) hair
Alarm signal out, the central processing unit (1) is by the first image processing unit (4) and second image processing unit
(5) image information handled is saved to the storage unit (11), meanwhile, by the first image processing unit (4) and institute
The image information for stating the second image processing unit (5) processing is sent to the remote monitoring center by wireless communication networks
(12)；If the numerical value of the distance signal is greater than or equal to the threshold value S1, the central processing unit (1) is by described first
Image processing unit (4) and the image information of second image processing unit (5) processing are saved to the storage unit
(11), meanwhile, the image information that the first image processing unit (4) and second image processing unit (5) are handled is logical
It crosses wireless communication networks and is sent to the remote monitoring center (12).
8. the Vehicle Safety Travel according to claim 4, which is characterized in that by the first image acquisition unit
(2) image definition acquired is two-dimensional function f (x, y), and wherein x, y are space coordinates, and the first image enhances module to figure
As f (x, y) progress image enhancement processing, the image after image enhancement processing is g (x, y), wherein
；
Wherein, k, q are custom parameter, and the value range of k is (0,1), and the value range of q is；
The first image Leveling Block enhances the first image image g (x, y) the progress image smoothing after resume module
Processing, the image after picture smooth treatment are p (x, y), wherein
；
The first image denoises module and carries out image denoising to the first image Leveling Block treated image p (x, y)
Processing is s (x, y) by image denoising treated image, wherein carrying out pretreated image to image s (x, y) is q
(x, y),
；
；
The first image denoise module will by image denoising treated that image s (x, y) is transmitted to the central processing list
First (1).
9. the Vehicle Safety Travel according to claim 4, which is characterized in that by second image acquisition units
(3) image definition acquired is two-dimensional function k (x, y), and wherein x, y are space coordinates, and second image enhancement module is to figure
As k (x, y) progress image enhancement processing, the image after image enhancement processing is h (x, y), wherein
；
Wherein, k, q are custom parameter, and the value range of k is (0,1), and the value range of q is；
The second image smoothing module carries out image smoothing to second image enhancement module treated image h (x, y)
Processing, the image after picture smooth treatment are i (x, y), wherein
；
Second image denoising module carries out image denoising to the image i (x, y) after the second image smoothing resume module
Processing is m (x, y) by image denoising treated image, wherein carrying out pretreated image to image i (x, y) is n
(x, y),
；
；
Second image denoising module will treated that image m (x, y) is transmitted to the central processing list by image denoising
First (1).
10. the Vehicle Safety Travel according to claim 1, which is characterized in that the central processing unit (1) is
STC12C5A60S2 single-chip microcontroller or MSP430 single-chip microcontroller, the remote monitoring center (12) are car owner's mobile phone, and car owner passes through described
Remote monitoring center (12) real-time monitoring vehicle driving state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811070707.4A CN109177900A (en) | 2018-09-13 | 2018-09-13 | A kind of the Vehicle Safety Travel |
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| CN201811070707.4A CN109177900A (en) | 2018-09-13 | 2018-09-13 | A kind of the Vehicle Safety Travel |
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