A kind of make a dash across the red light identification and control system based on shooting with positionerTechnical field
The invention belongs to identification and the control technology field of making a dash across the red light, it is related to and a kind of is made a dash across the red light based on shooting and positionerIdentification and control system.
Background technology
Currently, domestic many cities are all being built or are planning to build subway transportation facility, in order to solve subway shield tunnel constructionMiddle mining machinery is with this contradiction of Transport Machinery un-coordinated development, it is necessary to the car of substantial amounts of transport dregs, mud and other debris.Slag-soil truck night running, overload and oversize, blow-by transport and illegal running are nationwide common faults, also as city managementOne of persistent ailment, this phenomenon cannot be solved for a long time, severe contamination urban environment, destroyed traffic order, upset residenceThe life of the people.
At present to the supervision of city slag vehicles taking human as based on supervision, i.e., by the personal consciousness of driver, when produce hypervelocity,When overload, deviation route, strange land unloading, weight change over range, existing monitoring device can not be by the real-time condition of slag-soil truckIt is transferred to supervision center；Administrative department can not also carry out effective management and monitoring to slag-soil truck；As occurred slag-soil truck violationSituation, it is impossible to provide scientific and effective basis for estimation, such as using artificial law enforcement, cost is too high, is unfavorable for promoting；Only utilize sectionSkill means, could realize the long-acting management of city slag vehicles.
Largely there is situations such as slag-soil truck violates the traffic regulations, made a dash across the red light at present, in order to enter to the slag-soil truck behavior of making a dash across the red lightRow identification and control are, it is necessary to propose practical, effective method.Now retrieve a kind of patent document " control of preventing cars from running red lightDevice "（CN201110455329.3）, the patent is mainly used in the research in terms of pilotless automobile, which disclose includingPicture pick-up device, vehicle speed sensor, brake actuating mechanism, automobile controller, with automobile controller, the video identification unit being connected,Video identification unit is used to extract the video image information in picture pick-up device and the video image information is identified, and is confirmingRed green state, count down time are recognized during for traffic lights and the distance between this headstock and zebra stripes are calculated, automobile controller is usedIn the speed for above-mentioned red green state, the information of count down time and the vehicle speed sensor conveying for receiving video identification unit transportationInformation simultaneously carries out whether comprehensive descision controls brake actuating mechanism to be braked.In the patent, by calculating headstock and zebra stripesThe distance between judge whether to make a dash across the red light, while directly control brake performs brake to forbid running red light for vehicle to vehicle.ButIt is that, in slag-soil truck field, vehicle weight is very big, up to 40 to 50 tons, it is impossible to directly brake, and need judging behavior of making a dash across the red lightAfter carry out Control for Speed Limitation, or ACC close after the car locking control that can not start again.Meanwhile, many rural roads of dregs transportationZebra stripes are not obvious or without zebra stripes, and identification zebra stripes are difficult.
The content of the invention
The technical problems to be solved by the invention are that the shortcoming for overcoming prior art is based on shooting and positioning there is provided one kindMake a dash across the red light identification and the control system of device, present system shoot road ahead picture by installing camera device in headstock,And the traffic lights in picture are recognized, whether can make a dash across the red light, driver can be rushed red with reference to the real-time geographical locations vehicle of vehicleThe behavior of lamp is prevented and prevented, and is conducive to safeguarding traffic order.
In order to solve the above technical problems, the present invention provides a kind of make a dash across the red light identification and control based on shooting with positionerSystem processed, system includes video identification device, main frame and positioner, video identification device connection main frame, main frame connection positioningDevice；
Video identification device is used to shoot vehicle front picture, differentiates front and whether there is traffic lights, if being recognized in the presence of ifThe state of traffic lights, and the status information of traffic lights is sent to main frame；
Positioner obtains the current geographical position of vehicle and vehicle heading, with reference to the traffic existed in pre-stored regionThe geographical location information of signal lamp, is analyzed and Continuous plus draws its first traffic signals being up to of vehicle distancesThe gradual change numerical value of the space length of lamp, and the distance values information continuously shortened is sent to main frame；
The status information of main frame combination upcoming traffic signal lamp, according to making a dash across the red light of pre-seting apart from critical value, contrast vehicle withThe gradual change numerical value of space length between traffic lights judges whether vehicle can make a dash across the red light.
The technical scheme that further limits of the present invention is：
Foregoing main frame is also connected with ECU, if main frame judges that vehicle will make a dash across the red light, vehicle is controlled by ECU.
Foregoing main frame is also connected with cloud platform, and main frame can whether the judged result that can be made a dash across the red light be sent to cloud platform by vehicle,Cloud platform can be instructed to main frame feedback command, and connect ECU by main frame is controlled to vehicle.
Aforementioned video identifying device includes video acquiring module and video identification module, and video acquiring module is used to shoot carFront picture, video identification module is used to carry out analysis calculating to the picture of acquisition.
Foregoing positioner includes memory module, display module and logic judgment module, and memory module is used to prestoreThe longitude and latitude positional information of each traffic lights in regional extent；Display module be interactive display curtain, for show road,The position of traffic lights and the real time position of vehicle；Logic judgment module is used for first friendship for judging that vehicle will pass throughVentilating signal lamp simultaneously calculates vehicle and the space length between it.
Foregoing main frame includes data processing module, wireless communication module and control module, and wireless communication module is used to receiveWith transmission data message, data processing module is used to analyze and process the data message received, and control module is used to connectECU is met to be controlled vehicle.
Further,
Foregoing main frame can carry out speed limit or car locking by ECU to vehicle.
Aforementioned video identifying device and positioner are carried out data transmission with main frame by the way of wired or wireless respectively；Main frame is carried out data transmission with ECU by wired mode.
Foregoing main frame and cloud platform wirelessly carry out data transmission.
The beneficial effects of the invention are as follows：
Identification and control system that the present invention is designed, by installing camera device in headstock, shoot vehicle front road picture, knowThe road-map and traffic lights geographical location information stored in traffic lights in other picture, and combination vehicle main frame,The distance of vehicle and upcoming traffic signal lamp is constantly measured by positioner, obtaining vehicle distances, it is first be up toThe gradual change numerical value of the space length of traffic lights, judges whether vehicle can make a dash across the red light；If making a dash across the red light risk, main frame connectionThe ECU of vehicle carries out speed limit or car locking to vehicle, while the real-time status of vehicle can also be fed back into cloud platform, cloud platformOrder or request instruction can be sent to main frame.The present invention can be prevented and be made to the intentional or unintentional behavior of making a dash across the red light of driverOnly, be conducive to safeguarding traffic order.
Brief description of the drawings
Fig. 1 is principle schematic one of the invention；
Fig. 2 is principle schematic two of the invention；
Fig. 3 is principle schematic three of the invention；
Fig. 4 is the principle schematic of video identification device；
Fig. 5 is the principle schematic of positioner；
Fig. 6 is the principle schematic of main frame.
Embodiment
Embodiment 1
The present embodiment provides a kind of make a dash across the red light identification and control system based on shooting with positioner, as shown in figure 1, system bagInclude video identification device, main frame and positioner, video identification device connection main frame, main frame connection locator；Video identificationDevice is used to shoot vehicle front picture, differentiates front and whether there is traffic lights, if the identification traffic lights in the presence of ifState, and the status information of traffic lights is sent to main frame；Positioner obtains the current geographical position of vehicle and vehicleTravel direction, with reference to the geographical location information of the traffic lights existed in pre-stored region, progress is analyzed and Continuous plusDraw the gradual change numerical value of the space length of its first traffic lights being up to of vehicle distances, and will continuously shorten away fromSent from numerical information to main frame；The status information of main frame combination upcoming traffic signal lamp, according to the distance of making a dash across the red light pre-setedCritical value, the gradual change numerical value of the space length between contrast vehicle and traffic lights judges whether vehicle can make a dash across the red light.
As shown in Fig. 2 foregoing main frame is also connected with ECU, if main frame judges that vehicle will make a dash across the red light, by ECU to carIt is controlled.As shown in figure 3, foregoing main frame is also connected with cloud platform, main frame can by vehicle whether the judged result that can be made a dash across the red lightSend to cloud platform, cloud platform can be instructed to main frame feedback command, connect ECU by main frame is controlled to vehicle.
As shown in figure 4, aforementioned video identifying device includes video acquiring module and video identification module, video acquiring moduleFront picture for shooting vehicle, video identification module is used to carry out analysis calculating to the picture of acquisition.As shown in figure 5, precedingStating positioner includes memory module, display module and logic judgment module, and memory module is used to prestore in regional extentThe longitude and latitude positional information of each traffic lights；Display module is interactive display curtain, for showing road, traffic lightsPosition and vehicle real time position；Logic judgment module is used to judging first traffic lights that vehicle will pass through simultaneouslyCalculate vehicle and the space length between it.As shown in fig. 6, foregoing main frame includes data processing module, wireless communication moduleAnd control module, wireless communication module is for receiving and sending data message, and data processing module is for the data to receivingInformation is analyzed and processed, and control module is controlled for connecting ECU to vehicle.
Foregoing main frame can carry out speed limit or car locking by ECU to vehicle.Aforementioned video identifying device and positioner differenceCarried out data transmission with main frame by the way of wired or wireless；Main frame is carried out data transmission with ECU by wired mode.BeforeState main frame and cloud platform wirelessly carries out data transmission.
The identification of the present embodiment design and control system, by installing camera device in headstock, shoot vehicle front roadTraffic lights in picture, identification picture, and combine the road-map stored in vehicle main frame and the geographical position of traffic lightsConfidence is ceased, and the distance of vehicle and upcoming traffic signal lamp is constantly measured by positioner, and obtaining vehicle distances, it is to be up toFirst traffic lights space length gradual change numerical value, judge whether vehicle can make a dash across the red light；If making a dash across the red light risk,The ECU of main frame connection vehicle carries out speed limit or car locking to vehicle, while the real-time status of vehicle can also be fed back to cloud platform,Cloud platform can also send order or request instruction to main frame.The present embodiment intentional or unintentional to driver can make a dash across the red light behavior progressPrevention and prevention, are conducive to safeguarding traffic order.
The technological thought of above example only to illustrate the invention, it is impossible to which protection scope of the present invention is limited with this, it is everyAccording to technological thought proposed by the present invention, any change done on the basis of technical scheme each falls within the scope of the present inventionWithin.