Intelligent traffic inspection vehicle-mounted monitoring systemTechnical Field
The invention relates to the technical field of image recognition, in particular to an intelligent traffic inspection vehicle-mounted monitoring system.
Background
The traffic inspection vehicle has the function of inspecting on the road to ensure traffic order and road safety. The system is provided with a monitoring system, comprises a camera and an image recognition technology, and can monitor traffic illegal behaviors, accidents and road conditions.
When the traffic inspection vehicle judges the safety distance of two vehicles in normal running or overtaking, an edge contour recognition algorithm is generally adopted, and the situation of misrecognition and missed recognition is easy to occur in complex background or environment with larger change, meanwhile, higher calculation resources and complex processing algorithm are required, effective early warning cannot be formed quickly, and if only the vehicle center positioning is adopted, accident missed judgment is possibly caused by different shapes of the vehicles. Therefore, it is necessary to design a vehicle-mounted monitoring system of an intelligent traffic inspection vehicle with quick and accurate response.
Disclosure of Invention
The invention aims to provide an intelligent traffic inspection vehicle-mounted monitoring system so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the intelligent traffic inspection vehicle-mounted monitoring system comprises an image monitoring module, an image processing module and an analysis and early warning module, wherein the image monitoring module is used for identifying a road and monitoring vehicles on the road in real time, the image processing module is used for carrying out gridding processing on a shot image and redrawing the vehicle outline, and the analysis and early warning module is used for analyzing the vehicle distance, time and vehicle speed in image data and carrying out early warning and targeted highlighting on vehicles with too close vehicle distance.
According to the technical scheme, the image monitoring module comprises a camera, a road identification module and a vehicle identification module, wherein the camera is electrically connected with the road identification module and the vehicle identification module, the road identification module is electrically connected with the vehicle identification module, the camera is used for acquiring road image data, the road identification module is used for identifying a road by utilizing an image identification technology and determining a road on which the vehicle runs, and the vehicle identification module is used for identifying the vehicle on the road and determining the position of the vehicle in the road;
The image processing module comprises a coordinate system building module, a gridding processing module, a point position coordinate recording module, a vehicle contour fitting module and a stroboscopic scanning module, wherein the stroboscopic scanning module is electrically connected with the point position coordinate recording module, the point position coordinate recording module is electrically connected with the vehicle contour fitting module, the coordinate system building module is sequentially and electrically connected with the gridding processing module and the point position coordinate recording module, the coordinate system building module is used for building a plane coordinate system of a monitored road image, the gridding processing module is used for crossing the plane coordinate system with straight lines and vertical lines according to the same interval distance and processing image information only at the intersection point, the point position coordinate recording module is used for recording the point position coordinate of a vehicle image element, the vehicle contour fitting module is used for generating square grids around the point position coordinate of the vehicle image, fitting a simplified vehicle contour, and the stroboscopic scanning module is used for carrying out instantaneous recording on the image according to a certain frequency;
The analysis early warning module comprises a timing module, a vehicle distance judging module, a vehicle speed calculating module, a critical distance judging module, an early warning module and a protruding display module, wherein the timing module is used for calculating time to serve as the basis of other data, the vehicle distance judging module is used for judging the distance between adjacent vehicles and the safety distance according to the point position coordinates of vehicle image elements, the vehicle speed calculating module is used for calculating the vehicle speed according to the change of the frequency and the coordinates of the instantaneous record of images, the critical distance judging module is used for judging the critical distance between two vehicles by combining the change of the relative speed of the adjacent vehicles, the early warning module is used for early warning the conditions below the safety distance and with low critical distance, and the protruding display module is used for highlighting the coordinates which are possibly dangerous.
According to the technical scheme, the working method of the monitoring system comprises the following steps:
S1, when working is started, shooting roads and vehicles by using a camera, establishing a plane coordinate system, and establishing coordinates of each intersection;
S2, carrying out instantaneous recording on the image information of the intersection according to a certain frequency, otherwise, not recording the image information, and fitting a simplified contour of the vehicle according to whether the image elements of the vehicle appear at the coordinate points;
s3, calculating the safety distance of the vehicle by combining the contour of the vehicle, and alarming the situation below the safety distance;
s4, when the adjacent vehicles are in a normal state with equal safety distance and above, calculating the relative vehicle speed to obtain the expectation of the future critical distance, and early warning is carried out when the critical distance is lower than the critical value;
S5, highlighting and displaying the coordinates which are possibly dangerous according to the height of the critical distance.
According to the above technical solution, in S3, the specific method for calculating the safe distance of the vehicle includes: estimating the contour size of the vehicle according to the point position coordinates of the vehicleIs the number of pointsDistance from the point locationThe product of (a), i.eSafety distance of vehicleIs thatWhereinFor the conversion factor of the safety distance and the contour size,For the contour size of the first vehicle,For the contour size of the second vehicle adjacent to the vehicle, the larger the contour size of the vehicle is, the slower the braking speed is, so that a larger safety distance is required, and when the two running vehicles are smaller than the safety distance, the early warning module carries out warning processing.
According to the above technical solution, in S4, the future expected calculation method of the critical distance is as follows: when two vehicles run at a constant speed around a safe distance in tandem, the fixed frequency is usedThe position of the vehicle contour coordinate point obtained by instantaneous recording can move in a coordinate system at a fixed speed, when a first vehicle runs at a reduced speed, the critical distance between the first vehicle and a second vehicle is reduced, the critical distance between the first vehicle and the second vehicle is increased when the first vehicle runs at a reduced speed, the critical distance between the second vehicle and the second vehicle is increased when the second vehicle runs at a reduced speed, the critical distance between the first vehicle and the second vehicle is reduced when the first vehicle runs at a reduced speed, and the magnitude of acceleration of the second vehicle can influence the magnitude of the safety radius of the first vehicle and the second vehicle.
According to the above technical scheme, in S4, the calculation formula of the relative vehicle speed is: at the time of two adjacent instantaneous recordings, recorded as timeAnd time of dayThe instantaneous recording time interval isTime of dayAnd time of dayIs shifted betweenThe distance between the coordinate points isAt a speed ofRecording time in the same wayAnd time of dayThe distance interval between them isAt a speed ofThe acceleration isSum of critical distancesThe calculation formula of (2) is as follows: WhereinFor acceleration and safety distanceIs a constant, the conversion coefficient of the (c) is a constant,At the moment for the first vehicleAnd time of dayThe coordinate point positions of the translation are between,At the moment for the first vehicleAnd time of dayThe coordinate point positions of the translation are between,At the moment for the second vehicleAnd time of dayThe coordinate point positions of the translation are between,At the moment for the second vehicleAnd time of dayCo-ordinate point of translation between, when the first vehicle acceleratesThe front is negative, the speed is positive when the second vehicle acceleratesThe front part is positive, the deceleration is negative, and when the calculated sum of the critical distances is greater than the safe distance, the early warning module carries out early warning processing.
According to the above technical solution, in the above step S5, the specific method for highlighting the convex display is to set up an LED lamp bead at each coordinate point, and control the total working current to beWhen the sum of the critical distances of two groups of coordinate points is larger than the safe distance, the working current of the related coordinate point LED lamp beads is increased, and the working current of the other coordinate point LED lamp beads is reduced so as to maintain the total working currentAnd (5) performing projection display on the coordinate points which are possibly dangerous under the condition of unchanged state.
According to the above technical scheme, in S5, the calculation formula of the working current of the LED lamp bead at each coordinate point is: WhereinThe working current of the LED lamp beads is projected and displayed,As a conversion coefficient of the critical distance and the current magnitude,The working current of the LED lamp beads which are not convex display is,Is the sum of working currents of all the LED lamp beads with convex display,As the number of coordinate points,The number of LED lamp beads which need to be displayed in a protruding mode.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the vehicle image is subjected to gridding simplification processing, and whether the vehicle image exists in each coordinate point position or not is only required to be captured according to fixed frequency, so that the vehicle contour is estimated.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of the principles of the present invention;
fig. 2 is a schematic view of the overall module structure of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, the present invention provides the following technical solutions: the intelligent traffic inspection vehicle-mounted monitoring system comprises an image monitoring module, an image processing module and an analysis and early warning module, wherein the image monitoring module is used for identifying a road and monitoring vehicles on the road in real time, the image processing module is used for carrying out gridding processing on a shot image and redrawing the vehicle outline, and the analysis and early warning module is used for analyzing the vehicle distance, time and vehicle speed in image data and carrying out early warning and targeted highlighting on vehicles with too close vehicle distance;
The image monitoring module comprises a camera, a road identification module and a vehicle identification module, wherein the camera is electrically connected with the road identification module and the vehicle identification module, the road identification module is electrically connected with the vehicle identification module, the camera is used for acquiring road image data, the road identification module is used for identifying a road by utilizing an image identification technology to determine the road on which the vehicle is driven, and the vehicle identification module is used for identifying the vehicle on the road and determining the position of the vehicle in the road;
the system comprises an image processing module, a vehicle contour fitting module and a stroboscopic scanning module, wherein the image processing module comprises a coordinate system establishing module, a gridding processing module, a point position coordinate recording module, a vehicle contour fitting module and a stroboscopic scanning module, the stroboscopic scanning module is electrically connected with the point position coordinate recording module, the point position coordinate recording module is electrically connected with the vehicle contour fitting module, the coordinate system establishing module is sequentially electrically connected with the gridding processing module and the point position coordinate recording module, the coordinate system establishing module is used for establishing a plane coordinate system of a monitored road image, the gridding processing module is used for intersecting the plane coordinate system with a straight line and a vertical line according to the same interval distance and processing image information only at the intersection point, the point position coordinate recording module is used for recording point position coordinates of vehicle image elements, the vehicle contour fitting module is used for generating square boxes around the point position coordinates of the vehicle image, fitting the simplified vehicle contour, and the stroboscopic scanning module is used for carrying out instantaneous recording on the image according to a certain frequency;
The analysis early warning module comprises a timing module, a vehicle distance judging module, a vehicle speed calculating module, a critical distance judging module, an early warning module and a protruding display module, wherein the timing module is used for calculating time as the basis of other data, the vehicle distance judging module is used for judging the distance and the safety distance between adjacent vehicles according to the point position coordinates of vehicle image elements, the vehicle speed calculating module is used for calculating the vehicle speed according to the frequency and the coordinate changes recorded instantaneously by images, the critical distance judging module is used for judging the critical distance between two vehicles by combining the relative speed changes of the adjacent vehicles, the early warning module is used for early warning the conditions below the safety distance and with the low critical distance, and the protruding display module is used for highlighting the coordinates with danger;
the working method of the monitoring system comprises the following steps:
S1, when working is started, shooting roads and vehicles by using a camera, establishing a plane coordinate system, and establishing coordinates of each intersection;
S2, carrying out instantaneous recording on the image information of the intersection according to a certain frequency, otherwise, not recording the image information, and fitting a simplified contour of the vehicle according to whether the image elements of the vehicle appear at the coordinate points;
s3, calculating the safety distance of the vehicle by combining the contour of the vehicle, and alarming the situation below the safety distance;
s4, when the adjacent vehicles are in a normal state with equal safety distance and above, calculating the relative vehicle speed to obtain the expectation of the future critical distance, and early warning is carried out when the critical distance is lower than the critical value;
S5, highlighting and displaying coordinates which are possibly dangerous according to the height of the critical distance;
S3, a specific method for calculating the safety distance of the vehicle comprises the following steps: estimating the contour size of the vehicle according to the point position coordinates of the vehicleIs the number of pointsDistance from the point locationThe product of (a), i.eSafety distance of vehicleIs thatWhereinFor the conversion factor of the safety distance and the contour size,For the contour size of the first vehicle,For the contour size of the second vehicle adjacent to the vehicle, the larger the contour size of the vehicle is, the slower the braking speed is, so that a larger safety distance is needed, and when the two running vehicles are smaller than the safety distance, the early warning module carries out warning processing;
In this way, the influence of the vehicle contour on the braking safety distance is considered, and the safety distance of the vehicle can be rapidly judged by simplifying the process
In S4, the future expected calculation method of the critical distance is as follows: when two vehicles run at a constant speed around a safe distance in tandem, the fixed frequency is usedThe position of a vehicle contour coordinate point obtained by instantaneous recording moves in a coordinate system at a fixed speed, when a first vehicle runs at a reduced speed, the critical distance between the first vehicle and a second vehicle is reduced, the critical distance between the first vehicle and the second vehicle is increased when the first vehicle runs at a reduced speed, the critical distance between the second vehicle and the second vehicle is increased when the second vehicle runs at a reduced speed, the critical distance between the first vehicle and the second vehicle is reduced when the first vehicle runs at a reduced speed, and the magnitude of acceleration of the second vehicle influence the magnitude of the safety radius of the first vehicle;
In S4, the calculation formula of the relative vehicle speed is: at the time of two adjacent instantaneous recordings, recorded as timeAnd time of dayThe instantaneous recording time interval isTime of dayAnd time of dayIs shifted betweenThe distance between the coordinate points isAt a speed ofRecording time in the same wayAnd time of dayThe distance interval between them isAt a speed ofThe acceleration isSum of critical distancesThe calculation formula of (2) is as follows: WhereinFor acceleration and safety distanceIs a constant, the conversion coefficient of the (c) is a constant,At the moment for the first vehicleAnd time of dayThe coordinate point positions of the translation are between,At the moment for the first vehicleAnd time of dayThe coordinate point positions of the translation are between,At the moment for the second vehicleAnd time of dayThe coordinate point positions of the translation are between,At the moment for the second vehicleAnd time of dayCo-ordinate point of translation between, when the first vehicle acceleratesThe front is negative, the speed is positive when the second vehicle acceleratesThe front part is positive, the speed is reduced, and when the sum of the calculated critical distances is greater than the safety distance, the early warning module carries out early warning treatment;
Because the influence of acceleration and deceleration on the future is considered, the safety of two future vehicles is judged in advance by combining the monitoring condition of the coordinate points when the vehicles accelerate and decelerate, and the effect of advanced control is achieved;
In the above step S5, the specific method of highlighting the convex display is to set up an LED lamp bead at each coordinate point and control the total working current to beWhen the sum of the critical distances of two groups of coordinate points is larger than the safe distance, the working current of the related coordinate point LED lamp beads is increased, and the working current of the other coordinate point LED lamp beads is reduced so as to maintain the total working currentUnder the condition of unchanged, the coordinate points which are possibly dangerous are subjected to projection display;
In S5, the calculation formula of the working current of the LED lamp bead at each coordinate point is as follows: WhereinThe working current of the LED lamp beads is projected and displayed,As a conversion coefficient of the critical distance and the current magnitude,The working current of the LED lamp beads which are not convex display is,Is the sum of working currents of all the LED lamp beads with convex display,As the number of coordinate points,The number of LED lamp beads which need to be displayed in a protruding mode.
Wherein the method comprises the steps ofAnd base currentI.e. the sum of the respective branch currents and the critical distance when all LED beads have equal currentsIn proportion to the sum of the critical distancesThe larger, namely when two vehicles are large vehicles, the working current of the LED lamp beads with convex displayThe larger the working current of the LED lamp bead with non-convex displayThe sum of the currents of (a) isI.e. the total current minusAnd is evenly distributed on a plurality of LED lamp beads with non-convex display, namely。
Under the condition of keeping the total current and the power consumption unchanged, the method is particularly suitable for the moving traffic inspection vehicle to display some key parts in a protruding way, and improves the cruising duration of the inspection vehicle.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.