Electro-optical apparatus for preventing vehicle collision

FIELD: physics.

SUBSTANCE: apparatus has a first image input device (IID) and a system controller (SC). The apparatus further includes five electro-optical sensors (EOS), second, third and fourth IID, two blur compensating devices (BCD), a liquid-crystal display and an audio signalling device. The first and second EOS are installed with possibility of obtaining images of the scene in front of the vehicle, while the third and fourth EOS are installed with possibility of obtaining images of the scene behind the vehicle, and the fifth EOS - with possibility of obtaining images of the eyes of the driver. The IID are connected to outputs of the corresponding EOS and are configured to perform intermediate storage of the obtained image data. The first and second BCD are connected to outputs of the first and second IID, respectively, and are configured to increase clearness of the obtained image and detect moving objects. The SC is connected to outputs of the first and second BCD, the third and fourth IID, the fifth EOS and the speed sensor of the vehicle. The SC enables to select contours on the images, detect fixed objects thereon, determining their three-dimensional coordinates on pairs of stereo-images and the motion path from the change in three-dimensional coordinates of objects and detecting obstacles. The audio signalling unit and the liquid-crystal display are connected to corresponding outputs of the SC.

EFFECT: apparatus provides automatic notification of the driver on possible collision of the vehicle with an obstacle, possibility of analysing the condition of the driver in order to prevent sleeping behind the wheel.

1 dwg

 

The invention relates to computing and can be used to prevent road accidents by timely detection of obstacles in the path of the vehicle and other moving vehicles and alert the driver falling asleep.

Known collision avoidance system (see U.S. patent No. 7436430) [1], based on the principle of binocular vision.

The disadvantage of the system is the low accuracy for the detection of obstacles in terms of image noise, which caused a significant decrease in the probability of identifying the same object in different frames of stereo images with increasing noise. From the user point of view this fact reduces the accuracy of detection of obstacles during rain, snow and other precipitation.

Well-known television system (see U.S. patent No. 7400266) [2], containing the source of the infra-red range and a highly sensitive video camera. Coming from a camera image is displayed on the on-Board display and increases the probability of detecting obstacles on the road by the driver at night. However, this system is not automated, i.e. people constantly need to look at the monitor, which makes it impossible to monitor the situation on the road and does not reduce the likelihood of road TRANS is Ortego incident.

A known system for detecting obstacles (see U.S. patent No. 7389171) [3] with a single opto-electronic sensor (EDI). An obvious disadvantage of the proposed solution is the impossibility of determining the three-dimensional coordinates of objects, which significantly reduces the functionality of the systems, collision, in particular does not allow to analyze the trajectory of an oncoming vehicle and in a timely manner to indicate a possible obstacle.

A device for warning of emergency situations on the road (see RF patent №2157769) [4], consisting of a host response to the collision, interconnected with the actuation mechanism having a signalling element. The disadvantages of the device is insufficient for the practical application of the technical solutions, especially in the non-contact obstacle detection. In [4] are available only decisions related to mechanical components, while the issues of building automatic detection of obstacles is almost not affected.

Closest to the proposed device is the system of three-dimensional computer vision for robotic systems (see U.S. patent No. 7410266) [5], which consists of a lens system, input image (UWI) and the system counter is llera. The main task performed by the vision system (TMS) is the identification and recognition of objects. STZ can be applied for solving problems of collision avoidance. The disadvantage of this device is its focus on universal application, which makes this solution is inefficient in detecting obstacles in the path of the vehicle and, in addition, does not provide an analysis of the condition of the driver (sleep/awake).

The problem to which the invention is directed, is to develop systems that provide automatic notification of the driver of a possible collision of the vehicle with an obstacle to prevent road traffic accidents (in the direction of travel or back), and also allows the analysis of the condition of the driver (sleep/awake) to prevent falling asleep at the wheel.

The technical result is achieved due to the fact that in the known device, the first input device image and the system controller (SC), inputs of the first, second, third, fourth, fifth EDI, second, third, fourth input device image (UWI), the first, second compensation devices blur (UKR), LCD display (LCD)device, an audible indication (ultrasound), and outputs the first, second, third of the th and the fourth EDI are connected respectively to the inputs of the first, second, third and fourth OUI, the outputs of the first and second OUI connected respectively to the inputs of the first and second RBM, whose outputs are connected respectively to first and second inputs of the IC, the outputs of the third and fourth OUI connected respectively with the third and fourth input ck, the output of the fifth EDI is connected to the fifth input of the IC, the signal from the sensor current vehicle speed is supplied to the sixth input of the IC, the first and second outputs of which are connected to the inputs of ultrasound and LCD, respectively.

The invention can be used to alert the driver of a possible collision of the vehicle with an obstacle and falling asleep driver to prevent traffic accidents.

The invention is illustrated in the drawing, which shows a structural diagram of an optical-electronic device alert collision of the vehicle.

Device (drawing) contains the first EDI 1, the first OUI 2, the first RBM 3, second EDI 4, the second SAW 5, the second UKR 6, third EDI 7, the third OUI 8, fourth EDI 9, the fourth OUI 10, fifth EDI 11, UK 12, ultrasound 13, the LCD 14, and the outputs of the first EDI 1, second EDI 4, third EDI 7 and the fourth EDI 9 is connected to the inputs of the first OUI 2, the second SAW 5, the third OUI 8 and the fourth OUI 10, respectively, the outputs of the first OUI 2 and the second SAW 5 is connected to the group of inputs of the first RBM 3 and the second is CR 6, respectively, whose outputs are connected to first and second inputs of the IC 12, respectively, the outputs of the third OUI 8 and the fourth SAW 10 is connected with the third and fourth input of the IC 12, respectively, the output of the fifth EDI 11 is connected to the fifth input of the IC 12, the information about the current vehicle speed is supplied to the sixth input of the IC 12, whose first and second outputs connected to the group of inputs ultrasound 13 and the LCD 14, respectively.

The first EDI 1 and the second EDI 4 are used to obtain images of the stage along the front of the vehicle, third EDI 7 and the fourth EDI 9 are used to obtain images of the stage to the rear of the vehicle, fifth EDI 11 is designed to capture images of the eyes of the driver. First OUI 2, the second SAW 5, the third OUI 8 and the fourth OUI 10 provide intermediate storage of the images received from the first EDI 1, second EDI 4, third EDI 7 and the fourth EDI 9, respectively, and the subsequent entry of these images in IC 12. First UKR 3 and the second UKR 6 are used to improve the sharpness of the obtained image and the detection of moving objects. SC 12 serves to highlight the contours on the images obtained from the first EDI 1, second EDI 4, third EDI 7 and the fourth EDI 9, detection of stationary objects on them, determine their three-dimensional coordinates and trajectories of motion detection etc is padti and alert the driver about the danger. Ultrasound 13 serves for sound alerts the driver about the danger. The LCD 14 is used to visually alert the driver of the danger.

The device operates as follows. The first EDI 1, second EDI 4, third EDI 7 and the fourth EDI 9 transform the distribution of the optical radiation of the stage into an electrical signal and then digitally form the image of the stage on their outputs, which then images are received at the inputs of the first OUI 2, the second SAW 5, the third OUI 8 and the fourth OUI 10, respectively, for storage and subsequent processing. Images taken in the direction of travel of the vehicle, stored in the first OUI 2 and the second SAW 5, are transmitted with their outputs to the inputs of the first RBM 3, second UKR 6, respectively. First UKR 3 and the second UKR 6 produces the detection of moving objects and the sharpness of the image.

First UKR 3 and the second UKR 6 improve image clarity through adaptive changes of output values of the brightness of the image of the current frame depending on the input brightness values of the pixels of the current and previous frames. First UKR 3 and the second UKR 6 also find the images of moving objects and measure their two-dimensional coordinates.

Enhanced definition consists of the following steps:

- selection of moving pixels in the image based on the Ana is iza interframe difference,

- the determination of the direction of movement of each pixel,

- Association of moving in one direction pixels

- underline the contours of moving objects (see RF patent №2337501) [6].

First UKR 3 and the second UKR 6 combine objects in pixels, moving in the same direction. Under the object to understand the totality of non-background pixels (pixels) of the image with the direction of motion, such that for each point there will be at least one neighboring point located at a distance of one pixel.

To improve the clarity of the image by the moving objects first UKR 3 and the second UKR 6 produce underline contours by adding them to the original image with the gradient image. The brightness values of the static image areas of the first RBM 3 and the second UKR 6 left unchanged.

Implementation of the algorithm for detecting moving objects, based on the calculation of the interframe difference, allows to compensate for the image distortion of moving objects at the hardware level in the first RBM 3 and the second UKR 6 and provides timely collision detection of moving objects in real time.

From the output of the fifth EDI 11 to the fifth input of the IC 12 receives an image of an eye of the driver. Image analysis the eyes of the driver includes the operations of analysis of images of the face of the driver obtained in different range the material ranges (infrared (IR) and visible) radiation and the subsequent detection of the face image and the pupil on the basis of the following features of face images: the background brightness in a range remains unchanged regardless IR illumination, the brightness of the skin is greatly increased when enabled, IR illuminator, and the brightness of the pupils, representing dark circles, unchanged. Each frame image SC 12 breaks into a small area. For each area of the IC 12 receives the average value of the pixel intensity of its components.

The analysis of the average brightness of areas of the frame when turned off and turned on the infrared source IC 12 detects a face on the basis of the following features. When the IR radiation of the distance of the facial skin is almost white, while the background is located farther from the EDI than the face, characterized by much lower brightness. In addition to face detection using additional symptom: when switched off and the IR emission brightness of the respective face of the frame will be significantly different, and the brightness of the background behind the face is only slightly changed. Thus, the combination of these features allows you to detect the driver's face is simple from a computational point of view, the procedure implemented IC 12. The final operation is the detection of IC 12 eyes on the presence of the pupil in the image on the basis of two characteristics: when IR illumination pupil remains almost black in the image, and the rest of the face light, as well as the circular shape of the pupil.

The image with whodopolo UKR 3, second UKR 6, third OUI 8, the fourth OUI 10 are received respectively in the first, second, third, and fourth inputs of the IC 12, which produces a selection of contours on the image, detection of stationary objects on them, determining their three-dimensional coordinates based on the known formulas (see Shapiro L., Stockman j. Computer vision: TRANS. from English. M.: BINOM. Knowledge laboratory, 2006. - 752 S.) [7] pairs of stereo images obtained first EDI 1, second EDI 4 and the third EDI 7, fourth EDI 9, and trajectories of change three-dimensional coordinates of objects, detection of obstacles.

Upon detection of a dangerous situation (possible collision with an obstacle or closing the driver's eyes for a long time) with the first and second outputs of the IC 12 and the signal is transmitted to the inputs of ultrasound 13 and the LCD 14, respectively, for the audio and visual alerts the driver about the current situation.

Collectively presents the operation of the detection of moving objects and the eyes of the driver enable parallel to distribute computations between different modules of the device and increase the speed of image processing, which, ultimately, provides early detection of risk factors when driving a vehicle.

As the first EDI 1, second EDI 4, third EDI 7, fourth EDI 9 can be used digital is videokamery Logitech 9000, Philips 1300. For the implementation of the fifth EDI 11 it is advisable to use either one of the above cameras or analog monochrome video camera that generates at its output a standard television signal.

First OUI 2, the second SAW 5, the third OUI 8, the fourth SAW 10 can be implemented according to the scheme described in detail in the patent of the Russian Federation 2295153 [8], or on the basis of a wide range of modern electronics market standard tools of the input image, for example, by AverMedia. Moreover, we note that the type and structure of the input image is determined by the type of the first EDI 1, second EDI 4, third EDI 7, fourth EDI 9, fifth EDI 11 and the type of system controller 12.

First UKR 3 and the second UKR 6 should be implemented on a programmable logic integrated circuit presented in [6] solution.

As the system controller 12, it is advisable to use microatm or digital signal processor, it is also possible to use so-called PDAs or computers type "laptop". In the latter case with IC 12 will be structurally combined ultrasound and 13, the LCD 14. Ultrasound 13, the LCD 14 in addition can be implemented regardless SC 12: this can be respectively applied to the liquid crystal indicators and sound pietistically.

And the finding helps to improve traffic safety through the timely detection of obstacles in the path of the vehicle and closed for a long time the eyes of the driver and provides a comprehensive consideration of factors reducing road safety.

Opto-electronic device of collision of the vehicle containing the first input device image (OUI), and system controller (SC), wherein the inputs of the first, second, third, fourth and fifth opto-electronic sensors (EDI), second, third and fourth OUI, the first and second compensation devices blur (RBM), a liquid crystal display device and an audible indication, and the first and second EDI is installed with the possibility of obtaining images of the stage in front of the vehicle, the third and fourth EDI - with the possibility of obtaining images of the stage from behind vehicle, and the fifth EDI - with the possibility of obtaining images of the eyes of the driver, the first, second, third and fourth OUI connected respectively to the outputs of the first, second, third and fourth EDI and executed with the possibility of intermediate storage of the obtained images, the first and second RBM connected respectively to the outputs of the first and second SAW and made with the possibility of increasing the sharpness of the obtained image and detection for moving objects, the IC is connected to the outputs of the first and second RBM, third and fourth OUI, fifth EDI and speed sensor of the vehicle and performed with the who is a very useful selection of contours in images detection of stationary objects on them, determine their three-dimensional coordinate pairs of stereo images and trajectories of change three-dimensional coordinates of objects and the detection of obstacles, the node audible indication and a liquid crystal display connected to the corresponding outputs of the IC.



 

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8 cl, 2 dwg

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