CN201118837Y

CN201118837Y - Vehicle-mounted image processing device for lane line identification and safety warning

Info

Publication number: CN201118837Y
Application number: CNU2007200882182U
Authority: CN
Inventors: 于涛; 徐家明; 彭国华; 刘金汉
Original assignee: Dongfeng Motor Co Ltd
Current assignee: Dongfeng Trucks Co ltd
Priority date: 2007-11-16
Filing date: 2007-11-16
Publication date: 2008-09-17
Anticipated expiration: 2017-11-16

Abstract

The utility model discloses a lane line discernment and safety warning's on-vehicle image processing device relates to driving environment information's image acquisition and processing. The device comprises an optical lens, an image sensor, a data signal processor, a display and two paths of bus interfaces. The device converts images of lane lines and obstacles into digital signals by using an optical lens and an image sensor, and the digital signals are collected and processed by a data signal processor to obtain the position relationship between a vehicle and a lane, the type and the relative distance and speed of the obstacles; the parameters of the image sensor are controlled through an I ^2C bus, and the parameters are sent to a vehicle-mounted electronic control unit through a CAN bus for safety warning and control; and the other path of CAN bus and CCP protocol are used for parameter calibration. The advantages are that the digital processing chip and the image sensor are combined into an embedded vehicle-mounted image processing device, the integration of the camera and the computer system is realized, the structure is compact, the performance is reliable, the price is low, and the device is suitable for automobiles.

Description

The on-vehicle image processing device of a kind of lane line identification and security warning

Technical field

The utility model relates to image processing, more specifically relates to the IMAQ and the processing of environment information.

Background technology

Existing automobile-used image processing apparatus generally is the display unit that the image of driver blind area is sent to driver's cabin, or for the position of inspected object, or in order to prevent collision.For example Xia Mian three innovation and creation.

Number of patent application: 200410089462.1 invention is a kind of method and device of the automobile surrounding condition dynamic supervision based on image processing.This invention is the image that rectangle diagram picture that video camera is obtained becomes given shape after treatment respectively, and overlook figure with this car of taking and store in advance and synthesize processing, form one similar to overlooking the complete effect image of this motor vehicle and surrounding condition thereof in the air, and on display screen, show.

Number of patent application: 200510124348.2 invention is a kind of vehicle mounted image processing apparatus.This invention is the measurement result according to radar, by image processing, detects the position of object.

Number of patent application: 200510125415.2 invention also is a kind of automobile-used image processing system, and this system is mainly used in and prevents collision and record collision.Also be used to discern gradually the collision possibility that increases or realization and avoid the safety device that collides.

Do not find at present a kind of on-vehicle image processing device that is used for lane line identification and serves as warning as yet.

Summary of the invention

The purpose of this utility model is: the on-vehicle image processing device that a kind of lane line identification and security warning are provided.This device comprises: camera lens, cmos sensor, dsp system, CAN bus and relevant interface circuit and signal processing method.

In order to achieve the above object, the utility model adopts following technical scheme:

The on-vehicle image processing device of a kind of lane line identification and security warning comprises: optical lens, cmos image sensor, data signal processor DSP, LCD display, vehicle bus and state information interface, RS232 serial communication interface change CAN bus interface, DC power supply and oscillator.

Cmos image sensor comprises: sensor devices, I^2C bus interface and the output of PAL screen.

Data signal processor DSP comprises screen decoder, I^2C bus interface, screen encoder, input interface and serial communication interface.

Optical lens connects the sensor devices of cmos image sensor, the serial data signal (SDA) of cmos image sensor I^2C bus interface is connected with serial clock signal (SCL) with the serial data signal (SDA) of data signal processor DSP I^2C bus interface respectively with serial clock signal (SCL), be connected respectively to the vision signal of the image of the PAL screen output of cmos image sensor and reference the screen encoder of data signal processor DSP, the screen encoder of data signal processor DSP, input interface and serial communication interface respectively with LCD display, vehicle bus and state information interface change the CAN bus interface with the RS232 serial communication interface and are connected, DC power supply is connected with the supply socket of cmos image sensor, and oscillator is connected with the clock port of cmos image sensor.

This device is gathered lane line and peripheral obstacle image information with optical lens and cmos image sensor, and converts PAL vision signal, dsp system collection to and handle these vision signals, obtains the position relation in vehicle and track, relative distance and angle; Utilize the input/output interface of CAN bus and device, the speed of acquisition vehicle and turn signal, brake signal are warned judgement; By the parameter that the I^2C bus is regulated cmos sensor, control picture quality adapts to different illumination conditions.By the CAN bus vehicle location parameter is sent to vehicle-mounted ECU, use for security warning and control.

Compared with prior art, advantage of the present utility model is, utilize digital processing chip and imageing sensor to be combined into an embedded onboard image processing apparatus, realized the integrated of camera and computer system, compact conformation, dependable performance, low price, suitable automobile use.

Description of drawings

Fig. 1 is a structural representation of the present utility model.

Fig. 2 is that RS232 serial communication interface of the present utility model changes CAN bus interface structural representation.

Embodiment

Below in conjunction with accompanying drawing, the utility model is further described.

The on-vehicle image processing device of a kind of lane line identification and security warning comprises optical lens, cmos image sensor, data signal processor DSP, LCD display, vehicle bus and state information interface, the RS232 serial communication interface changes CAN bus interface, DC power supply and oscillator.

Cmos image sensor comprises sensor devices, I^2C bus interface and the output of PAL screen.

The annexation of above-mentioned each parts is: optical lens connects the sensor devices of cmos image sensor, the serial data signal (SDA) of cmos image sensor I^2C bus interface is connected with serial clock signal (SCL) with the serial data signal (SDA) of data signal processor DSP I^2C bus interface respectively with serial clock signal (SCL), be connected respectively to the vision signal of the image of the PAL screen output of cmos image sensor and reference the screen encoder of data signal processor DSP, the screen encoder of data signal processor DSP, input interface and serial communication interface respectively with LCD display, DC power supply is connected with the supply socket of cmos image sensor, and oscillator is connected with the clock port of cmos image sensor.

By accompanying drawing 2 as can be known, vehicle bus and state information interface change the CAN bus interface with the RS232 serial communication interface and are connected, MAX232 is the dedicated serial communication interface chip, MC9S12DP256 is the single-chip microcomputer of 16 bit strip CAN functions, RXD, Rxd, on behalf of the data of chip, RXD0 accept port, TXD, Txd, TXD0 represent the data sending terminal mouth of chip.Gnd is with reference to the ground port.

Below realize the principle and the course of work of deviation alarm function for the utility model.Cmos sensor is selected the MT9V125 of U.S. Micron Technology for use, digital signal processor is selected the DM642 of TI company for use, DM642 is by the parameter of the total line traffic control cmos sensor of I^2C MT9V125, the operating state that adjust to be fit to illumination condition is utilized the travel lane line image information in the place ahead of camera lens and cmos sensor MT9V125 collection vehicle.The pal mode vision signal of cmos sensor MT9V125 connects DM642 by the TVP5150APBS Video Decoder, DM642 memory image signal is also handled, obtain the information of lane line, and then calculate the relative position of vehicle and lane line, geometric datas such as angle.Utilize the Data Input Interface of this device, the CAN bus obtains Vehicle Speed, and turn signal (whether the driver turns to) etc. carry out safety that whether vehicle depart from then and judge and send caution.Following is the process of lane line identification:

1, divides the region of interest (ROI) of gray-scale map;

2, carry out figure image intensifying and filtering based on differential;

3, utilize maximum entropy method (MEM) to determine threshold value;

4, binaryzation, the pixel filter on the lane line and definite;

5, Hough transformation determines that the position of lane line and vehicle and lane line concerns;

The utility model circuit CAN bus interface is to utilize the universal asynchronous serial communication UART interface of DM642 to change the realization of CAN special module by RS232.The CAN bus interface connects the vehicle electric control unit, obtains the speed of vehicle operating.

The utility model circuit digital input interface is to utilize the GIO of DM642 existing factually.The numeral input and output connect the signals of vehicles circuit, obtain the status signal of vehicle operating, turn signal brake signal etc.;

The utility model circuit can obtain vehicle with respect to lane line position, angle by above-mentioned interface, car speed, driver's brake, turn signal.DM642 is achieved as follows function by software: when the speed of a motor vehicle greater than 60 kilometers/hour, vehicle is when on one side lane line and angle are greater than setting threshold, when perhaps vehicle has been got over line, whether judge vehicle departs from and has a mind to, if be not intended to, the device information that gives a warning then, and then realize the deviation alarm function.

Claims

1, the on-vehicle image processing device of a kind of lane line identification and security warning, it is characterized in that this device comprises optical lens, cmos image sensor, data signal processor DSP, LCD display, vehicle bus and state information interface, the RS232 serial communication interface changes CAN bus interface, DC power supply and oscillator; Cmos image sensor comprises sensor devices, I^2C bus interface and the output of PAL screen; Data signal processor DSP comprises screen decoder, I^2C bus interface, screen encoder, input interface and serial communication interface;

Optical lens connects the sensor devices of cmos image sensor, the serial data signal of cmos image sensor I^2C bus interface is connected with serial clock signal with the serial data signal of data signal processor DSP I^2C bus interface respectively with serial clock signal, be connected respectively to the vision signal of the image of the PAL screen output of cmos image sensor and reference the screen encoder of data signal processor DSP, the screen encoder of data signal processor DSP, input interface and serial communication interface respectively with LCD display, vehicle bus and state information interface change the CAN bus interface with the RS232 serial communication interface and are connected, DC power supply is connected with the supply socket of cmos image sensor, and oscillator is connected with the clock port of cmos image sensor.