基于CPCI的车载纠偏系统的研究与实施
摘要
论文围绕车道偏离报警系统的设计开展了相应的研究工作,并最终建立了一个车道偏离报警硬件平台。
车道偏离报警系统由视频采集处理模块,算法处理模块和报警电路组成。视频采集处理模块主要完成视频图像的采集和数字转换,而算法处理模块则是对数字视频图像进行信息提取,获得车辆的位置信息从而判断车辆是否偏离车道。报警电路则是在车辆偏离车道的时候对驾驶员提出警告。视频采集处理模块和算法处理模块之间采用CPCI总线进行连接。
论文对系统中各个模块的设计作了详细的介绍。视频采集处理模块选择了Philips公司的SAA7111A和SAA7146A作为采集和处理芯片,对模拟视频信号进行数字转换并且对数字视频作简单的处理,并且编写了该模块在Windows下的驱动和应用程序。算法处理模块采用了ETX的方案,通过ETX底板将算法处理模块(即ETX核心板)和外围接口、视频采集模块、报警电路连接起来。报警电路则采用串行接口的语音提示模块。系统各部分设计完成后,视频采集处理模块和算法处理模块通过CPCI总线连接成系统,构建了车道偏离报警系统的实验平台,并在此平台上对系统进行了测试。
The design of lane departure warning system is described in this paper, and the conformation of the experimental platform simulating the lane departure warning system is also introduced.
The lane departure warning system is composed of the video capture module,the arithmetic process module and the warning module. The video capture module's function is to capture video image and convert analog signal into digital signal. The arithmetic process module gets information of the digital video image which can obtain the position of the vehicle,and then estimates whether the vehicle depart the lane. The warning module reminds the driver when the vehicle depart the lane. The communication of the video capture module and the arithmetic process module is based on CPCI bus.
The paper gives a detailed introduction of each component. The video capture module selects SAA7111A and SAA7146A which are produced by Philips Co. as video capture and process chips. The module converts the analog signal into digital signal and gives simple process to the digital video image. The drive and the application programme of the module are also introduced. The arithmetic process module is designed with ETX technology. The module (ETX core board ), peripheral interfaces,video capture module and the warning module are connected by the ETX expanding board. And the warning module chooses the voice notice module as the warining unit which has COM interface. After completing the design of each component, the experimental platform is conformed by connecting the video capture module and the arithmetic process module with CPCI bus. The lane departure warining system is tested in this platform.
车道偏离报警系统由视频采集处理模块,算法处理模块和报警电路组成。视频采集处理模块主要完成视频图像的采集和数字转换,而算法处理模块则是对数字视频图像进行信息提取,获得车辆的位置信息从而判断车辆是否偏离车道。报警电路则是在车辆偏离车道的时候对驾驶员提出警告。视频采集处理模块和算法处理模块之间采用CPCI总线进行连接。
论文对系统中各个模块的设计作了详细的介绍。视频采集处理模块选择了Philips公司的SAA7111A和SAA7146A作为采集和处理芯片,对模拟视频信号进行数字转换并且对数字视频作简单的处理,并且编写了该模块在Windows下的驱动和应用程序。算法处理模块采用了ETX的方案,通过ETX底板将算法处理模块(即ETX核心板)和外围接口、视频采集模块、报警电路连接起来。报警电路则采用串行接口的语音提示模块。系统各部分设计完成后,视频采集处理模块和算法处理模块通过CPCI总线连接成系统,构建了车道偏离报警系统的实验平台,并在此平台上对系统进行了测试。
The design of lane departure warning system is described in this paper, and the conformation of the experimental platform simulating the lane departure warning system is also introduced.
The lane departure warning system is composed of the video capture module,the arithmetic process module and the warning module. The video capture module's function is to capture video image and convert analog signal into digital signal. The arithmetic process module gets information of the digital video image which can obtain the position of the vehicle,and then estimates whether the vehicle depart the lane. The warning module reminds the driver when the vehicle depart the lane. The communication of the video capture module and the arithmetic process module is based on CPCI bus.
The paper gives a detailed introduction of each component. The video capture module selects SAA7111A and SAA7146A which are produced by Philips Co. as video capture and process chips. The module converts the analog signal into digital signal and gives simple process to the digital video image. The drive and the application programme of the module are also introduced. The arithmetic process module is designed with ETX technology. The module (ETX core board ), peripheral interfaces,video capture module and the warning module are connected by the ETX expanding board. And the warning module chooses the voice notice module as the warining unit which has COM interface. After completing the design of each component, the experimental platform is conformed by connecting the video capture module and the arithmetic process module with CPCI bus. The lane departure warining system is tested in this platform.
引文
[1]宁乐然.高速公路交通事故的主要原因[J].交通与运输,2004.2,2:38-39
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[4]东华.车道偏离报警系统[J].电子产品世界,2005.3,13:71-72
[5]PCIMG.CPCI总线规范[R].12-15
[6]磐仪科技有限公司.ETX模块化计算机平台的介绍与在工业自动化中的应用[R].1-4
[7]张志宇,付梦印.ETX嵌入式CPU模块在车载GPS导航系统中的应用[J].工业控制计算机,2004,17(9):39-40
[8]控创科技有限公司.ETX-PM模块技术手册[R].1-5
[9]黄颖,杜旭.基于CPCI总线的分布式系统设计[J].微计算机信息,2006,22(12):41-44
[10]王生祥,卢汉生,侯山峰等.基于PCI总线的数字视频键控图像叠加卡的设计[J].仪表技术与传感器,2002.9,9:26-28
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[15]黄思远,郭从良,郭立等.具有高性能多媒体处理功能的PCI接口控制芯片SAA7146A及其应用[J].电子技术应用,2003.4,4:70-72
[16]李晓霞,李健.SAA7146芯片在视频处理中的应用[J].河北工业大学学报,2002,31(3):23-27
[17]周玉恒,师弈兵,王志刚.基于CPCI总线的数据采集卡及其驱动程序的设计[J].计算机与信息技术,2006.11,11:59-61
[18]张浩,游林儒,陈靖源等.用WinDriver开发PCI设备驱动程序[J].微计算机应用,2006,27(5):621.624
[19]张增辉,沈激,陈子瑜等.基于WinDriver工具的PCI卡驱动程序开发[J].核电子学与探测技术,2006,26(3):367.369
[20]保琦,殷永红,李鹏.利用WinDriver开发设备驱动[J].现代电子技术,2005-3,19.67.69
[21]陈小明,仲顺安.WinDriver在开发数据采集卡驱动程序中的应用[J].工业控制计算机,2005,18(3):31.32
[22]龙杨喜,孙书鹰,宋新民等.基于WinDriver的设备驱动开发[J].微计算机信息,2004,45
[23]乔秀泉.使用WinDriver开发WIN2000下的设备驱动程序[J].甘肃科技,2005,21(6):69.70
[24]马捷中.用WinDriver编写设备驱动程序的几个问题[J].计算机应用与软件,2002.10,10:57.59
[25 刘映杰,张在峰,刘玮等.用WinDriver开发PCI设备驱动程序[J].信息技术,2004,28(2):78-80
[26]吕琦鹏,顾红,苏甲民.用WinDriver开发适合多平台的设备驱动程序[J].单片机与嵌入式系统应用,2003.5,5:80·83
[27]孙实泽.用WinDriver工具包开发设备驱动程序[J].现代电子,2001.2,2:19-24
[28]杨淑云,刘强.基于WinDriver的设备驱动程序的设计开发[J].电子技术,2001·9,9:21.23
[29]万涛,廖维川,马建峰.Microsoft Win32消息处理机制及应用编程[J].计算机工程,2003,29(13):189-191
[30]侯俊杰.深入浅出MFC[M].武汉:华中理工大学出版社,2001:12-15
[31].吴沫.基于计算机视觉的车道跑偏告警系统方法研究[D].硕士学位论文.国防科技大学,2005.
[32].R.Risack,N.Mohler,W.Enkelmann.A Video-Based Lane Keeping Assistant[J].In:Proceedings of IEEE Intelligent.Vehicles Symposium,2000:356-361.
[33].Dagan Erez.Forward Collision Warning with a Single Camera[C].In:IEEE Symposium,Dearborn,MI,USA,October 3-5,2000.
[34].Batavia Parag H.Predicting Lane Position for Roadway Departure Prevention[C].In:Proceedings of IEEE Intelligent Vehicles Symposium,October,1998.
[35].Sukhan Lee,Woong Kwon,Jae-Won Lee.A Vision Based Lane Departure Warning System[C].In:IEEE International Conference on Intelligent Robots and Systems,1999.
[36]Woong Kwon,Jae-Won Lee,Dongmok Shin,Kyoung-Sig Roh,Dong Yoon Kim,Sukhan Lee.Experiments on Decision Making Strategies for a Lane Departure Warning System[C].In:Proceedings of IEEE International Conference on Robotics and Automation,1999.
[37].J.W.Lee,A machine vision system for lane-departure detection[J],Computer Vision and Image Understanding 86(1)(2002) 52-78.
[38].J.W.Lee,C.-D.Kee,U.K.Yi,A new approach for lane departure identification[J],in:Proceedings of IEEE Intelligent Vehicles Symposium,Columbus,OH,2003,pp.100-105.
[39].Joon Woong Lee,A lane-departure identification based on LBPE,Hough transform,and linear regression[J],in:Proceedings of IEEE Computer Vision and Image Understanding 99(2005) 359-383
[40]. Cla' udio Rosito Jung, Christian Roberto Kelber, Lane following and lane departure using a linear-parabolic model[J], in: Proceedings of IEEE Image and Vision Computing 23 (2005) 1192 - 1202
[41]. Cl' audio Rosito Jung and Christian Roberto Kelber, A Lane Departure Warning System Using Lateral Offset with Uncalibrated Camera[J], IEEE Conference on Intelligent Transportation Systems, September 13-16,2005
[42]. T. Zielke, M. Brauckmann, andW.V. Seelen, Intensity and edge-based symmetry detection with an application to car-following, CVGIP: Image Understand. 58,1993, 177-190.
[2]王荣本,余天洪,郭烈等.基于机器视觉的车道偏离警告系统研究综述[J].汽车工程,2005,27(4):463-466
[3]董因平.高速汽车车道偏离预警系统研究[J].长春理工大学学报,2004,27(1):48-50
[4]东华.车道偏离报警系统[J].电子产品世界,2005.3,13:71-72
[5]PCIMG.CPCI总线规范[R].12-15
[6]磐仪科技有限公司.ETX模块化计算机平台的介绍与在工业自动化中的应用[R].1-4
[7]张志宇,付梦印.ETX嵌入式CPU模块在车载GPS导航系统中的应用[J].工业控制计算机,2004,17(9):39-40
[8]控创科技有限公司.ETX-PM模块技术手册[R].1-5
[9]黄颖,杜旭.基于CPCI总线的分布式系统设计[J].微计算机信息,2006,22(12):41-44
[10]王生祥,卢汉生,侯山峰等.基于PCI总线的数字视频键控图像叠加卡的设计[J].仪表技术与传感器,2002.9,9:26-28
[11]吕振洪,李欣,李鸣华.基于PCI总线的高速图像视频采集卡[J].浙江师范大学学报,2003,26(1):30-34
[12]张军,李含善.可编程视频信号输入处理器SA7111[J].国外电子元器件,2002.8,8:39-42
[13]肖儿良,纪爽,卢子峰等.可编程视频输入处理芯片SAA7111及其在图像多媒体中的应用[J].电子技术应用,1999.4,4:71-72
[14]肖儿良,纪爽.SAA7111在图像多媒体中的应用[J].电视技术,1999.7,7:79-81
[15]黄思远,郭从良,郭立等.具有高性能多媒体处理功能的PCI接口控制芯片SAA7146A及其应用[J].电子技术应用,2003.4,4:70-72
[16]李晓霞,李健.SAA7146芯片在视频处理中的应用[J].河北工业大学学报,2002,31(3):23-27
[17]周玉恒,师弈兵,王志刚.基于CPCI总线的数据采集卡及其驱动程序的设计[J].计算机与信息技术,2006.11,11:59-61
[18]张浩,游林儒,陈靖源等.用WinDriver开发PCI设备驱动程序[J].微计算机应用,2006,27(5):621.624
[19]张增辉,沈激,陈子瑜等.基于WinDriver工具的PCI卡驱动程序开发[J].核电子学与探测技术,2006,26(3):367.369
[20]保琦,殷永红,李鹏.利用WinDriver开发设备驱动[J].现代电子技术,2005-3,19.67.69
[21]陈小明,仲顺安.WinDriver在开发数据采集卡驱动程序中的应用[J].工业控制计算机,2005,18(3):31.32
[22]龙杨喜,孙书鹰,宋新民等.基于WinDriver的设备驱动开发[J].微计算机信息,2004,45
[23]乔秀泉.使用WinDriver开发WIN2000下的设备驱动程序[J].甘肃科技,2005,21(6):69.70
[24]马捷中.用WinDriver编写设备驱动程序的几个问题[J].计算机应用与软件,2002.10,10:57.59
[25 刘映杰,张在峰,刘玮等.用WinDriver开发PCI设备驱动程序[J].信息技术,2004,28(2):78-80
[26]吕琦鹏,顾红,苏甲民.用WinDriver开发适合多平台的设备驱动程序[J].单片机与嵌入式系统应用,2003.5,5:80·83
[27]孙实泽.用WinDriver工具包开发设备驱动程序[J].现代电子,2001.2,2:19-24
[28]杨淑云,刘强.基于WinDriver的设备驱动程序的设计开发[J].电子技术,2001·9,9:21.23
[29]万涛,廖维川,马建峰.Microsoft Win32消息处理机制及应用编程[J].计算机工程,2003,29(13):189-191
[30]侯俊杰.深入浅出MFC[M].武汉:华中理工大学出版社,2001:12-15
[31].吴沫.基于计算机视觉的车道跑偏告警系统方法研究[D].硕士学位论文.国防科技大学,2005.
[32].R.Risack,N.Mohler,W.Enkelmann.A Video-Based Lane Keeping Assistant[J].In:Proceedings of IEEE Intelligent.Vehicles Symposium,2000:356-361.
[33].Dagan Erez.Forward Collision Warning with a Single Camera[C].In:IEEE Symposium,Dearborn,MI,USA,October 3-5,2000.
[34].Batavia Parag H.Predicting Lane Position for Roadway Departure Prevention[C].In:Proceedings of IEEE Intelligent Vehicles Symposium,October,1998.
[35].Sukhan Lee,Woong Kwon,Jae-Won Lee.A Vision Based Lane Departure Warning System[C].In:IEEE International Conference on Intelligent Robots and Systems,1999.
[36]Woong Kwon,Jae-Won Lee,Dongmok Shin,Kyoung-Sig Roh,Dong Yoon Kim,Sukhan Lee.Experiments on Decision Making Strategies for a Lane Departure Warning System[C].In:Proceedings of IEEE International Conference on Robotics and Automation,1999.
[37].J.W.Lee,A machine vision system for lane-departure detection[J],Computer Vision and Image Understanding 86(1)(2002) 52-78.
[38].J.W.Lee,C.-D.Kee,U.K.Yi,A new approach for lane departure identification[J],in:Proceedings of IEEE Intelligent Vehicles Symposium,Columbus,OH,2003,pp.100-105.
[39].Joon Woong Lee,A lane-departure identification based on LBPE,Hough transform,and linear regression[J],in:Proceedings of IEEE Computer Vision and Image Understanding 99(2005) 359-383
[40]. Cla' udio Rosito Jung, Christian Roberto Kelber, Lane following and lane departure using a linear-parabolic model[J], in: Proceedings of IEEE Image and Vision Computing 23 (2005) 1192 - 1202
[41]. Cl' audio Rosito Jung and Christian Roberto Kelber, A Lane Departure Warning System Using Lateral Offset with Uncalibrated Camera[J], IEEE Conference on Intelligent Transportation Systems, September 13-16,2005
[42]. T. Zielke, M. Brauckmann, andW.V. Seelen, Intensity and edge-based symmetry detection with an application to car-following, CVGIP: Image Understand. 58,1993, 177-190.