摘要
众所周知,近年来尤其是进入21世纪,汽车工业已成为世界的支柱产业,汽车在日常生活和工作中起的作用也越来越突出。而如何实现各类车辆的有效指挥、协调控制和管理已经成为交通运输和安全管理部门面临的一个重要问题。
汽车导航系统为汽车司机提供实时的信息服务,使交通网络快速、高效、安全的运行,为提高交通安全和提供良好的交通环境做出了相当的贡献。但现有导航系统这种贡献是有限的,它仅局限于单车导航,并不能从本质上解决现有的交通安全问题,因为它没有分析和解决自车周围潜在的交通问题。
本文正是针对现有汽车导航系统存在的问题和新的发展需要提出新的研究方向——汽车导航信息共享系统(PSS)。PSS实时保持自车与周围车辆的信息共享,并实时提供自车周围信息,特别是容易发生交通事故的信息。PSS包含三个关键技术:创建快速移动无线局域网、实现雷达与摄像机数据匹配,和针对现有的汽车导航CommNavi系统构架不足提出了新的组件思想和系统构架。本文对后两个技术进行了详细论述:在实现雷达与摄像机数据匹配技术中主要给出了方便有效的摄像机标定方法和雷达与摄像机数据匹配算法;在PSS系统构架中针对COM组件在嵌入式系统的不足提出了基于DLL的组件思想,并提出了便于系统功能扩展和组件升级的系统构架方式。
汽车导航PSS的研究是一个系统复杂的工程,它的实现不但更加提高了交通安全水平,减少交通事故发生,更进一步促进ITS的发展。
As everyone knows, especially entering 21st century in recent years, the auto industry has already become the pillar industry of the world, it is more and more outstanding that the automobile function in the daily life and work. How to realize the effective conduct and control in harmony and manage of all kinds of vehicles, which already become an important problem that communication and transportation and safe administrative department have faced.
Automobile offer real-time information service to drivers by navigation system, make traffic network fast, high-efficient, security running, and make suitable contribution to improve the traffic safety and offer the more traffic environment. But this kind of contribution is limited, it only confines to navigate by own car, which can not solve the existing traffic safely problem in essence. Because it has not analyzed and solved the potential traffic problem around own car.
This text just at the problem which existing automobile navigation exists and new development need, and propose the new research direction -Automobile Navigation Public Space System (PSS). PSS keep the information sharing of own car and vehicles around in realtime, and offer the information around of own car in real time, especially apt to the information of the traffic accident take place. PSS includes three pieces of key technology: Establish fast moving wireless LANs, realize data matching of radar and camera, directed against existing Automobile Navigation CommNavi to propose new component thought and systematic framework. Have described last two pieces of technology in detail in this text: Offer the convenient and effective camera's calibration method and the data matching algorithms of radar and camera; Aim at the shortage of COM application in embedded system to put forward the component method based on DLL among PSS systematic framework, and propose systematic framework ways who is convenient to system function expand and component upgrading.
It is complicated and systematic project that the research of the PS S, its realization not only improves the level of traffic safety further, reduces the traffic accident, and more and more promote the development of ITS.
引文
[1] 常敬春.我国汽车导航系统研究取得进展.计算机应用,2002(6):11~15
[2] 知识创新网.车载GPS导航系统可行性分析报告.http://www.knowlerich.com,2002,5
[3] 赵会平.GPS民间应用的一个最大市场——汽车导航系统.中国工程科学,2001,3(8):64~69
[4] 陈萍.汽车卫星导航系统的现状与发展.汽车电器,2002年增刊:3~8
[5] 郭兴环.汽车电子导航系统.现在交通管理,1999(3):17~18
[6] 邓隐北,李原,王新宪.汽车智能系统简介 河南交通科技,2000,20(3):51~52
[7] 十五期间汽车防盗及导航系统发展规划.http://www.chinacars.com,2001,9
[8] 日经BP社报道.日本车载导航仪市场将持续高速增长.日经BP网,2002,11
[9] 交通情报分析报告.日本阿尔派公司,2002,5
[10] 夏玮玮,沈连丰,肖婕等.嵌入式系统关键技术分析与开发应用.嵌入式技术,2003,2:1~5
[11] 嵌入式系统及如何开发自己的嵌入式系统http://www.orbitabluebox.com
[12] 何丽.嵌入式Linux:挑战与发展共存.微电脑世界[J/OL],2001(1)
[13] MPEG-4标准嵌入式技术数字监控系统.http://www.lifu.com.cn
[14] 蒋鲲鹏,缪敬,芦东昕.一种分布式操作系统进程间消息通信方法的设计.hnp://www.zte.com.cn,2003,10
[15] 张义青,李华贵.嵌入式实时程序设计中C/C++代码的优化.微计算机信息,2003(1):7~8
[16] 李冰山.COM组件技术及其应用.大连理工大学硕士学位论文,2000,3:1~4
[17] 张志亮,文登敏.软件组件技术的研究与实现.西安交通大学硕士学位论文,2002,3:10~27
[18] 张晓梅.组件系统在嵌入式操作系统上的应用.福州大学硕士学位论文,2001,6:32~41
[19] [美]Dale Rogerson著,杨秀章译.COM技术内幕.北京:清华大学出版社,1999,3:32~74
[20] 潘爱民.COM基本原理与应用.北京:清华大学出版社,2001,9:55~91
[21] Tom Armstrong Ron Patton著,董梁,丁杰,李长业等译.ATL开发指南.北京:电子工业出版社,2001,7:271~278
[22] Tom Arnstrong, Ron Patton. ATL Developer's Guide, 2nd Edition. IDG Books Worldwide, Inc. California, USA, 2000, 2:302~321
[23] Brian Myers Eric Hamer. Mastering Windows NT Programming, 1996, 5:52~67
[24] 李海斌,王凡,苏辉.C++动态链接库与拨号网络.河北省科学院学报,1999,16(4):49~53
[25] Abdel-Aziz Y.I.,Karara H.M. Direct linear transformation from comparator coordinates into Object space coordinates In close-range photogrammetry.In U.of Illinois Symposium on Close-Range Photogrammetry. Urbana:Univ.of Illinois at Urbana-Champain, 1971:1~18
[26] Yongtac Do. Applications of neural network for stereo-Camera Calibration. Proc.of International Joint Conference on Neural Networks. Washington: IEEE, 1999:2719~2722
[27] 马颂德,张正友.计算机视觉计算理论与实践.北京:科学出版社,1998
[28] 汽车新导航:解决方案报告.日本阿尔派公司,2002,5
[29] 刘宗田,黄自强等.基于构件复用的社会化软件工程模式.计算机工程与设计,1999,20(1):43~48
[30] 吴金中,王镭.基于构件的应用软件开发.计算机应用研究,1999(2):78~81
[31] 卢鹏丽,袁占亭,张余秋.构件及中间件技术的研究.甘肃工业大学学报,2002,28(4):17~23
[32] 齐向明,齐勇,马莉等.CORBA组件运行和开发环境研究.西安交通大学学报,2001,(2):152~156
[33] 刘锦德,苏森.CORBA技术的新进展.计算机应用,1999,12(5):2~9
[34] 张志亮,文登敏.组件软件技术的研究与实现.西安交通大学硕士学位论文,2002.3:10~28
[35] 邱茂林,马颐德,李毅.计算机视觉中摄像机定标综述.自动化学报,2000,26(1):43~55
[36] Ganapathy S. Decomposition of transformation matrices for robot vision. Proc.Int.Conference on Robotics and Automation, 1984:130~139
[37] W.Faig. Calibration of close-range photogrammetry system: Mathematical formulation. Photogrammetric Eng. Remote Sensing, 1975, 41 (12): 1479~1486
[38] Tsai R. Y. A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV camera and lenses. IEEE Journal of Automation, 1987 (3): 323~334
[39] Tsai R. Y. An efficient and accurate camera calibration technique for 3D machine vision. Proc. CVPR'86. New York: IEEEI, 1986:364~374
[40] R.I Hartley. Estimation of relative camera position for uncalibrated camera. Proc. of the ECCV'92. Italy Santa Margherita Ligure, 1992:397~387
[41] Maybank SJ, Fanger OD. A theory of self-calibration of a moving camera. Int.J. ComputerVison, 1992, 8 (2): 123~151
[42] 姜大志,郝倩,王冰洋等.计算机视觉中的设备标定和三维图形重构综述.计算机工程与应用,2001,37(13):53~55
[43] 崔勇,袁冬,李殿璞.计算机视觉系统的定标策略.应用科技,2000,27(8):15~17
[44] 高立志,方勇,林志航等.高精度立体视觉测量中一种通用的摄像机标定技术.机械科学与技术,1998,17(5):809~811
[45] R.K.Lenz and R.Y.Tsai. Techniques for calibration of the scale factor and image center for high accuracy 3D machine vision metrology. IEEE Trans. On PAMI, 1998, 10(5) : 713~720
[46] 高立志,方勇,林志航.立体视觉测量中摄像机标定的新技术.电子学报,1999,27(2):12~14
[47] 张艳珍,欧宗玫.一种新的摄像机线性标定方法.中国图像图形学报,2001,6(8):727~758
[48] R.K.Lenz and R.Y.Tia l. Technology for calibration of the scale and image center for high accuracy 3D machine vision metrology. IEEE Trans.on PAMI, 1998, 10 (5): 713~720
[49] Zhang.Z. A flexible new technique for camera calibration. Microsoft Corporation: Technical Report MSR-TR-98-71, 1998
[50] 高满屯,曲仕如,李西琴.计算机视觉研究中的投影理论和方法.西安:西北工业大学出版社,1998,4:232~244
[51] Fadi Domaika, Christophe Garcia. Pose estimation using point and line correspondence. Real-Time Imaging, 1999, 5 (5): 215~230
[52] S.D.Ma. A self-calibration technique for active vision system. IEEE Trans. Robotics and Automation, 1996, 12(1): 114~120
[53] R.Hartley. Self-calibration of stationary cameras. Int. Journal of Computer, 1997, 22(1): 5~23.
[54] Lourdes de Agapito, Richard I Hartley. Linear self-calibration of a rotating and zooming camera. CVPR'99. Los Agamitos: IEEE, 1999, 15~21
[55] 杨长江,孙凤梅,胡占义.基于二次曲线的纯旋转摄像机自标定.自动化学报,2001,27(3):310~317
[56] 雷成,吴福朝,胡占义.Kruppa方程与摄像机白标定.自动化学报,2001,27(5):621~633
[57] 张光澄,黄世莹,候泽华.最优化计算方法.成都:成都科技大学出版社,1989,10:72~102
[58] Zhengyou Zhang. Flexible Camera Calibration By Viewing a Plane From Unknown Orientations. http://www.research.microsoft.com