Highway tunnel road condition detection system

Abstract

The highway tunnel road condition detection system comprises a wide-angle camera and a far-focus camera, the wide-angle camera and the far-focus camera are both configured to be a view finding road, and the road far end in the shooting view of the wide-angle camera overlaps or coincides with the shooting view of the far-focus camera. Multiple sets of wide-angle cameras and far-focus cameras are sequentially arranged in the tunnel, and the overall shooting view field is continuous relative to the road and covers the road width. A first group of wide-angle cameras and far-focus cameras facing the interior of the tunnel are arranged at the positions 0-0.2 m away from the entrance of the tunnel, a second group of wide-angle cameras and far-focus cameras facing the exterior of the tunnel are arranged at the positions 1.8-3.2 m away from the entrance of the tunnel, and millimeter wave radars facing the exterior of the tunnel are arranged at the positions 0-3.2 m away from the entrance of the tunnel. And the shooting view field of the second group of wide-angle cameras covers an entrance side blind area of the shooting view field of the first group of wide-angle cameras. The highway tunnel road condition detection system is comprehensive and reliable, and is suitable for real-time control of facilities in the tunnel.

Description

Technical Field

[0001] The utility model belongs to the field of highway tunnels and relates to a road condition detection system for highway tunnels. Background Art

[0002] The inherent traffic camera surveillance system in highway tunnels is used for traffic monitoring or recording for manual monitoring and viewing. Its effectiveness is limited. It can only monitor objects close to the camera, such as license plates or violations. It cannot capture objects at the far end of the field of view in a timely and clear manner, and there may be blind spots in the field of view. It is not suitable for comprehensive and reliable detection of road conditions in tunnels, nor is it suitable for real-time control of facilities in tunnels.

[0003] Previously proposed energy-saving control systems for highway tunnel streetlights preemptively turn on or brighten tunnel lighting before vehicles enter. These systems employ computer vision units positioned at the tunnel entrance, facing outward. However, this approach lacks image acquisition reliability and fails to account for backlighting and foggy conditions. Furthermore, the system cannot be activated if there are stopped vehicles or pedestrians at the tunnel entrance, or if they are driving against traffic. Furthermore, a single sensor failure can render the entire system's lighting control system ineffective. Furthermore, single data points are difficult to verify and self-correct. Utility Model Content

[0004] The present invention is developed in view of the above problems, and its purpose is to provide a comprehensive and reliable highway tunnel road condition detection system suitable for real-time control of facilities in the tunnel.

[0005] Provided is a highway tunnel road condition detection system, comprising a wide-angle camera and a telephoto camera. The wide-angle camera and the telephoto camera are both configured to view a road, and the far end of the road in the shooting field of view of the wide-angle camera overlaps or coincides with the shooting field of view of the telephoto camera.

[0006] Furthermore, the wide-angle camera is data-connected to a first road condition recognition unit, which is used to receive images captured by the wide-angle camera and perform target road condition recognition. The telephoto camera is data-connected to a second road condition recognition unit, which is used to receive images captured by the telephoto camera and perform target road condition recognition. The first and second road condition recognition units are simultaneously communicatively connected to a logic operation unit, which is used to receive the target road condition recognition results from the first and second road condition recognition units and perform logic operations. Furthermore, the logic operation unit is communicatively connected to at least one preset tunnel facility control unit, and is used to transmit the target road condition recognition result or a control signal based on the target road condition recognition result to the at least one tunnel facility control unit.

[0007] As a variation, the wide-angle camera and the telephoto camera are simultaneously data-connected to an image processing unit, which is used to receive the images captured by the wide-angle camera and the telephoto camera and perform image fusion or stitching. The image processing unit is data-connected to a third road condition recognition unit, which is used to receive the processed images of the image processing unit and perform target road condition recognition.

[0008] Furthermore, multiple groups of the wide-angle cameras and telephoto cameras are sequentially arranged along the tunnel, and the overall shooting fields of the multiple groups of the wide-angle cameras and telephoto cameras are continuous with respect to the road and cover the width of the road.

[0009] Furthermore, the shooting fields of the multiple wide-angle cameras are arranged sequentially along the tunnel, wherein adjacent shooting fields of view are continuous or overlapped.

[0010] Furthermore, the field of view of each wide-angle camera and each telephoto camera covers the width of the road.

[0011] Furthermore, two groups of wide-angle cameras and telephoto cameras are arranged back to back in the tunnel at a position 1.8 to 3.2 meters away from the tunnel entrance, with the outer group of wide-angle cameras and telephoto cameras facing outside the tunnel and the inner group of wide-angle cameras and telephoto cameras facing inside the tunnel.

[0012] As a variation, a first set of wide-angle cameras and telephoto cameras is positioned within the tunnel at a distance of 0 to 0.2 m from the tunnel entrance, facing inward. A second set of wide-angle cameras and telephoto cameras is positioned within the tunnel at a distance of 1.8 to 3.2 m from the tunnel entrance, facing outward. Preferably, the second set of wide-angle cameras has a field of view that covers the entrance-side blind spot of the first set of wide-angle cameras.

[0013] On this basis, it further includes a millimeter wave radar, which is configured in the tunnel at a position 0 to 3.2 meters away from the tunnel entrance and facing outside the tunnel.

[0014] Furthermore, the wide-angle camera and the telephoto camera are installed at the same position on the side wall of the tunnel, the wide-angle camera and the telephoto camera circuits are connected to the power supply of the tunnel's inherent traffic camera, and the first road condition recognition unit, the second road condition recognition unit and the logic operation unit are arranged in the control box of the tunnel's inherent traffic camera.

[0015] This provides a comprehensive and reliable highway tunnel road condition detection system suitable for real-time control of facilities in the tunnel.

[0016] The multi-camera system can reliably grasp the real-time situation of the entire road section through visual recognition technology in a wider coverage area, providing more accurate and comprehensive data support. The multi-camera system can quickly respond to various scene changes by processing multi-source video data in parallel. Combined with continuous synchronous high-frequency logic operations, the system can update lighting control decisions in real time, optimize lighting effects and energy efficiency. The multi-camera configuration improves the redundancy and reliability of the system. Even if an individual camera fails or is blocked, other cameras can continue to provide the necessary input, and the overall operation of the system will not be affected by a single point of failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 2 is a schematic diagram showing a typical example of the road condition detection system of the present invention.

[0018] Figure 2 Yes Figure 1 A diagram showing the framing of a wide-angle camera and a telephoto camera.

[0019] Figure 3 Yes Figure 2 Schematic diagram of the installation structure of the medium-wide-angle camera and the telephoto camera.

[0020] Figure 4 Yes Figure 3 Block diagram of a modified example of the installation structure.

[0021] Figure 5 FIG. 1 is a schematic diagram showing an embodiment of a road condition detection system at a tunnel entrance.

[0022] Figure 6 2 is a schematic diagram showing another embodiment of a road condition detection system at a tunnel entrance. DETAILED DESCRIPTION

[0023] This embodiment is used to disclose in detail the highway tunnel road condition detection system proposed in the utility model. The road conditions include the presence of traffic targets and their appearance, movement, or departure; changes in tunnel brightness, such as the headlights of a vehicle approaching the field of view; movement of objects; and non-traffic events such as natural disasters and fires. Road condition detection includes target recognition, target tracking, detection of brightness changes, perception of object movement, and event recognition, such as fire recognition and fog recognition. The utility model does not limit the method of recognition or perception, such as through computer vision technology, which is used to define the subject category of a domain or corresponding functional unit.

[0024] Figure 1 A typical example of the road condition detection system of this embodiment is shown in the figure. The figure shows a road section starting from the entrance of a highway tunnel. The road condition detection system 200 is arranged along the road section. Multiple wide-angle cameras CW1...CW are sequentially arranged from the tunnel entrance to the tunnel.n , multiple telephoto cameras CL1…CL are configured in the same position corresponding to each wide-angle camera. n The wide-angle camera CW3…CW is omitted in the figure. n-1 and telephoto camera CL3…CL n-1 The corresponding groups of wide-angle cameras and telephoto cameras are installed on the side walls of the tunnel.

[0025] The sequential deployment of multiple wide-angle cameras, particularly those spaced apart from each other, is described above as extending from the tunnel entrance into the tunnel. However, depending on the intended application, this can also be implemented for a specific section within the tunnel. While this example specifies a one-to-one correspondence between wide-angle cameras and telephoto cameras, with the cameras installed in the same position on the tunnel sidewall, these cameras can be deployed in different ways or positions within the tunnel, depending on the intended application.

[0026] A wide-angle camera is one with a lens focal length significantly smaller than the image field diameter, approximately 2.8 to 8 mm, and a viewing angle greater than a standard lens, approximately 30° to 90°. A telephoto camera is one with a lens focal length ≥ 8 mm.

[0027] The thin dotted circle in the figure represents the field of view VW1…VW of the wide-angle camera n , the thick dotted circle represents the field of view VL1…VL of the telephoto camera n As shown in the figure, in the field of view VW1…VW of each wide-angle camera n The far end of each telephoto camera overlaps the field of view VL1…VL n Taking the intersection of the field of view VW1 and the field of view VW2 as an example, the magnification effect between the fields of view can be clearly understood. The fields of view VW1 and VW2 overlap, and the fields of view VW1, VW2 and VL1 all cover the road width. Similarly, the fields of view VW1…VW n There is also overlap between them, each field of view VW1…VW n and vision VL1…VL n All cover the road width.

[0028] Therefore, the overall field of view of multiple wide-angle cameras and multiple telephoto cameras is continuous and covers the width of the road, but it does not rule out the situation that the field of view of individual wide-angle cameras is discontinuous or the photography of individual cameras does not cover the width of the road. As long as the overall field of view is continuous and covers the width of the road, the purpose can be achieved to a considerable extent.

[0029] According to the above embodiment, the fields of view of the multiple cameras are arranged sequentially, and in particular, the fields of view of the multiple cameras are arranged sequentially according to the configuration order of the corresponding cameras. The field of view refers to the range of the camera's framing reflected in the physical world. Depending on the actual situation, the fields of view may not be arranged sequentially according to the configuration order of the cameras. As long as the fields of view are arranged sequentially, the desired effect can be achieved to a certain extent.

[0030] According to the above embodiment, the far end of the wide-angle camera's field of view overlaps with the telephoto camera's field of view. The so-called far end refers to the area of ​​the road range in the field of view that is relatively far away from the camera's own position. In the case where the wide-angle camera is arranged parallel to the road, it is sufficient to ensure that the far end of the road in the wide-angle camera's field of view overlaps with the telephoto camera's field of view. However, as a preferred example, the wide-angle camera and the telephoto camera are both arranged to tilt downward to frame the road conditions, such as Figure 2 shown Figure 1 The figure shows a group of wide-angle cameras and telephoto cameras. Both the wide-angle camera CW and the telephoto camera CL are tilted downward. To achieve more reliable acquisition of road conditions using this method, the downward tilt angle of the wide-angle camera is preferably 25° to 45°, and the downward tilt angle of the telephoto camera is preferably 5° to 25°. The camera's viewing direction is along the direction of traffic flow, either upstream or downstream, and can form an appropriate angle with the width of the road. In this example, the wide-angle camera CW uses a 4mm focal length and a downward tilt angle α of 30°; the telephoto camera CL uses an 8mm focal length and a downward tilt angle β of 20°. The overlap is a preferred configuration, but it can also be configured to overlap as long as the target area can be captured.

[0031] The wide-angle camera and telephoto camera according to this embodiment can capture road images and videos of the tunnel system, thereby using the images and videos for static or dynamic target recognition or tracking and other perception.

[0032] Figure 3 yes Figure 1 A schematic diagram shows the installation of a wide-angle camera and a telephoto camera. Solid lines represent power connections, while dashed lines represent data connections. Wide-angle camera CW and telephoto camera CL are co-located on the tunnel sidewall near the existing traffic monitoring camera CT. PB serves as the control box for the traffic monitoring camera CT. Wide-angle camera CW and telephoto camera CL are connected to the power supply circuitry within control box PB, allowing them to draw power directly from the existing power supply system.

[0033] Wide-angle camera CW and first road condition recognition unit RK cw The first road condition recognition unit RK is connected to the vehicle for data transmission via a data line. cwThe telephoto camera CL and the second road condition recognition unit RK receive the image captured by the wide-angle camera CW and perform target road condition recognition based on the image captured by the wide-angle camera CW. cl The second road condition recognition unit RK is connected to the vehicle for data transmission via a data line. cl The first road condition recognition unit RK is configured to receive the image captured by the tele-focus camera CL and perform target road condition recognition based on the image captured by the tele-focus camera CL. cw and the second road condition recognition unit RK cl At the same time, the logic operation unit FLC is connected to the first road condition recognition unit RK via a signal line or a data line. cw and the second road condition recognition unit RK cl The target road condition recognition result and the two road recognition results are logically operated. The logic operation unit FLC can also be connected to at least one preset tunnel facility control unit in a data transmission manner, and is used to transmit the target road condition recognition result or the control signal based on the target road condition recognition result to the preset tunnel facility control unit. The first road condition recognition unit RK cw , second road condition recognition unit RK cl The logic operation unit FLC is arranged in the power supply box PB, so as to facilitate maintenance and replacement.

[0034] According to the above-mentioned installation and connection structure, the road condition detection system of the present invention does not require changes to existing facilities in the tunnel, nor is it overly dependent on facilities in the tunnel. It effectively utilizes the power and installation resources of the inherent traffic monitoring camera system and can be flexibly and quickly repaired, replaced, upgraded, and other operations independently of the inherent monitoring system.

[0035] While the above embodiment utilizes two road condition recognition units, a single integrated road condition recognition unit can also be employed, for example, receiving image data from two cameras and performing time-sharing operations. In this case, the integrated road condition recognition unit should be considered the first and second road condition recognition units in the above embodiment. The specific structure of the road condition recognition unit can be tailored to meet the required road condition detection requirements, such as a chip product that utilizes computer vision technology for target recognition, target tracking, brightness change detection, object motion perception, and accident assessment.

[0036] The logic operation unit FLC is used to perform a logic operation on the two received recognition results. The two recognition results can be information or signals, as long as they can be used to perform the specified logic operation. The logic operation includes a computational mapping from the two recognition results to the calculated recognition result or the target control output. The operation rules are not limited. For example, according to reliability requirements, the two sets of results are fused to generate a reliable control signal, or used to obtain an intermediate result and transmit it to a preset tunnel facility control unit. The logic operation unit FLC is, for example, a chip product that can meet the above requirements.

[0037] Figure 4 supply Figure 3 In a variation of the embodiment, the wide-angle camera CW and the telephoto camera CL are simultaneously connected to the image processing unit IPU via a data line for data transmission. The image processing unit IPU is used to receive the images captured by the wide-angle camera CW and the telephoto camera CL and perform image fusion or stitching. The image fusion is, for example, layer fusion. The image processing unit IPU is connected to the third road condition recognition unit RK ipu The third road condition recognition unit RK is connected to the vehicle for data transmission via a data line. ipu The image processing unit IPU is used to receive the processed image and perform target road condition recognition based on the processed image. As an embodiment, the image processing unit IPU may be the third road condition recognition unit RK ipu Part of the image processing unit IPU and the third road condition recognition unit RK ipu Overlapping functions can be shared, such as image processing modules such as grayscale processing, and such variations should be considered within the scope of the structural connection relationship between the image processing unit and the third road condition recognition unit. Similarly, the third road condition recognition unit RK ipu The target road condition identification result or a control signal based on the target road condition identification result is further transmitted to a control unit of a preset tunnel facility.

[0038] Figure 5 An embodiment of a road condition detection system specifically applied to a tunnel entrance position is shown. The first wide-angle camera 211 and the first telephoto camera 212 are installed at the same position on the inner wall of the tunnel at 3m from the entrance position point, and both face the outside of the tunnel. The second wide-angle camera 221 and the second telephoto camera 222 are installed at the same position on the inner wall of the tunnel at 0m from the entrance position point, and both face the inside of the tunnel. The millimeter-wave radar 230 is installed on the tunnel side wall below the first wide-angle camera 211 and the first telephoto camera 212, also at 0m from the entrance position point. The entrance position point refers to the physical critical point between the tunnel and the outside world under the standard tunnel design. Although the method of installing the same camera on the tunnel side wall is adopted as described above, it can also be installed at a suitable position in the tunnel in other ways, and is not limited to the same camera position. In addition, the same camera position can be horizontally side by side or vertically side by side.

[0039] like Figure 5 As shown, the far end of the first wide-angle camera 211's field of view 211u overlaps with the field of view 212u of the first telefocus camera 212. The far end of the second wide-angle camera 221's field of view 221u overlaps with the field of view of the second telefocus camera 222u. Furthermore, the field of view of the first wide-angle camera 211u covers the blind spot 221b on the entrance side of the second wide-angle camera 221u, ensuring that the fields of view of the first wide-angle camera 211 and the second wide-angle camera 221 are continuous. Furthermore, the fields of view of each of the cameras 211, 212, 221, and 222 cover the entire width of the road. This ensures that the fields of view of the multiple camera groups fully cover the tunnel entrance section.

[0040] This embodiment reliably monitors road conditions both inside and outside the tunnel entrance, enabling detection of vehicles approaching the tunnel and proactive tunnel control. It also reliably detects vehicles, pedestrians, and other events parked at the entrance. Because the inward-facing wide-angle camera's field of view covers the blind spot of the inward-facing wide-angle camera, it can also provide additional detection of stationary objects within the blind spot, addressing design deficiencies in previous technologies.

[0041] In the above embodiment, the first group of cameras 211 and 212 and the second group of cameras 221 and 222 are arranged face to face, and the following modifications may also be made.

[0042] Figure 6 Another embodiment of a road condition monitoring system specifically applied at a tunnel entrance is shown. A first wide-angle camera 211 and a first telefocus camera 212 are mounted back-to-back with a second wide-angle camera 221 and a second telefocus camera 222, all in the same position, on the tunnel sidewall, 3 meters from the entrance. The first wide-angle camera 211 and the first telefocus camera 212 face the tunnel exterior, while the second wide-angle camera 221 and the second telefocus camera 222 face the tunnel interior. A millimeter-wave radar 230 is mounted on the tunnel sidewall below the first wide-angle camera 211 and the first telefocus camera 212, also at a distance of 0 meters from the entrance.

[0043] The millimeter-wave radar 230 is used to enhance the ability to sense approaching vehicles outside the tunnel. Although the above embodiment configures the millimeter-wave radar 230 at a position 0 m from the tunnel entrance, configuring it at a position 0 to 3.2 m from the entrance can also ensure the radar's outward detection capability to a considerable extent.

Claims

1. A highway tunnel road condition detection system, characterized in that: Including wide-angle camera and telephoto camera, The wide-angle camera and the telephoto camera are both configured to capture the road, and the far end of the road in the shooting field of view of the wide-angle camera overlaps or coincides with the shooting field of view of the telephoto camera. It also includes an image processing unit and a third road condition recognition unit, The wide-angle camera and the telephoto camera are simultaneously connected to the image processing unit, and the image processing unit is used to receive the images captured by the wide-angle camera and the telephoto camera and perform image fusion or splicing on the images captured by the wide-angle camera and the telephoto camera. The image processing unit is data-connected to the third road condition recognition unit, and the third road condition recognition unit is used to receive the processed image of the image processing unit and perform target road condition recognition based on the processed image of the image processing unit. Multiple sets of wide-angle cameras and telephoto cameras are sequentially arranged along the tunnel. The overall shooting field of view of the multiple groups of wide-angle cameras and telephoto cameras is continuous with respect to the road and covers the width of the road.

2. The road condition detection system according to claim 1, wherein: The field of view of each wide-angle camera and each telephoto camera covers the width of the road.

3. The road condition detection system according to claim 1, wherein: A first set of wide-angle cameras and telephoto cameras is arranged at a position 0 to 0.2 m from the tunnel entrance, and the wide-angle cameras and telephoto cameras are facing the tunnel. A second group of wide-angle cameras and telephoto cameras is arranged in the tunnel at a position 1.8 to 3.2 meters away from the tunnel entrance, and the second group of wide-angle cameras and telephoto cameras faces outside the tunnel.

4. The road condition detection system according to claim 3, wherein: The shooting field of view of the second group of wide-angle cameras covers the entrance side blind area of ​​the shooting field of view of the first group of wide-angle cameras.

5. The road condition detection system according to claim 3, wherein: Also includes millimeter wave radar, The millimeter wave radar is arranged in the tunnel at a position 0 to 3.2 m away from the tunnel entrance and faces outside the tunnel.

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