Abnormal Moving Vehicle Detection For Driver Assistance System In Nighttime Driving

ABSTRACT:

A new approach of abnormal vehicle detection for frontal and lateral collision warnings in nighttime driving using monocular vision. Motion information is used to estimate moving objects. An
empirical threshold range is introduced to eliminate efficiently most of non-vehicle regions.
Vehicle candidates are segmented by using K-means clustering. An analysis is performed
carefully to consider what initial K value is optimal for vehicle region segmentation. The vehicle
candidates are classified by using Support Vector Machine (SVM) classification. The
aforementioned method has high ability to retain the abnormal moving vehicles. The detected
abnormal vehicles consist of on-coming, overtaking, change speed, change lane, and road-side
parking. These vehicles are dangerous with respect to the host vehicle. Experimental results
show that the proposal approach is useful for real-time collision warning function of driver
assistance system in night time driving.
Lots of existing papers used various schemes to detect the behaviors of preceding vehicles
using monocular vision. For example in daytime, future behavior of an ego-vehicle in an innercity environment is predicted using a sequence of elementary states termed behaviors
primitives. Perspective Transformation and Template Matching are used to detect vehicle
behaviors based on road-markings and stop signs. Grey System Theory and a method of carfollowing behavior in multilane are introduced to detect vehicle behaviors. In night time, lots of
factors cause collision such as low illumination, high speed moving vehicles, drowsy and
neglecting of drivers, dangerous glare from on-coming vehicles. HSV color information is used
to find the warning threshold of dangerous headlight glare. Tail-lights of preceding vehicles are
identified by using multi-level image processing algorithms and clustering processing.
An improvement of our previous work. The initial K value of K-means affects strongly to the
processing time of whole system. So, this paper performs carefully an analysis to find an
optimal initial K value that facilitates high detection rate. Abnormal moving vehicles are detected
whereas the normal moving vehicles are not detected. Motion information, empirical thresholds
and K-means clustering are useful to segment the abnormal moving vehicle candidates.
However, some non-vehicle regions are also detected. Thats why SVM classification is used to
classify the vehicle regions

STEPS:
Motion estimation
This paper uses pyramidal Lucas-Kanade optical flow algorithm to estimate the motion of
moving objects. Let is a frame of video, is a pixel. The motion vector v of the pixel mis
calculated. The raw motion vectors of all moving objects are extracted by using Lucas-Kanade
optical flow.

Empirical threshold range

The motion vectors in one thousand frames that positions locate inside the vehicle ground truths
are investigated to compute the average and standard deviation of magnitude distribution. Then,
low and high threshold values are obtained.
low threshold high threshold K-means clustering
K-means algorithm clusters N data points into disjoint subsets j S containing data points so as to
minimize the sum of squares criterion where is a vector representing the nth data point and j is
the geometric centroid of the data point in j S .The values of length and direction of motion
vectors are used for clustering. It means that the similar motion vectors will be clustered into the
same group. The input values of Kmeans clustering algorithm are initial K value and distance
function. These parameters affect strongly the clustering results. This paper uses the Euclidean
distance. An analysis is performed carefully to find an optimal value of initial K value. K-means
clustering is performed with various K values and videos. Each cluster is drawn by a bounding
box. All extracted bounding boxes are compared with the ground truths. If an extracted
bounding box coincides as a part of vehicle ground truth (40% overlapping) then the extracted
bounding box is considered as the detected abnormal vehicle segment. Based on the
experimental results, we observed that initial K value equal to 40 is the appropriate value for
real-time and high rate of vehicle segmentation. If K value is smaller than 40 then sizes of
segmented pieces will usually be increased that bigger than ground truths (Fig. 4). Otherwise, if
K value is greater.
CONCLUSION:

The noteworthy point is that abnormal vehicles in night time are detected whereas the normal
vehicles are not detected. Moreover, all possible abnormal vehicles are detected effectively
whether the preceding vehicles light on or off theirhead-lamps, tail-lamps, and turn signals. This
detection approach is useful for the first step of behavior analysis system and moving vehicle
recognition systems. In the future, we are going to develop a new model to measure efficiently
the current states of the detected abnormal vehicles and predict their future behaviors.
Therefore, the best warning function will be obtained. The model will be suitable for real-time
embedded systems.