Monocular vision vehicle distance measuring method based on road and vehicle information

Abstract

The invention discloses a monocular vision vehicle distance measuring method based on road and vehicle information. The method can be adopted by a running vehicle on road to automatically measure the distance to the front vehicle according to the device equipped on the running vehicle, so as to realize the purposes of preventing vehicle rear-end collision and reminding drivers of driving safety. Specifically, a camera facing forward is mounted on the front part of the vehicle for collecting the front road and vehicle images; the lane marking line and the front vehicle are detected, and the vehicle license plate is also positioned; the vehicle distance is obtained through the transformation relationship of the lane width and the vehicle distance of the vehicle in the road image, or the vehicle distance is obtained through the transformation relationship of the size information of the license plate and the vehicle distance in the road image, or through the transformation relationship of the character height of the license plate and the vehicle distance in the road image. The invention can accurately measure the distance to the front vehicle, has high instantaneity, high robustness, low hardware cost, is applicable to various types of vehicles and is easy for popularization.

Description

technical field [0001] The invention belongs to the field of active and safe driving of automobiles, in particular to a monocular vision vehicle distance measurement method based on road and vehicle information. Background technique [0002] At present, the mainstream vehicle distance measurement technology is divided into two categories: one is ultrasonic ranging, infrared ranging, microwave ranging, and laser ranging based on radar sensors; the other is monocular visual ranging based on visual sensors, dual Stereo vision ranging, etc. Although radar sensors can better detect physical targets, they are generally expensive and cannot accurately judge the type of physical targets, while vision sensors are relatively cheap and can obtain more intuitive and richer information, so Vision-based ranging technology is recognized as the most promising technology. [0003] The "vehicle distance measurement method based on binocular vision" mentioned in the invention patent 20071002...

AI Technical Summary

Problems solved by technology

However, there are also some problems: 1. Due to the principle of stereo vision, the distance measurement can only be performed when the object appears in the common field of view of the two cameras; 2. In the vehicle stereo vision distance measurement, the distance between the two cameras The closer the distance between the two cameras, the larger the public field of view, but the greater the long-distance ranging error; the farther the distance between the two cameras, the lower the long-distance ranging error, but the smaller the public field of view. 3. The stereo matching operation required by stereo vision technology has high computational complexity and slow operation speed. During the high-speed driving process of the vehicle, it cannot achieve high real-time performance, which will seriously affect the vehicle. security

[0004] Some vehicle distance measurement methods based on monocular vision mainly measure the distance by detecting the geometric features of the shape and contour of the vehicle, which has been proved to be effective, but its shortcomings are also obvious: First, due to the variety of vehicle models , the shape features and aspect ratio information vary widely, and it is impossible to find an effective template to detect various types of vehicles, which affects the distance measurement; secondly, due to the angle of view, the outline of the vehicle will be distorted, and sometimes even It is impossible to take a complete picture of the vehicle, and the symmetry of the vehicle is destroyed, so there are still many limitations in practical applications

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