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Measuring method of vehicle distance at curves

A measurement method and vehicle distance technology, which is applied in the direction of line-of-sight measurement, measuring device, and distance measurement, can solve the problems of poor ranging accuracy and stability, and the inability to use curves to measure distance, so as to achieve the effect of ensuring ranging accuracy

Inactive Publication Date: 2013-07-10
SHANDONG UNIV OF TECH
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Problems solved by technology

The ranging accuracy of this method mainly depends on the pitch angle of the camera, and the pitch angle of the camera will inevitably change when the vehicle is driving due to factors such as road bumps and vehicle vibrations, resulting in poor ranging accuracy and stability of the system ;Laser has the characteristics of accurate measurement of straight-line distance, but it cannot be used for curve distance measurement

Method used

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  • Measuring method of vehicle distance at curves
  • Measuring method of vehicle distance at curves
  • Measuring method of vehicle distance at curves

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Embodiment Construction

[0025] exist Figure 1-5 In the shown embodiment, the implementation steps of the method for measuring distance between vehicles on curved roads are as follows:

[0026] 1) Gathering the road image in front of the vehicle 6: After the camera 4 is installed on the front upper windshield of the co-pilot of the vehicle 6, the road video image is collected in real time.

[0027] 2) Extract and fit the lane marking line 1 of the lane where the vehicle 6 is located: Firstly, perform median filtering on the image collected in step 1), specifically to establish a 3×3 filter sliding window, press from left to right, from The input image is detected in order from top to bottom, and the gray values ​​of the 9 pixels in the window are sorted, and their median value is taken as the gray value of the pixel in the center of the window. Median filtering of the image; then edge detection, specifically using the Robert operator for edge detection, replacing the original gray value g(i,j) at th...

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Abstract

The invention discloses a measuring method of vehicle distance at curves, belonging to the technical field of driving safety of vehicles at curves. The method is characterized in that the method comprises: (1) collecting road images in front of a vehicle, (2) extracting and fitting lane marking lines of the lane where the vehicle are; (3) positioning a target vehicle; (4) measuring distance of the target vehicle with laser; (5) correcting pitch angle of cameras; (6) performing inverse perspective transformation for road images; and (7) calculating a vehicle distance between the vehicle and the target vehicle on the curves. The method uses a multi-sensor data fusion technology of monocular vision and laser rangefinding, with the monocular vision being main and the laser rangefinding being auxiliary; accurate results of the laser rangefinding is used to correct the pitch angle of the cameras in real time; and the correction values are used to calculate the vehicle distance at the curves, thereby ensuring a precision of the rangefinding and providing reliable data support for security early-warning at the curves.

Description

technical field [0001] The invention relates to the technical field of vehicle curve driving safety, in particular to a method for measuring distance between vehicles on a curve. Background technique [0002] At present, the vehicle active safety forward collision warning technology can avoid the occurrence of vicious traffic accidents such as rear-end collisions caused by insufficient safe distance between vehicles. The vehicle distance measurement is one of the most basic and important tasks of the forward collision warning system. Vehicle distance measurement is divided into straight road distance measurement and curve distance measurement. The research on the distance measurement of straight lanes is very mature, and laser radar, millimeter wave radar, monocular vision technology, binocular vision and other technologies are mostly used. But so far, there is no measurement method and technology about the distance between curves. However, traffic accidents often occur o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C3/00
Inventor 曹凯杜滕州于善义张仁勇
Owner SHANDONG UNIV OF TECH
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