Camera fast-calibration method for highway lane departure warning system

Abstract

The invention discloses a camera fast-calibration method for a highway lane departure warning system. The method includes the following steps that a road image based on effective information of a lane line is acquired; coordinates of calibration points are acquired; a camera calibration model is established. According to the method, the road image containing the effective information of the lane line is acquired by calculating the effective view field of a camera; on the basis, the four calibration points with spatial actual positions and image positions known are selected. According to the method, every time calibration is performed, only the length of the four sides and the length of the diagonals of a quadrangle formed by the four calibration points, and the coordinate values of the intersection point of the diagonals of the quadrangle need to be measured, and in other words, the coordinate positions of the calibration points can be uniquely determined through the geometric position relation. According to the method, not only is a large amount of time consumed by a traditional method shortened, but also factors causing measurement errors are reduced, the calibration process is simple, the calibration is easy to operate, a user does not need to carry a special calibration device, and the method is suitable for the lane departure warning application background.

Description

technical field [0001] The invention belongs to the field of automobile active safety, relates to a camera calibration technology, in particular to a fast camera calibration method used in an expressway lane departure warning system. Background technique [0002] The lane departure warning system based on visual sensors can reduce the occurrence of accidents when the vehicle departs from the driving lane by warning the driver who is mentally fatigued or inattentive, and avoiding the driver's unintentional departure from the current driving lane. The lane departure warning system involves key technologies such as the effective identification of lane lines, the position and direction parameters of vehicles in the lane, and the estimation of lane width. The prerequisite for the latter to achieve accurate lane width estimation is to establish an accurate camera calibration model. The traditional camera calibration method involves the acquisition of camera internal and external ...

AI Technical Summary

Problems solved by technology

At the same time, due to the great influence of all-weather lighting conditions, the traditional camera calibration method cannot meet the application background of lane departure warning in terms of operability, convenience and robustness.

Images