Anti-collision method based on joint verification of binocular vision and laser radar in congested traffic

Abstract

The invention discloses an anti-collision method based on joint verification of binocular vision and laser radar in congested traffic. The method comprises steps as follows: a binocular vision system and a laser radar system are subjected to parameter joint calibration to obtain the corresponding and conversion relation among a camera coordinate system, a radar coordinate system and a vehicle coordination system; a left camera and a right camera collect information of the environment in front of a vehicle, and meanwhile, laser radar is used for performing multi-line scanning on a front area to obtain heterogeneous and asynchronous data of two different types of sensors for pre-processing; whether a barrier exists before the current vehicle is judged, and if the answer is positive, a joint robust verification method is adopted to obtain distance information of the current barrier relative to the current vehicle, and early warning is performed according to the distance information of the barrier. The barrier recognition efficiency and the robustness are greatly improved. The problem that the outline of the barrier obtained by the cameras is incomplete in the congested traffic environment is solved; meanwhile, more accurate and more reliable barrier parameter information can be obtained.

Description

technical field [0001] The invention belongs to the technical field of intelligent vehicles, relates to safe driving of automobiles, and in particular to a joint verification collision avoidance method based on binocular vision and laser radar in crowded traffic. Background technique [0002] With the development of automobile technology, the problem of traffic safety has become more and more prominent. Vehicle collision is the main manifestation of traffic accidents. [0003] The intelligent transportation system can effectively improve the safety of vehicles on the road by improving the intelligence level of the "human-vehicle-environment" coupling system. As an important part of the intelligent transportation system, intelligent vehicle collision avoidance technology is the key to its realization of intelligence. [0004] The obstacle avoidance method based on machine vision and laser radar is a commonly used obstacle avoidance technology for intelligent vehicles. The t...

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Problems solved by technology

[0006] The present invention aims to at least solve the technical problems existing in the prior art, and particularly innovatively proposes a collision avoidance method based on binocular vision and laser radar joint verification in crowded traffic, which solves the problems of the prior art in crowded traffic environments. The problem of low stickiness

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