Monocular vision based front vehicle detection and ranging method

Abstract

The invention belongs to the technical field of intelligent traffic and relates to a monocular vision based front vehicle detection and ranging method. The method is implemented by comprising: (1) converting a video image acquired by a vehicle-mounted camera into a gray image; (2) selecting a region of interest according to a camera imaging range to perform histogram equalization; (3) initially detecting an equalized image by using a classifier to obtain a rectangular region containing vehicle information; (4) verifying an initial detection result by using priori knowledge to remove false detections; (5) calculating an intersecting line of a tire and the ground by utilizing a vehicle bottom shadow to obtain an accurate vehicle position; and (6) performing vehicle ranging by taking the vehicle position and a lane line detection result as priori information. According to the method, the problems of illumination sensitivity due to single use of a priori knowledge based method and excessive false detections generated in a machine vision based method are solved; the vehicle can be accurately and effectively detected and the vehicle ranging is accurate; and the real-time requirement of intelligent vehicle control can be met.

Description

technical field [0001] The invention relates to a method for detecting and ranging a front vehicle based on monocular vision. The method proposes a method of combining machine vision and prior knowledge for vehicle detection, which belongs to the field of image processing and machine vision and can be applied to accurate and effective Detect vehicles in different weather conditions and measure vehicle distance accurately. Background technique [0002] Road traffic accidents have brought huge losses to people's lives and property and the national economy. It is of great significance to detect objects in front of the current vehicle and make early warnings in time, and vehicle detection is a crucial part of object detection in front. In addition, accurate measurement of the distance between the current vehicle and the vehicle in front is of great significance for driving safety. [0003] In terms of visual vehicle detection, there are mainly four types of methods: methods bas...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of being sensitive to light and needing to accurately measure the pitch angle of the camera in the current vehicle detection and ranging, this paper proposes a front vehicle detection and ranging method based on monocular vision, which combines machine vision with prior knowledge For vehicle detection, on the basis of proposing the vehicle bottom shadow length filter method to accurately locate the initial detection results to obtain the accurate position of the vehicle, the imaging model method of position information is used to measure the distance between vehicles. The test shows that this method can accurately and effectively detect different weather conditions Vehicles under the vehicle and accurately measure the vehicle distance to meet real-time requirements

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