Heavy-duty lorry driving barrier detection and tracking method based on binocular fisheye camera

Abstract

The invention discloses a heavy-duty lorry driving barrier detection and tracking method based on a binocular fisheye camera, and belongs to the technical field of traffic vehicle active safety. The method mainly comprises the steps: starting two calibrated and corrected infrared fisheye cameras, disposed at two ends of the tail of a vehicle, to synchronously collect back-up environment image information when the back-up of a heavy-duty lorry is detected, outputting a back-up information after jointing, and displaying the back-up image on a display screen of a cab. A binocular fisheye visual system is used for obtaining the initial position and distance of a to-be-tracked barrier object, and then a video target tracking algorithm combined with the low-rank matrix theory based on particle filtering is used for achieving the tracking of a barrier, achieves the real-time updating of an image template in a tracking process, and detects whether there is a new barrier or not. When a vehicle is detected to turn around, a supersonic radar is started to detect that there is a barrier in a one-meter range beside the lorry, the position of the barrier is displayed and the early warning is sent. The method is mainly used for a large-size lorry.

Description

technical field [0001] The invention relates to a method for detecting and tracking obstacles in a truck based on a binocular fisheye camera technical background [0002] With the rapid development of China's logistics industry, the demand for heavy-duty trucks is also increasing, and the body of the trucks is getting longer and longer, and the cargo capacity is also increasing. Traffic accidents caused by heavy-duty trucks are also increasing, and the consequences It is generally very serious, especially the collision accidents caused by improper operation of reversing and turning account for a considerable proportion. Equivalent to driving straight ahead, it is very difficult to back up and turn a truck. Because the body is too long and the volume of the cargo box is too large, the blind area is very large when reversing and turning. Generally, it is difficult to see the rear of the truck and the sides of the truck. objects and pedestrians, resulting in more and more coll...

AI Technical Summary

Problems solved by technology

[0009] Patent CN201110193257X (publication number CN102874196A) proposes a car collision avoidance method based on machine vision. This method not only obtains the distance between the obstacle and the car through stereo vision information, but also calculates the safety range, but does not monitor the camera. The preprocessing and processing stages such as calibration and image stitching are described, and only solve the obstacle avoidance problem of the car moving forward, but the present invention provides a detailed preprocessing algorithm, and solves the problem of side obstacles when the large truck turns or changes lanes. detection and warning

Images