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Forward vehicle distance detection method

A technology for detecting the vehicle in front and distance, which is applied in the direction of line-of-sight measurement, distance measurement, and measuring device, etc., which can solve the problems of lack of universality of calculation models, failure to determine the specific position of the vehicle in front, and inability to calculate the exact distance of the vehicle in front.

Inactive Publication Date: 2016-11-23
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In recent years, there have been many studies on the distance of the vehicle in front of the monocular vision detection. The distance of the vehicle in front can be estimated through the statistical relationship between the pixel distance in the image and the actual distance, but there is no exact calculation model to ensure its versatility; the vehicle can be used The position and vehicle width estimate the distance of the vehicle in front, but the exact distance of the vehicle in front cannot be calculated; the front vehicle model can be used to link the front vehicle in the image with the driving position of the main vehicle on the road, and then estimate the distance of the vehicle in front. However, there is no real vehicle experiment under actual road conditions to verify its effectiveness; the vehicle distance can be calculated based on the shadow characteristics of the vehicle in front, but this method does not determine the specific position of the vehicle in front and cannot meet the accuracy requirements

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0093] On structured roads, when the weather is clear and the light is sufficient, the self-vehicle detects vehicles at different distances in front when the vehicle is traveling at a speed of 30km / h. The actual distances of the vehicles in front are 10m, 20m, 30m, 40m, and 50m respectively; the distance measured according to this method is compared with the actual distance, as shown in Figure 5 ;The measured distance values ​​in the figure are 9.50m, 19.25m, 31.45m, 41.80m, and 52.00m respectively; according to the above experimental results, the errors between the measured values ​​obtained by this method and the actual values ​​are all controlled within 5% .

Embodiment 2

[0095] On structured roads, when the weather is clear and the light is sufficient, the vehicle is detected at different distances ahead when the vehicle is traveling at a speed of 60km / h. The actual distances of the vehicles in front are 10m, 20m, 30m, 40m, and 50m respectively; the distance measured according to this method is compared with the actual distance, as shown in Figure 6 ;The measured distance values ​​in the figure are 10.25m, 20.85m, 31.30m, 42.00m, and 52.50m respectively; according to the above experimental results, the errors between the measured values ​​obtained by this method and the actual values ​​are all controlled within 5% .

Embodiment 3

[0097] On structured roads, when the weather is foggy and the light is insufficient, when the vehicle is traveling at a speed of 30km / h, it detects vehicles at different distances ahead. The actual distances of the vehicles in front are 10m, 20m, 30m, 40m, and 50m respectively; the distance measured according to this method is compared with the actual distance, as shown in Figure 7 ;The measured distance values ​​in the figure are 9.65m, 20.50m, 31.35m, 38.85m, and 51.50m respectively; according to the above experimental results, the errors between the measured values ​​obtained by this method and the actual values ​​are all controlled within 5% .

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Abstract

The invention discloses a method for detecting the distance measured ahead, which includes the following steps: S1. Using a visual sensor to collect image information in the direction of travel of the vehicle, and using machine vision to detect the above-mentioned collected image information to obtain the target in the image information area; S2, in the target area in the image information acquired by machine vision, use the edge feature to extract the specific position of the front vehicle in the image information, and then use the corner point detection method to determine the position of the pixel point of the front vehicle in the image information; S3 1. Calculate the actual distance between the front vehicle and the self-vehicle by using the monocular vision ranging geometric model; the invention can be used to detect the distance of the front vehicle under different driving speeds and different lighting conditions on structured roads, and the invention is universal High, good robustness, fast calculation speed, simple implementation.

Description

technical field [0001] The invention relates to the technical field of vehicle distance detection, in particular to a method for detecting the distance of a vehicle in front. Background technique [0002] The distance detection of front vehicles based on monocular vision is one of the key technologies of intelligent vehicles, which is of great significance for maintaining vehicle distance, lane change and vehicle collision warning. Compared with other vehicle distance measurement methods, the front vehicle distance detection based on monocular vision has the advantages of low cost and rich information. In recent years, there have been many studies on the distance of the vehicle in front of the monocular vision detection. The distance of the vehicle in front can be estimated through the statistical relationship between the pixel distance in the image and the actual distance, but there is no exact calculation model to ensure its versatility; the vehicle can be used The positi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C3/00
CPCG01C3/00
Inventor 陈无畏汪洪波赵林峰黄鹤王家思那田蒋玉亭
Owner HEFEI UNIV OF TECH
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