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A distance measurement method based on the monocular vision of the vehicle in front driven by the plane geometric model of the lane

A technology of plane geometry and vehicles ahead, applied in the directions of distance measurement, line-of-sight measurement, measurement device, etc., can solve problems such as distance measurement error, and achieve the effect of improving identification performance, avoiding road shadows, and improving detection robustness.

Inactive Publication Date: 2020-07-28
上海鹰东科技发展有限公司
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Problems solved by technology

[0006] The purpose of the present invention is to provide a distance measuring method based on the monocular vision of the front vehicle driven by the plane geometric model of the lane, which solves the problems in the prior art such as the influence of light, the conversion of high-precision coordinate system, and the existence of the height of the vehicle's rear overhang. Problems and pitfalls caused by ranging errors

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  • A distance measurement method based on the monocular vision of the vehicle in front driven by the plane geometric model of the lane
  • A distance measurement method based on the monocular vision of the vehicle in front driven by the plane geometric model of the lane
  • A distance measurement method based on the monocular vision of the vehicle in front driven by the plane geometric model of the lane

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Embodiment Construction

[0046] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0047] Such as figure 1 As shown, the present invention provides a vehicle monocular vision ranging device driven based on the plane geometric model of the lane, including a CCD camera 1, and the CCD camera 1 is fixed on the middle of the front windshield 2 of the vehicle using a suction cup. Wherein, the CCD camera 1 is connected with the host computer through a BNC video cable and a video capture card.

[0048] Such as figure 2 As shown in the present invention, a method of monocular vision distance measurement for vehicles in front driven by a lane plane geometric model, the specific steps are as follows:

[0049] Step 1. Calibration of the CCD camera:

[0050] The calibration of the visual sensor is a key problem to be solved in machine vision. The purpose of the calibration is to obtain the internal parameters and external parameters of the CCD camer...

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Abstract

The present invention provides a distance measuring method based on the monocular vision of the front vehicle driven by the plane geometric model of the lane, utilizes the CCD camera to collect the front target vehicle image, and utilizes the fusion Haar-like feature and Adaboost algorithm to identify the front target vehicle obtained in step 2 For the target vehicle ahead in the image, use the particle filter method to track the target vehicle ahead obtained in step 3, and construct the longitudinal distance measurement model of the lane plane geometry in the frame image according to the target vehicle ahead in each frame of image obtained above , to obtain the longitudinal perception distance y of the target source in the frame image, construct a vehicle ranging error dynamic compensation model according to the target vehicle ahead in each frame image obtained above, and obtain the longitudinal measurement error value z, according to the target target obtained in step 5 The source longitudinal perception distance y and the longitudinal measurement error value z calculate the longitudinal distance Y between the front target vehicle and the own vehicle in the frame image W (P).

Description

technical field [0001] The invention belongs to the technical field of vehicle longitudinal safety assisted driving, and relates to a distance measuring method based on the monocular vision of a vehicle in front driven by a plane geometric model of a lane. Background technique [0002] Vehicle following is one of the most basic driving behaviors for drivers in traffic activities. The main threats faced by vehicles during the following phase are mainly longitudinal vehicle rear-end collisions, failure to maintain a certain safe distance between the self-vehicle and the vehicle in front, and the threat to the self-vehicle. Inaccurate determination of the speed of the vehicle in front and the vehicle in front leads to a rear-end collision of the vehicle. Accurately studying the distance value between the ego vehicle and the vehicle in front is of great significance for maintaining the distance between vehicles and vehicle collision warning. [0003] The currently researched me...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/04G01C3/00G06T7/80G06T7/73G06T7/277G06K9/62
CPCG06T7/277G06T7/73G06T7/80G01C3/00G01C11/04G06T2207/10004G06T2207/30252G06F18/285
Inventor 刘永涛赵俊玮赖延年乔洁华珺周文财
Owner 上海鹰东科技发展有限公司
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