Machine vision-based intelligent vehicle right-turning target detection method

A target detection and machine vision technology, applied in the direction of instruments, computer parts, character and pattern recognition, etc., can solve the problems of slow data processing speed and low real-time performance of the camera, to improve real-time performance and security, and improve security. , the effect of data reduction

Inactive Publication Date: 2018-05-11
HARBIN UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems of slow data processing speed and low real-time performance of the current camera, the present invention proposes a machine vision-based smart car right-turn...

Method used

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  • Machine vision-based intelligent vehicle right-turning target detection method
  • Machine vision-based intelligent vehicle right-turning target detection method
  • Machine vision-based intelligent vehicle right-turning target detection method

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Embodiment Construction

[0014] The present invention will be further described below in conjunction with the accompanying drawings.

[0015] attached figure 1 It is a right-turning model of a smart car. The coordinate system is established with the center of the rear axle of the car as the reference point, and the three parameters of the center point of the rear axle, the angle between the vehicle and the transverse axis, the curvature of the curve, and the vehicle speed, front wheel angle, and curvature changes can be determined. Rate the geometric relationship between the three parameters.

[0016] Furthermore, when the smart car is driving, the camera extracts the sidelines of the lanes on both sides and performs binarization processing to calculate the middle point of the lane. After continuous sideline detection, the vehicle will drive according to the centerline of the lane where the car is located, which is convenient for determining the parallelogram area. Position relative to the right la...

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Abstract

The invention provides a machine vision-based intelligent vehicle right-turning target detection method. During the right-turning target detection process of an intelligent vehicle, an intelligent vehicle right-turning model is established. Based on the relative distance change rate of a current vehicle and a previous vehicle, and the relative distance change rate of the current vehicle and a roadboundary, whether the current vehicle drives from a straight lane into a curve lane or not can be judged. The optimal trajectory planning is carried out on the intelligent vehicle judged to enter thecurve lane, and then an area where the intelligent vehicle is judged to pass through within a short period of time is predicted. Meanwhile, the passing area of the intelligent vehicle is simplified into a parallelogram for processing. An effective target is determined according to the principle of the minimum distance from the lane, and then the effective target is updated in time. The detectionrange of the intelligent vehicle is reduced, and the target detection speed and the target detection accuracy are improved.

Description

technical field [0001] The invention provides a machine vision-based detection method for a right-turning target of an intelligent vehicle, which belongs to the field of intelligent driving. Background technique [0002] As a sensor that can obtain all road information in front of the vehicle, machine vision has the advantages of wide detection range, complete road information, and telemetry, and is widely used in the research of vehicle detection systems. At present, when machine vision technology is used to detect obstacles and vehicles in front, it is generally completed on a straight road with good light during the day, and the detection accuracy of obstacles or vehicles in front is also high. However, there are few studies on the front vehicle detection for effective target recognition when turning. In this case, the detection accuracy of the smart car to the effective target is low or the effective target cannot be detected at all, which increases the danger of driving...

Claims

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Application Information

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IPC IPC(8): G06K9/00
CPCG06V20/58
Inventor 翟元盛丁洪正刘伟
Owner HARBIN UNIV OF SCI & TECH
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