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Method for intelligently measuring distances of moving vehicles in front of vehicles

A distance measurement method and the technology of the vehicle in front, applied in the direction of photo interpretation, image data processing, instruments, etc., can solve problems such as limitations, and achieve the effect of high real-time performance and high vehicle distance measurement accuracy

Inactive Publication Date: 2018-06-29
GUIGANG RUICHENG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the camera installed on the smart car, its external parameters are constantly changing with the driving of the vehicle, and these changes are unpredictable, so the distance measurement based on the corresponding point calibration results is greatly restricted

Method used

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  • Method for intelligently measuring distances of moving vehicles in front of vehicles
  • Method for intelligently measuring distances of moving vehicles in front of vehicles
  • Method for intelligently measuring distances of moving vehicles in front of vehicles

Examples

Experimental program
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Effect test

Embodiment Construction

[0048] The following specific examples further illustrate the present invention, but are not intended to limit the present invention.

[0049] Experiment 1 Ranging experiment with the same camera pitch angle and different camera heights

[0050]Set the pitch angle α of the camera to 4.5°. By changing the height h of the camera from the ground, the images of the front vehicles at different distances of 10, 20, 40, 70, 100, 110, and 120 are collected on a straight road, and then Use the distance measuring method of the present invention to calculate the distance of the vehicle in front, and finally compare the calculation result with the actual vehicle distance, and the measurement results are shown in Table 1.

[0051] Table 1 Distance measurement results when cameras are installed at different heights

[0052]

[0053] Experiment 2 Ranging experiment with the same camera height and different camera pitch angles

[0054] In the case of other parameters unchanged, the heigh...

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Abstract

The invention discloses a method for intelligently measuring distances of moving vehicles in front of vehicles. The method comprises the following steps of: S1, acquiring a front road video image, andcarrying out preprocessing such as image clipping, image graying, image filtration and image binarization on the image; S2, strengthening road image edge information by adoption of a Canny edge operator; S3, detecting a lane line by adoption of a Hough transformation method; S4, segmenting a vehicle bottom shadow, establishing a rectangular frame of a possible vehicle, namely, a region of interest (RIO), and carrying out accurate detection on the vehicle; S5, establishing a visual projection model, and calculating a pixel coordinate value of a midpoint on the bottom edge of the image and a pixel coordinate value of a midpoint at the bottom edge of the RIO; S6, establishing a demarcation template to demarcate parameters in a camera; S7, establishing a geometric distance measurement model;and S8, obtaining road plane coordinate system coordinates of the midpoint at the bottom edge of the image and the midpoint at the bottom edge of the RIO, and combining the demarcation result of parameters in the camera to calculate a distance between the vehicle and the front vehicle according to a distance calculation formula.

Description

technical field [0001] The invention relates to a distance measuring method for a moving vehicle in front of a smart car. Background technique [0002] During the driving process of smart cars, due to the complex road environment, we still need to conduct in-depth research on many tasks to make them completely unmanned and autonomous. At present, the intelligent vehicle obstacle detection technology based on machine vision and other related technologies around it are key technologies with rapid development. Whether there is an obstacle in front of the vehicle is detected in real time and accurately, and the success of obstacle detection is directly related to whether the intelligent vehicle can avoid obstacles and drive safely. With the continuous improvement of the intelligence of modern automobiles, while striving to realize the automatic driving of intelligent vehicles, the driving safety of intelligent vehicles should also be ensured. If you want to drive safely, you mu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/181G06K9/00G01C11/04
CPCG01C11/04G06T2207/30252G06T2207/10024G06T2207/10016G06V20/584G06V20/588
Inventor 不公告发明人
Owner GUIGANG RUICHENG TECH CO LTD
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