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Method for detecting and tracking obstacles in front of vehicle

An obstacle detection and obstacle technology, applied in the field of obstacle detection and tracking in front of the vehicle

Inactive Publication Date: 2012-06-20
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The technical problem to be solved by the present invention is to overcome the problems of certain defects and deficiencies in a single type of sensor, and to provide a method for detecting and tracking obstacles in front of a vehicle

Method used

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  • Method for detecting and tracking obstacles in front of vehicle
  • Method for detecting and tracking obstacles in front of vehicle
  • Method for detecting and tracking obstacles in front of vehicle

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Embodiment Construction

[0073] The present invention is described in detail below in conjunction with accompanying drawing:

[0074] The obstacle detection and tracking method in front of the vehicle of the present invention adopts the fusion method of millimeter-wave radar and monocular vision (camera), and realizes the detection, identification and tracking of obstacles in front of the vehicle. It is characterized by:

[0075] 1. The present invention uses millimeter-wave radar to obtain data information of obstacles in front, which mainly includes distance, angle, speed, reflection intensity and width information of obstacles in front, etc.

[0076] 2. According to the reflection intensity and width information of the obstacles ahead in the obtained millimeter-wave radar data information, the present invention preliminarily divides the obstacles ahead into pedestrians and vehicles.

[0077] 3. According to the fusion method of millimeter wave radar and monocular vision (camera), the present inven...

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Abstract

The invention discloses a method for detecting and tracking obstacles in front of a vehicle, aiming to overcome the defect and shortage in detection and tracking of obstacles in front of the vehicle by using a single-type sensor. The method comprises the following steps of: 1. establishing a relation for realizing data conversion between a millimeter wave radar coordinate system and a camera coordinate system; 2. receiving, resolving and processing the millimeter wave radar data, and carrying out preliminary classification on the obstacles; 3. synchronously collecting a camera image and receiving millimeter wave radar data; 4. classifying the obstacles in front of the vehicle: 1) projecting scanning points of the millimeter wave radar data on a camera coordinate system by combining the methods of millimeter wave radar and monocular vision, and establishing a region of interest (ROI) of the obstacles on the image; 2) carrying out preliminary classification on different obstacles in theROI established on the image, and confirming the types of the obstacles by using different image processing algorithms; and 5. tracking the obstacles in front of the vehicle.

Description

technical field [0001] The invention relates to a method in the field of intelligent vehicle safety assisted driving, more precisely, the invention relates to a method for detecting and tracking obstacles in front of a vehicle. Background technique [0002] The detection and tracking of obstacles in front of the vehicle (the focus is on vehicles and pedestrians) has become a hot spot in the field of international intelligent vehicle research, and it is an important measure to improve driving safety and improve the traffic environment. [0003] At present, the sensors used to detect obstacles in front of vehicles at home and abroad mainly include machine vision sensors (stereo vision, monocular vision), infrared imaging sensors, radar and laser ranging sensors, etc. [0004] Because machine vision sensors are easy to install and cheap, and with the rapid development of image processing technology, machine vision sensors have been widely used in vehicle front obstacle detectio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/93G01C11/00G06K9/62
Inventor 金立生李克强牛清宁王亚丽侯海晶王芳荣吕欢欢史冬冬咸化彩孙海燕
Owner JILIN UNIV
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