Front vehicle ranging method based on monocular vision

Abstract

The invention belongs to the technical field of intelligent transportation and relates to a front vehicle ranging method based on monocular vision. The method includes: adjusting the posture of a vehicular camera, considering the pitch angle variation range due to bumping to adjust the pitch angle of the camera, and using the obtained actual measurement data to segmentally fit the functional relation between an ordinate and an actual longitudinal distance at different pitch angles and the functional relation between the ordinate and an actual transverse distance represented by per horizontal pixel at different pitch angles; and when a vehicle runs, calibrating real-time pitch angle of the camera according to left and right lane lines detected in real time and a three-line calibration method, and then using the linear interpolation method to calculate to obtain the distance between the vehicle and a target vehicle. The front vehicle ranging method based on monocular vision has a real-time dynamic compensation effect on ranging error caused by vehicle bumping and can be used for accurately calculating the distance between the vehicle and the front vehicle.

Description

technical field [0001] The invention relates to a method that can accurately calculate the distance between the vehicle and the vehicle in front under the condition of high-speed or expressway. The method has real-time dynamic compensation effect on the ranging error caused by vehicle bumps, and belongs to the field of image processing and machine vision. An intelligent vehicle safety assisted driving system applied in the field of intelligent transportation. Background technique [0002] With the development of the world economy, the number of automobiles in the world has increased sharply, and the incidence of traffic accidents has also increased significantly. Traffic accidents have caused huge losses to people's lives, properties and national economies in various countries. The main reason for the increase in the accident rate of expressways and expressways is that the mileage of highways has increased rapidly, and the increase in traffic volume has caused the distance b...

AI Technical Summary

Problems solved by technology

Therefore, they have some common problems: On the one hand, basically all researches are optical models of pinhole imaging or perspective projection, and the geometric relationship of coordinate transformation is based on the ideal optical path, without considering the existence of optical models in actual imaging. Optical path errors such as lens distortion cannot meet the needs of practical applications

In actual use, the bumps that occur during the driving of the vehicle will change the pitch angle of the camera. Experiments have proved that the vehicle ranging result is more sensitive to the pitch angle, and the change of the pitch angle will reduce the ranging accuracy to a certain extent.

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