Vehicle identification method based on depth information

Abstract

The invention relates to the technical field of mode identification and intelligent vehicles, in particular to a vehicle identification method based on depth information. The method is used for an automobile auxiliary driving system. The vehicle identification method particularly comprises the steps of consecutively acquiring the depth information of objects in a scanning range through a distance measuring sensor; clustering each frame of data through the method based on the distance, wherein the threshold of the distance can be automatically adjusted through the distance of the targets and the vehicle and relative positions so that accuracy of clustering is improved, and good base is provided for subsequent feature extraction; respectively conducting straight line fitting on reserved clusters through the iterative adaptation point IEPF algorithm and the least square method, and extracting the eigenvector of the targets; and judging whether the targets are vehicle targets according to the eigenvector. The method identifies the vehicle targets through a plurality of characteristics so as to be capable of accurately identifying the vehicle targets in a road environment.

Description

technical field [0001] The invention relates to the technical fields of pattern recognition and intelligent vehicles, in particular to a vehicle recognition method based on depth information used in an automobile auxiliary driving system. Background technique [0002] Intelligent vehicle technology is mainly divided into two aspects: autonomous navigation and safety assurance. The application of autonomous navigation technology depends on the establishment and improvement of the entire ITS system, and it is difficult to achieve practical application in the near future. The related technologies of safety assurance can be applied to the driver assistance driving system first, so as to provide strong technical support for solving traffic accidents caused by the subjective factors of conventional vehicle drivers. Target vehicle detection technology is an important research content of intelligent vehicle safety assisted driving system, which is of great significance to reduce ve...

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Problems solved by technology

[0005] Literature [1] uses the method of depth information to identify vehicle targets, extracts the straight line and right-angle features of the target, and overcomes the interference of target shape changes, but this algorithm uses a fixed distance threshold method for clustering, which will be lost during the clustering process. Points on distant targets with small incident angles not only affect the accuracy of feature extraction, but also cause large measurement errors in the subsequent target tracking process

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