Driving assistance obstacle detection method based on binocular stereo vision

Abstract

The invention discloses an auxiliary driving obstacle detection method based on binocular stereoscopic vision, and belongs to the technical field of environmental perception. The method mainly comprises the steps of synchronously collecting two frame images output by two CCD cameras respectively, wherein the two CCD cameras are arranged right ahead of a vehicle; carrying out distortion correction on the collected images; calling a stereo matching sub-process to carry out stereo matching on the two corrected images to obtain the corresponding relations of all pixel points; respectively calculating the projection matrixes of the two CCD cameras according to camera parameters; finding all corresponding pixel point pairs in the two corrected images; carrying out scene three-dimensional reconstruction on the images collected in real time according to the projection matrixes to obtain the space coordinate of an obstacle scene, screening obstacle areas, and outputting an obstacle position information image. The method achieves the function of automatically detecting road obstacles in the static or advancing process of the vehicle, and has the advantages of being capable of achieving the unattended operation and high in detection result precision.

Description

technical field [0001] The invention belongs to the technical field of environment perception, and mainly relates to an obstacle detection method of an intelligent vehicle, in particular to a binocular stereo vision-based driving assistance obstacle detection method. Background technique [0002] Obstacle detection technology is one of the key technologies in the intelligent vehicle assisted driving information perception system. Obstacle detection technology can be used to perceive possible obstacles in front of the vehicle, including the position, size, distance to the vehicle and other information of the obstacle in front of the vehicle, and then determine whether the own vehicle needs to take obstacle information warning or obstacle avoidance, etc. . Realizing the detection of obstacles in front of the vehicle and the prediction of danger is an indispensable function in the assisted driving system of intelligent vehicles, and it is also a prerequisite for intelligent ve...

AI Technical Summary

Problems solved by technology

However, since the parallax accuracy of this method is inversely proportional to the height of the binocular vision system from the ground when calculating the parallax, the detection error of this method increases with the decrease of the height of the binocular vision system from the ground. There are certain requirements for the installation location. In addition, this method uses a top-down method to collect ground images, resulting in incomplete collection of obstacle height information. Therefore, there are certain restrictions on the height of obstacles to be detected.

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