Road edge detection method and system based on distance measuring sensor
A distance measuring sensor and road technology, which is applied in the traffic control system of road vehicles, traffic control systems, instruments, etc., can solve the problems such as the inability to identify road edges, and achieve the effect of stable universal applicability
Active Publication Date: 2013-12-18
ZHEJIANG UNIV
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[0003] In order to solve the above problems, the present invention provides a road edge detection method and system based on ranging sensors, so as to solve the shortcomings in the prior art that the road edge cannot be correctly identified under complex road conditions and complex weather.
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[0041] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0042] figure 2 The installation position and function of the ranging sensor device for road edge detection on the vehicle body are shown in . The transmitting / receiving device of the ranging sensor should be installed and fixed on the right side in front of the vehicle body, with a certain height from the road surface and facing the right side (or right front) area of the vehicle at a certain angle obliquely downward. Among them, the installation height and angle are determined according to the vehicle itself, and the installation on the right side of the vehicle body is based on the rule of d...
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The invention discloses a road edge detection method and system based on a distance measuring sensor. The road edge detection system based on the distance measuring sensor comprises a distance measuring sensor device for obtaining input distance measuring data and a processor for processing and analyzing the input distance measuring data. The processor detects road edge zone data with height difference characteristics by processing and analyzing the obtained distance measuring data and curve fitting is performed on the abstracted road edge zone data to obtain a horizontal real-time distance between a vehicle and a road edge. Meanwhile, the processor calculates out the height of the road edge according to stable data values of the distance measuring sensor before the road edge is detected and after the road edge is detected. When the horizontal real-time distance s is smaller than the set threshold, an alarm gives an alarm. The distance measuring sensor installed on a side position of a vehicle body is used for detecting a distance on a road surface in real time to judge whether the road edge exists or not, the road edge height and the horizontal real-time distance between the vehicle and the road edge are calculated and the road edge detection method and system have stable and general application.
Description
technical field [0001] The invention relates to the technical field of road edge detection, in particular to a road edge detection method and system based on a ranging sensor. Background technique [0002] The road edge detection system is used to remind the driver of the existence of the road edge in the vehicle's driving path, or to provide a feasible driving area for the on-board system during automatic cruise. At present, a typical road edge detection system uses a technology based on visual analysis to perform image processing and analysis on the road edge image obtained from a camera device, and then recognizes the road edge. However, due to the influence of external environments such as shadows from trees, buildings, etc. or weather (rainy, dark night, etc.), it will seriously affect the accuracy of the visual system's analysis of the obtained image data, making it impossible to correctly and quickly identify the edge of the road. This makes this type of road edge de...
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Inventor 杨国青李红高辉逄伟刘健全吴朝晖
Owner ZHEJIANG UNIV