Front car identification method based on monocular vision

Abstract

The invention provides a front car identification method based on monocular vision. The method includes the steps that (1), an original image is collected from a vehicle-mounted camera, the edge of the image is extracted according to a Canny edge extraction method, influence of noise points is eliminated through morphological filter, projection is carried out in the horizontal direction, and an area of interest of a front car is obtained according to projection characteristics; (2), a shadow area at the car bottom is extracted and judged according to the geometrical shape of the shadow at the car bottom, edge characteristics are overlaid, and a car area is judged; (3), graying, normalization and binary tree complex wavelet transformation are carried out on small color images of candidate car areas of different shapes, and characteristic vectors are obtained; (4), the number of dimensions of the characteristic vectors is decreased through a two-dimension independent component analysis algorithm, the characteristic vectors are fed into a support vector machine based on a radial basis function kernel to be classified, and it is judged that whether the candidate car areas are the car area. Cars on the road ahead are detected accurately, and real-time and reliable road condition information can be supplied for unmanned cars.

Description

technical field [0001] The invention belongs to the field of intelligent transportation, and in particular relates to a method for judging whether there is a vehicle ahead. Background technique [0002] Real-time perception and recognition of the driving environment is one of the core issues of autonomous driving and active safety. There are often vehicles that are closer to the vehicle on the road ahead, which may easily cause rear-end collisions. The invention studies the fast positioning and judging method of the vehicle ahead in the dynamic scene, detects and analyzes the vehicle information appearing in front during the vehicle driving process, and can provide timely road environment information for the unmanned vehicle or the driver to comply with traffic conditions. rule. By referring to the latest research results of human visual cognition mechanism, computer vision and pattern recognition theory, research and design a fast, automatic and robust front vehicle judgme...

AI Technical Summary

Problems solved by technology

[0002] Real-time perception and recognition of the driving environment is one of the core issues of autonomous driving and active safety. There are often vehicles that are closer to the vehicle on the road ahead, which may easily cause rear-end collisions.

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