Distance measuring method based on lane equal-width line

Abstract

The invention discloses a distance measuring method based on a lane equal-width line. The distance measuring method comprises the following steps: firstly, acquiring a target lane image, establishing a coordinate system for the lane image by using a lane extension direction as an X axis and using a direction vertical to the lane extension direction as a Y axis; then determining a relationship of a pixel in the lane image and an actual distance corresponding to the pixel, establishing a relation equation between the pixel in the lane image and the actual distance corresponding to the pixel, determining a plurality of equal division points by using the characteristic that lane widths are equal, drawing an equal-width line, then solving an unknown number in the relation equation by using a least square method; and finally, solving an actual distance between two points in the X-axis direction and an actual distance between the two points in a Y-axis direction by means of the relation equation according to starting point coordinates and end point coordinates of a to-be-tested distance image. The distance measuring method is capable of measuring and calculating the distance between the two points in the lane image only by the lane image and the field measured actual lane width without other auxiliary tools, and is convenient and rapid in measurement and calculation and high in measurement and calculation precision.

Description

technical field [0001] The invention relates to a distance measuring method based on lane contours, and belongs to the technical field of traffic road detection. Background technique [0002] In the traffic environment, due to factors such as complex road environment and frequent movement of monitoring objects, it is difficult to obtain information such as target distance and size through monitoring images. If additional sensors are added, the cost of the traffic monitoring system will increase. , through the measurement equipment, there is a matching problem for the data measured by different targets, and manual secondary operations are still required in many cases. At present, there is no good solution for distance information measurement solely relying on images. Most of them are roughly estimated by setting pre-measured calibration points, but the measurement accuracy and operational flexibility are greatly limited. Contents of the invention [0003] The purpose of t...

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Problems solved by technology

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art, to provide a distance measurement method based on lane contours, and to solve the technical problems of low measurement accuracy and inconvenient measurement based on lane monitoring images in the prior art

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