Detection method and system, based on laser radar and binocular camera, for pedestrian in front of vehicle

Abstract

The invention belongs to the field vehicle active safety, and particularly discloses a detection method and system, based on laser radar and binocular camera, for a pedestrian in front of vehicle. The method comprises the following steps: collection data of the front of the vehicle through the laser radar and the binocular camera; respectively processing the data collected by the laser radar and the binocular camera, so as to obtain the distance, azimuth angle and speed value of the pedestrian relative to the vehicle; correcting the information of the pedestrian through a Kalman filter. The method comprehensively utilizes a stereoscopic vision technology and a remote sensing technology, integrates laser radar and binocular camera information, is high in measurement accuracy and pedestrian detection accuracy, and can effectively reduce the occurrence rate of traffic accidents.

Description

technical field [0001] The invention belongs to the field of safe driving of automobiles, specifically relates to stereo vision technology and remote sensing technology, and is a device and method for detecting pedestrians in front of a vehicle by fusing information from a laser radar and a binocular camera. Background technique [0002] The rapid development of my country's economy, the continuous improvement of people's living standards, and the rapid development of the transportation industry and the automobile industry have all contributed to the continuous increase in the number of motor vehicles in our country. By the end of 2013, the number of automobiles in my country was as high as 137 million, and vehicle collision accidents occurred frequently. In a complex traffic environment, how to ensure the safety of pedestrians and the safety of vehicles and drivers is particularly important during vehicle driving. However, when the driver is fatigued or negligent for a whi...

AI Technical Summary

Problems solved by technology

[0003] Most of the existing pedestrian detection devices in front of vehicles are based on monocular cameras, but the visual information is greatly affected by environmental factors, such as rain and smog; some use radar information to detect pedestrians, but the amount of radar information is limited and cannot be used alone As a pedestrian detection device; Aiming at the problem that a single sensor cannot satisfy the integrity and reliability of information perception, a pedestrian detection method that fuses multiple sensors has emerged, but the algorithm design and hardware design are not the same, and the detection effect is not accurate enough

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