Method and system for pedestrian detection in front of vehicle based on lidar and binocular camera

Abstract

The invention belongs to the field of automobile active safety, and specifically discloses a method and system for detecting pedestrians in front of a vehicle based on a laser radar and a binocular camera. The data collected by the radar and the binocular camera are processed to obtain the distance, azimuth and speed value of the pedestrian relative to the vehicle; the Kalman filter is used to correct the obtained pedestrian information. The invention comprehensively uses stereo vision technology and remote sensing technology, integrates laser radar and binocular vision information, has high measurement accuracy, high pedestrian detection accuracy rate, 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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