Vision-based intelligent vehicle transverse control method

Abstract

The invention discloses a vision-based intelligent vehicle transverse control method. The method comprises the following steps: step one, a camera acquiring an image; step two, according to the image acquired by the camera in acquiring a front vehicle image in real time, detecting whether a front vehicle exists by use of a computer vision technology; step three, carrying out vehicle longitudinal and transverse distance measurement; step four, carrying out vehicle angle deviation calculation; and step five, performing steering wheel angle control. The camera acquires the front vehicle image in real time in the first step, image analyzing is performed on an acquired initial image, then exposure parameters of the camera are adjusted according to an image analyzing result, whether the picture depicts a daytime scene or a night scene is determined according to the image acquired by the camera, and different exposure strategies are employed for exposure according to different scenes so that vehicle detection requirements for different scenes are met.

Description

technical field [0001] The invention belongs to the field of intelligent vehicles, and in particular relates to a vision-based lateral control method for intelligent vehicles. Background technique [0002] China's economy is developing rapidly, the proportion of urban population is increasing rapidly, and the number of cars is also increasing. Urban congestion is a very serious problem facing China. In order to solve the driver's driving fatigue in congested urban roads and prevent collisions with the vehicle in front, the urban automatic car following system came into being. The urban low-speed car-following system uses sensors such as lidar, millimeter-wave radar, and camera to detect the vehicle in front, and can automatically follow the vehicle in front. For example, the Toyota SafetySense system proposed by Toyota combines the camera with millimeter-wave radar or lidar. The low-speed car-following system first requires effective detection and identification of the veh...

AI Technical Summary

Problems solved by technology

The millimeter-wave radar is used to locate the lateral position of the vehicle in front. There is a huge disadvantage that if the vehicle in the adjacent reverse lane is equipped with the same millimeter-wave radar, the two radars will interfere with each other. In this scenario, the radar cannot accurately locate the vehicle in front

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