Preceding vehicle detection method based on vehicle-mounted camera under night-vision environment

Abstract

The invention discloses a preceding vehicle detection method based on a vehicle-mounted camera under night-vision environment, relates to a method for detecting the preceding vehicle. According to the method, firstly, exposure control and polarized light elimination are performed on the vehicle-mounted camera used for detecting and tracking vehicle lights, then a region growing method combining with canny edge detection and a color image threshold segmentation method based on Mahalanobis distance are respectively used for segmenting headlights and taillights; on this base, the vehicle lights are paired, and the computing accuracy of the related coefficient is improved by using primary filtering and projection distortion compensation; and at last the target is tracked and confirmed based on Kalman filtering and state machine conversion. The method has the advantages of being capable of reducing the interference of complex background, reducing the intensity of light reflection of wet roadside, detecting the taillights, maintaining the appearance shapes of the headlights and improving the computing accuracy of the related coefficient, being simple in computing and solving process, and also being capable of accelerating the detection speed and maintaining the accuracy of vehicle detection, and can achieve the accurate detection and stable tracking on the preceding vehicle under the night-vision environment.

Description

technical field [0001] The invention relates to a method for detecting a vehicle in front, in particular to a method for detecting a vehicle in front based on a vehicle-mounted camera in a night vision environment. Background technique [0002] Other vehicles on the road are information that the driver must pay attention to during driving. The assisted driving system that automatically detects the position of other vehicles has a wide range of uses, such as: collision warning, blind spot monitoring, automatic cruise, etc. In-vehicle visible light cameras are an inexpensive sensing device widely used for such functions. But at night, the visual information in visible light video is very limited. Many background information such as road signs, lane lines, horizon lines and object information such as body structure and vehicle color are almost completely unavailable. In the dark night environment, the most prominent vehicle information is the vehicle's headlights and taillig...

AI Technical Summary

Problems solved by technology

However, the method in this paper does not calculate the symmetry-related information of the lights. It is simply considered that a pair of lights on the same horizontal axis belong to the same target vehicle. At the same time, as pointed out at the end of the paper, the method in this paper is vulnerable to The colored road signs or billboards on both sides of the road interfere. In addition, the rain on the road will also affect the detection effect of the method in this paper.

Images