Method and device for detecting barrier in traffic lane

An obstacle detection and driving technology, applied in the field of obstacle detection in driving, can solve the problems of complex calculation and inspection algorithm, relatively high algorithm requirements, unable to achieve real-time calculation, etc., and achieve the effect of reducing installation cost and reducing detection accuracy requirements.

Active Publication Date: 2016-12-07
BEIJING QIHOO TECH CO LTD
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Problems solved by technology

The advantage of vision-based monocular FCWS (forward collision warning system) is that it only needs an ordinary camera, so it is cheap, easy to install, and does not change the appearance of the vehicle, etc., but its disadvantage is that in order to obtain a more accurate relative distance Or TTC (time to contact) requires relatively high requirements on the algorithm. For example, the existing algorithm has Mobileye's FCW, which requires more accurate spatial positioning of obstacles or pedestrians, and also requires vehic

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  • Method and device for detecting barrier in traffic lane
  • Method and device for detecting barrier in traffic lane
  • Method and device for detecting barrier in traffic lane

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[0061] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0062] The present invention proposes a method for detecting obstacles in driving, such as figure 1 As shown, the method includes:

[0063] S1. Acquiring video frames;

[0064] S2. Perform key point detection on obstacles based on the current video frame;

[0065] S3. Divide the key point according to the area to which it belongs, and select an observation point from the key points of each divided sub-area;

[0066] S4. Track th...

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Abstract

The invention discloses a method and a device for detecting a barrier in a traffic lane. The method comprises steps of obtaining a current video frame; carrying out key point detection of a barrier based on the current video frame; dividing an area according to the area to which the key points belong, and selecting observation points from key points in each subarea after division; tracking the observation points and selecting an observation point of the best response performance in each subarea; obtaining the center of mass of each subarea according to the observation point of the best response performance in each subarea; and calculating a time to collision (TTC) of the barrier according to a distance between the center of mass of each subarea in the current frame and the center of mass of each subarea in a former frame. Under a condition with a single camera, the TTC of the barrier can be accurately and timely calculated without acquiring vehicle speed information.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a method and device for detecting obstacles in driving. Background technique [0002] With the continuous development of science and technology, intelligent navigation and driving technology have begun to be developed in the driving of motor vehicles. How to detect forward obstacles is a very important technical branch of intelligent navigation and driving. In the prior art, there are two schemes. One scheme is to use ranging sensors such as laser radar and millimeter wave radar. The advantage of this scheme is that it can directly obtain the precise direct distance between the obstacle and the driving vehicle. It is simple and has high measurement accuracy, but the equipment is expensive and the installation is complicated, and it will change the appearance of the vehicle. Another solution is a vision-based ranging solution, in which vision is divided into a monocu...

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Application Information

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IPC IPC(8): G06K9/00G06K9/34
CPCG06V20/46G06V20/58G06V10/267
Inventor 余道明陈强兴军亮张康董健黄君实杨浩龙鹏
Owner BEIJING QIHOO TECH CO LTD
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