Rapid vehicle distance measurement optimization method for vehicle-mounted binocular system

An optimization method and technology for target vehicles, which are applied in the field of fast vehicle ranging optimization of in-vehicle binocular systems, and can solve problems such as high requirements for processing unit computing power.

Active Publication Date: 2018-10-12
ZHEJIANG LEAPMOTOR TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0003] The existing ranging method based on binocular vision system is mainly based on the parallax calculation between two cameras to estimate the distance of obstacles

Method used

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  • Rapid vehicle distance measurement optimization method for vehicle-mounted binocular system
  • Rapid vehicle distance measurement optimization method for vehicle-mounted binocular system
  • Rapid vehicle distance measurement optimization method for vehicle-mounted binocular system

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Embodiment Construction

[0034] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0035] refer to figure 1 , this figure is a flow diagram of an embodiment of a fast vehicle ranging optimization method for a vehicle-mounted binocular system. As can be seen from the figure, the system can be divided into three layers, which are input layer, image processing layer, and The formation and output layer, where the input layer is used to input prior knowledge and images collected by the forward-looking system. The prior knowledge is the assumption of road information. Here, the plane road model assumption is used, which can include road models, lane models and Various sensors and other hardware devices can be used to collect prior knowledge of the input layer such as vehicle width and height, while the hardware devices corresponding to the front-view system can be hardware devices such as vehicle-mounted binocular cameras. The image processing layer is ...

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Abstract

The invention discloses a vehicle distance measurement method based on a vehicle-mounted binocular camera. The method is characterized by comprising steps as follows: S1, vehicle detection is performed at the angle of view on one side of the binocular camera according to target vehicle texture information and prior road information, the position of a vehicle and the distance away from the vehicleare determined; S2, similarity matching of the target vehicle at the angle of view on the other side of the binocular camera is performed, a matching position with higher similarity is selected, the center offset of the target vehicle at two angles of view is determined, and the actual position of the target vehicle and the distance away from the vehicle are determined according to the center offset; S3, a confidence interval of the binocular camera is determined according to parameters of the binocular camera, the actual position of the target vehicle and the distance away from the vehicle, which are determined according to the center offset, are output in the confidence interval of the binocular camera, and the vehicle detection reliability is verified through an offline training classifier outside the confidence interval. With the adoption of the method, the vehicle distance measurement accuracy is improved.

Description

technical field [0001] The invention relates to a vehicle distance measurement method, in particular to a rapid vehicle distance measurement optimization method for a vehicle-mounted binocular system. Background technique [0002] Advanced Driver Assistance System (ADAS) is one of the important technologies for the development of vehicle braking safety, and has gradually become an important safety reference for NCAP in various countries to evaluate vehicle safety levels. ADAS functions such as Forward Collision Warning (FCW) and Lane Departure Warning (LDW) have become the standard configuration of existing mid-to-high-end models. For ADAS systems such as FCW and Automatic Emergency Braking (AEB) for vehicles in front, not only require The perception system can detect the vehicle ahead in a timely and accurate manner, and it is also required that the system can accurately predict the movement state of the vehicle in front relative to the vehicle in order to ensure the effect...

Claims

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Application Information

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IPC IPC(8): G01C3/00
CPCG01C3/00
Inventor 缪其恒孙焱标王江明许炜
Owner ZHEJIANG LEAPMOTOR TECH CO LTD
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