Anti-collision early-warning method based on pedestrians and riders in front of road

Abstract

The invention discloses an anti-collision early-warning method based on pedestrians and riders in front of a road, and belongs to the field of driving auxiliary systems. The anti-collision early-warning method comprises three aspects of environment perception, information interpretation and target state judgment. According to the anti-collision early-warning method, a collected training set is transmitted to a YOLO-R network to be trained, target detection and classification are conducted, and multi-target tracking is achieved through Kalman filtering; an image is subjected to inverse perspective transformation, thus an IPM image is obtained, a relation curve between original image pixel coordinates and IPM image pixel coordinates is fitted through data regression modeling, and the distance is estimated through a linear relation between the IPM image pixel coordinates and world coordinates; and according to the vehicle speed and the braking distance, an early-warning activation area isdetermined, then a fuzzy early-warning algorithm is adopted for targets in the activation area so as to judge whether the targets in the activation area are in danger or not, if the danger exists, drivers are reminded in time, accordingly, accidents are effectively reduced, and the safety of the pedestrians and the riders is protected.

Description

technical field [0001] The invention belongs to the field of automobile active safety, relates to image processing and knowledge of an anti-collision early warning system, and in particular relates to an anti-collision early warning method based on pedestrians and cyclists ahead of the road. Background technique [0002] In my country's typical mixed traffic environment, pedestrians, cyclists, vehicles, etc. are all road traffic participants, among which pedestrians and cyclists are vulnerable groups, they are exposed, have no protective measures, and their personal safety in the event of a traffic accident It is more difficult to guarantee, so it is especially important to protect the safety of pedestrians and cyclists. [0003] Traditional pedestrian and cyclist detection algorithms complete target detection by manually extracting features such as HOG, Haar, and LUV, and training classifiers. This method can achieve better detection results under certain conditions, but th...

AI Technical Summary

Problems solved by technology

[0004] Chinese patent (CN1O2765365A) discloses a pedestrian detection method based on machine vision and a pedestrian anti-collision warning system. A pedestrian classifier is used to detect pedestrians on the road, which blurs the individual characteristics of pedestrians and reduces the impact of individual differences on detection results. , judge the possibility of an accident through the anti-collision warning system, but its detection accuracy is low, ignoring the safety of the rider

Chinese patent (CN204870868U) discloses a car anti-collision and pedestrian protection early warning system based on multi-sensors, which uses laser ranging and ultrasonic ranging to realize early warning of vehicles, obstacles or pedestrians in front of and behind the car. The method has a single early warning indicator, The reliability of the early warning system is poor

Images