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Method and system for detecting vehicle motion state based on autonomous sensor

A state detection and sensor technology, applied in the direction of instruments, measuring devices, surveying and navigation, etc., can solve the problems of inaccurate models and insufficient target tracking accuracy

Active Publication Date: 2019-06-18
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

[0003] Aiming at the inaccuracy of the prior art model and insufficient target tracking precision, the present invention proposes a vehicle motion implementation state detection method and system based on an autonomous sensor. By considering the impact of the front target vehicle dynamics on motion state identification and the Based on the influence of the relative relationship with the road on the state recognition of the target vehicle ahead, a vehicle-road joint model considering road constraints and vehicle dynamics is innovatively proposed to realize the steering angle, yaw rate and lateral velocity of the target vehicle ahead. detection, thereby significantly improving the accuracy of detection

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  • Method and system for detecting vehicle motion state based on autonomous sensor
  • Method and system for detecting vehicle motion state based on autonomous sensor
  • Method and system for detecting vehicle motion state based on autonomous sensor

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Embodiment Construction

[0028] This embodiment specifically includes the following steps:

[0029] Step 1. Acquisition of road and vehicle motion information based on active sensors equipped with the vehicle.

[0030] 1.1) The rich road image information is obtained through the visual sensor, followed by grayscale processing:

[0031] V Gray =0.3×V Red +0.59×V Green +0.11×V Blue ; where V Gray is the gray value after grayscale processing, V Red , V Green , V Blue , are the corresponding RGB values ​​of the color image

[0032] 1.2) Threshold segmentation: Among them: f(x, y) represents the input image, g(x) represents the output image, and T represents the selected threshold.

[0033] 1.3) Canny edge detection operator, which detects straight lines through Hough transform according to known data points;

[0034] 1.4) Estimate the road curvature by the least squares method of curve fitting to realize the road reference, that is, the detection including lane line, lane centerline and road c...

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Abstract

The invention relates to a method and system for detecting the vehicle motion state based on an autonomous sensor. The relationship between the vehicle dynamics of a front target vehicle and the motion state of the target vehicle and the relationship between the relative relation of the front target vehicle and a road and the state of the front target vehicle are considered, a combined vehicle-road model considering road constraint and vehicle dynamics is creatively provided; and, on the basis of measurement information detected by the autonomous sensor, accurate estimation of difficultly measured motion state parameters, such as the yaw velocity and the side velocity of the front target vehicle, can be realized.

Description

technical field [0001] The present invention relates to a technology in the field of automobile assisted driving, in particular to a method and system for detecting vehicle motion implementation state based on an autonomous sensor. Background technique [0002] At present, in the environmental perception system of assisted driving and automatic driving vehicles, it is necessary to perceive the motion state of the target vehicle in front in all aspects. The main quantities to be detected include: relative distance, longitudinal speed, yaw rate, and lateral speed. Realize decision-making, and then implement control execution. However, most of the current relevant patents and documents do not involve the detection methods of the lateral velocity, yaw rate, and vehicle steering angle of the target vehicle in front, and these key parameters play an important role in the accurate identification of vehicle motion, and most patents use Single-sensor vehicle detection and tracking m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C23/00G06K9/00
Inventor 王亚飞殷承良周志松李程伟
Owner SHANGHAI JIAO TONG UNIV
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