Vehicle anti-collision method based on wheel detection

Abstract

The invention provides a method for avoiding vehicle collision based on wheel detection. The method comprises the steps that a, a world coordinate system taking a vertical projection point of a central point of a vehicle on the ground as an origin of coordinates is established; b, images of one of more vehicles around the vehicle and images of one or more wheels are collected in real time throughthree or more vision sensors; c, all the collected images are subjected to vehicle recognition and wheel recognition; d, the subordination relationship between the wheels and the vehicles is obtainedaccording to the geometric relative relationship, obtained in the step c, of the vehicle positions and the wheel positions; e, based on the results of the step c and the step d, the distance between each target vehicle and the vehicle and the relative speed between the target vehicles and the vehicle are calculated, and thus collision points possibly colliding with the vehicle and the collision time in a current state of the target vehicles under the world coordinate system are obtained; and f, the danger level is evaluated according to the collision points and the collision time.

Description

technical field [0001] The invention relates to the field of machine vision, in particular to a vehicle anti-collision method based on wheel detection. Background technique [0002] In the field of advanced assisted driving and automatic driving, monocular and multi-eye cameras are generally used for distance detection and early warning of objects in front of and around the vehicle, reminding the driver or controlling the vehicle, avoiding vehicle collisions, and reducing traffic accidents and deaths. Most of the currently used vision systems are installed in front of the vehicle. Due to the visual problems of the camera itself, it cannot observe the targets on the left and right sides of the own vehicle, and cannot solve the vehicle detection when the vehicle cuts into the lane. In addition, the existing vehicle surround view system is widely used, but this type of system currently does not automatically analyze the behavior of surrounding vehicles, and mainly relies on the...

AI Technical Summary

Problems solved by technology

[0006] And, the utility model patent titled "An Early Warning System for Preventing Vehicle Collision" and publication number "CN208400321U" discloses the following technical scheme: the detection device of this scheme is based on millimeter-wave radar, which can detect the adjacent first and second Real-time detection of vehicles in the lane, but compared with the camera, the equipment required by this patent is more expensive, and the advantages of mass production are far less strong than this patent

Images