Multi-train hinge angle measurement method based on side-looking fisheye camera input

A fisheye camera and measurement method technology, applied in measurement devices, computer parts, image data processing, etc., can solve the problem of lack of simple and fast deployment of multi-train articulation angle measurement solutions, and achieve robustness and portability. Low cost, stable and reliable work

Inactive Publication Date: 2019-10-25
ZHEJIANG LEAPMOTOR TECH CO LTD
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  • Application Information

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Problems solved by technology

[0004] The technical problem to be solved by the present invention is: at present, there is a lack of technical p

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  • Multi-train hinge angle measurement method based on side-looking fisheye camera input
  • Multi-train hinge angle measurement method based on side-looking fisheye camera input
  • Multi-train hinge angle measurement method based on side-looking fisheye camera input

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Embodiment 1

[0039] Embodiment 1: A method for measuring articulation angles of multiple trains based on side-view fisheye camera input, such as figure 1 As shown, this embodiment includes the following steps: A) install fisheye cameras on both sides of the train, calibrate the ROI part of the original image of the fisheye camera, and map the ROI part of the original image to a bird's-eye view with the hinge point between trains as the coordinate origin , scaled to a preset size as a real-time sampled image, stored several sampled images and manually marked the tire area as a sample image. Tires are general-purpose automotive components and are in contact with the road surface, and their applicability and robustness are wider than those based on other vehicle components such as bodywork. Such as figure 2 Install the side view camera in the position shown. That is, the height is near the top of the trailer 5, and the default angle is 45° toward the ground. Both the front fisheye camera ...

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Abstract

The invention relates to the field of vehicle control, in particular to a multi-train hinge angle measurement method based on side-looking fisheye camera input, which comprises the following steps: A)installing a fisheye camera, mapping an ROI part of an original image into a bird's-eye view, and marking to make a sample image; B) establishing and training an image recognition segmentation neuralnetwork; and C) establishing and training a hinge angle regression network, and taking the output as a hinge angle measurement value after upper and lower limit correction and filtering correction. The method has the substantive effects that the hinge angle is obtained in real time through image processing, the method can be integrated in a look-around system, extra hardware cost is not introduced, interference is not likely to happen, and work is stable and reliable; compared with a method based on vehicle body contour features, the method for estimating the hinge angle based on the tire semantic features is higher in robustness and portability and low in application and popularization cost.

Description

technical field [0001] The invention relates to the field of vehicle control, in particular to a multi-train articulation angle measurement method based on side-view fisheye camera input. Background technique [0002] Multi-section car trains have the advantages of large load capacity, high transportation efficiency, good fuel economy and low transportation costs, and have gradually become the main force of road freight. With the continuous construction of the road network and the continuous development of the economy, more and more semi-trailer trains will participate in the freight. The dynamic state of a semi-trailer train composed of a tractor and a semi-trailer is unstable and difficult to control when it is running backwards, and it is prone to folding, collision, rollover and other reversing accidents. It is difficult for those novice drivers with insufficient driving experience to complete the reversing task. Therefore, it is necessary to apply electronic technolog...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/32G06K9/34G06K9/62G06T7/80G01B11/26
CPCG06T7/80G01B11/26G06T2207/10004G06T2207/20081G06V20/10G06V10/25G06V10/267G06F18/214
Inventor 缪其恒苏巍王江明许炜
Owner ZHEJIANG LEAPMOTOR TECH CO LTD
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