Method, device and vehicle for measuring speed of moving object

Abstract

The invention discloses a method, device and vehicle for measuring the speed of a moving object, wherein the measuring method includes the following steps: acquiring an image of the surrounding environment of the current vehicle through at least one camera installed on the current vehicle; performing frequency domain conversion on the image, Obtain the first spectrogram of the image; determine the area where the difference between the blur scale and the static blur scale in the first spectrogram is greater than a preset threshold as the second spectrogram corresponding to the moving objects around the current vehicle; according to the second Spectrogram, get the relative motion direction and relative motion speed value of the moving object relative to the current vehicle, and get the relative motion speed vector of the moving object relative to the current vehicle according to the relative motion direction and relative motion speed value; according to the relative motion speed vector and The velocity vector of the current vehicle is used to obtain the velocity vector of the moving object. The measuring method of the invention can sense the moving speed of surrounding moving objects in real time and accurately.

Description

technical field [0001] The invention relates to the technical field of vehicle speed detection, in particular to a method, device and vehicle for measuring the speed of a moving object. Background technique [0002] At this stage, visual speed measurement mainly uses a fixed camera to shoot moving vehicles, and then calculates the speed of moving vehicles according to the blurred degree of the vehicle hub in the image. The specific implementation process is: use the calibrated camera to shoot the wheel hub of the moving vehicle, then calculate the horizontal distance and vertical distance of the wheel hub in the image, and compare the actual horizontal diameter and vertical diameter to obtain the amount of blurred pixels. The mathematical model of the vehicle speed is obtained. [0003] The above method needs to be equipped with a special camera to shoot the wheel hub of the vehicle, which not only increases the hardware cost, but also has a large number of sensors for smar...

AI Technical Summary

Problems solved by technology

[0003] The above method needs to be specially equipped with a camera to shoot the wheel hub of the vehicle, which not only increases the hardware cost, but also has a large number of sensors for the smart driving car, and adding additional hardware devices will increase the difficulty of the body layout design

Moreover, in the later stage of calculation, there needs to be a process of reversely pushing the whole vehicle from the hub, which increases the calculation steps

Images