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Machine vision based estimation method for local geometry of driveway and vehicle location

A local geometry and machine vision technology, which is used in traffic control systems, instruments, and traffic flow detection of road vehicles.

Inactive Publication Date: 2006-07-19
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a method for estimating the local geometric structure of the lane and the vehicle position based on machine vision, so that it can accurately estimate the width of the lane and the curvature of the lane when the contrast of the road image is poor or the shadow is serious. , the lateral deviation distance of the vehicle in the lane and the angle between the longitudinal centerline of the vehicle and the centerline of the lane (head angle)

Method used

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  • Machine vision based estimation method for local geometry of driveway and vehicle location
  • Machine vision based estimation method for local geometry of driveway and vehicle location
  • Machine vision based estimation method for local geometry of driveway and vehicle location

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Embodiment Construction

[0042] (1) if figure 1 As shown, the equipment included in this embodiment includes: a camera system and a microprocessor. The camera system captures images of the road ahead of the vehicle and transmits them to the microprocessor. The microprocessor processes the images to obtain the width and curvature of the lane. And the lateral position and heading of the vehicle in the lane.

[0043] (2) if figure 2 As shown, the camera is installed behind the windshield of the vehicle, the height of the camera from the ground is H, the angle between the optical axis of the camera and the ground is φ, the yaw angle and roll angle of the camera are 0, and the coordinates of the center of the image are (u 0 , v 0 ), α u and alpha v are the horizontal scale factor and vertical scale factor of the camera, respectively.

[0044] (3) if image 3 As shown, the lane markings in the image coordinates are represented by a deformation template, and the parameters of the deformation template ...

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Abstract

The invention relates to a traffic lane local geometry and vehicle location estimation method based on machine vision in the field of intelligent vehicle. It dose edge testing to the picture of the vehicle front road, uses the distorted mode of the lane line of picture coordinate and maximum probability estimator to compute the distorted mode parameter, uses graining group optimization algorithm to compute the maximum probability estimator and combines the camera parameter and the maximum probability estimator to compute the lane width and twist, the distance between the vehicle and the lane center and the angle between the vehicle center line and the lane center line.

Description

technical field [0001] The invention relates to a method belonging to the field of intelligent vehicles, in particular, a method for estimating the local geometric structure of a lane and a vehicle position based on machine vision. Background technique [0002] In vehicle intelligent cruise control, lane departure warning, lateral control, and autonomous driving systems, there is a need for a way to reliably estimate the position of the vehicle in the lane and the local geometry of the lane. [0003] Through literature retrieval of prior art, it is found that Jun Miura et al published "Toward vision" in "IEEE Transactions on Intelligent Transportation Systems" (2002, 3(2), pp.136-146) ("Journal of IEEE Intelligent Transportation Systems") -based intelligent navigator: its concept and prototype" ("Vision-based intelligent navigator: its concept and prototype"). This paper uses the feature of high brightness of lane markings to segment the high brightness areas corresponding ...

Claims

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Application Information

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IPC IPC(8): G08G1/01G08G1/123
Inventor 周勇叶庆泰徐榕胡小锋
Owner SHANGHAI JIAO TONG UNIV
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