A method and device for determining vehicle motion state based on a forward-looking monocular camera

Through the vehicle motion state determination method based on the forward-looking monocular camera, pixel compensation and historical trajectory matching are used to solve the problems of low vehicle motion state estimation accuracy and high cost, achieve high-precision motion state perception, and reduce costs.

CN118115544BActive Publication Date: 2025-09-26TIANJIN QINGZHI TECH CO LTD
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Patent Information

Application Number
CN202410067234.1
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-01-17
Publication Date
2025-09-26
Estimated Expiration
2044-01-17

AI Technical Summary

Technical Problem

The existing technology for estimating vehicle motion states suffers from low accuracy and high cost, especially when it is achieved through camera and radar fusion. It suffers from defects such as less than ideal accuracy, high cost, and susceptibility to abnormal weather conditions.

Method used

A vehicle motion state determination method based on a forward-looking monocular camera is adopted. The target rectangular frame is extracted from the current frame image captured by the vehicle's forward-looking camera, and pixel compensation is performed (including optical flow compensation for the rear width and rear height ratio). The historical trajectory library is then checked for a matching target trajectory. The motion state is determined by combining the target trajectory and the compensated pixel value.

Benefits of technology

The accuracy of vehicle motion state estimation is improved, the cost is reduced, high-precision motion state perception is achieved, and dependence on radar is reduced.

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Abstract

The present invention relates to a method and device for determining the motion state of a vehicle based on a forward-looking monocular camera. The method comprises: extracting a target rectangular frame containing a target vehicle from a current frame image captured by a vehicle forward-looking camera; performing pixel compensation on the target vehicle in the current frame image to obtain a compensated pixel value of the target vehicle, wherein the pixel compensation comprises: width compensation for the width of the rear end of the target vehicle and optical flow compensation for the height ratio of the rear end of the target vehicle; detecting whether there is a target trajectory matching the target rectangular frame in a historical trajectory library; if a target trajectory is detected to exist in the historical trajectory library, determining the motion state of the target vehicle in the current frame image based on the target trajectory and the compensated pixel value of the target vehicle. Through this application, the problems of low accuracy and high cost in vehicle motion state estimation in related technologies are solved, and the technical effect of improving the accuracy of vehicle motion state estimation and reducing costs is achieved.
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