Speed measurement method and device, electronic equipment, storage medium and program product

Abstract

The application provides a speed measurement method and device, electronic equipment, storage medium and program product, and relates to the technical field of vehicle intelligent control. The method comprises the following steps: obtaining a target image comprising a to-be-measured vehicle through a vehicle-mounted monocular camera; calculating the height of the to-be-measured vehicle according to the pixel height of the to-be-measured vehicle in the target image; and predicting the relative speed of the to-be-measured vehicle based on an extended Kalman filtering formula, wherein the state variable of the extended Kalman filtering formula is defined according to the distance and the relative speed of the to-be-measured vehicle and the vehicle-mounted monocular camera; the transition matrix of the extended Kalman filtering formula is defined according to the time interval of adjacent two frames of images photographed by the vehicle-mounted monocular camera; the observation matrix of the extended Kalman filtering formula is defined according to the focal length, the height of the vehicle-mounted monocular camera and the distance between the to-be-measured vehicle and the vehicle-mounted monocular camera; and the pixel height of the to-be-measured vehicle in the target image is the observation value in the extended Kalman filtering formula. By using the application, the accuracy of speed measurement can be improved.

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