CN101941399A - Vehicle lane change auxiliary device and auxiliary judgment method thereof - Google Patents
Vehicle lane change auxiliary device and auxiliary judgment method thereof Download PDFInfo
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Abstract
The invention relates to the field of driving safety of motor vehicles, and discloses a vehicle lane change auxiliary device and an auxiliary judgment method thereof. The vehicle lane change auxiliary device comprises two cameras, a green signal lamp for indicating safety, a red signal lamp for indicating unsafety, and an image processor, wherein the image processor is electrically connected with video lines of the two cameras respectively through a USB interface, and electrically connected with the green signal lamp, the red signal lamp, a speed signal line of the vehicle, a left steering lamp opening signal line and a right steering lamp opening signal line through an I/O interface. The auxiliary judgment method comprises the following steps: acquiring road images by using the cameras, computing the longitudinal relative distance, longitudinal relative speed and lateral distance of the self vehicle and the vehicle at the rear lateral side, and comprehensively judging the lane change safety of the vehicle.
Description
Technical field
The present invention relates to the vehicle driving security fields, particularly a kind of vehicle lane changing aid and auxiliary judgment method thereof.
Background technology
The lane changing behavior and the traffic safety of automobile driver are closely related, and statistics shows, because the behavior of off-square lane changing has caused a large amount of traffic accidents, have brought massive losses for the people's lives and property safety.Chaufeur uses left and right back mirror and room mirror to observe its rear flank vehicle when carrying out lane changing usually, judges parameters such as the horizontal relative distance between rear flank vehicle and the vehicle, vertical relative distance, vertical relative velocity.Compare with front vehicles, chaufeur is judged vertical relative distance of rear flank vehicle by back mirror, vertically much more difficult during relative velocity, the minute surface that major cause is back mirror will be on a large scale when imaging object image-forming on very little minute surface, certain deformation all can take place in scene around rear flank vehicle and the road, cause chaufeur from back mirror, to be not easy to judge vertical relative distance with the rear flank vehicle, information such as vertical relative velocity, thereby in the process of changing, hold not enough for the safety of changing, appear at easily and change operation under unsafe situation, cause traffic accident.
At present, adopt the method that enlarges the back mirror range of observation usually, as the circular convex mirror being installed, or on engine case, little back mirror is installed in the back mirror outside at the lane changing technology of vehicle.Adopt said method can increase chaufeur range of observation to the rear flank vehicle in the lane changing process, be not easy to judge the problem of vertical relative distance, vertical relative velocity when still not having to solve by back mirror observation rear flank vehicle.
At present, on high-grade car, there is employing the method that radar is monitored the rear flank vehicle to be installed at the vehicle rear bumper, this method can provide the lane changing process of chaufeur and assist help, but costing an arm and a leg of radar sensor, usually more than 50,000 Renminbi, be not suitable for carrying out large-scale promotion and use.
Summary of the invention
The object of the present invention is to provide a kind of vehicle lane changing aid and auxiliary judgment method thereof; few, the suitable large-scale promotion of this vehicle lane changing aid investment cost, its auxiliary judgment method, intelligent, automation; need not operation and reliability height.
Groundwork of the present invention is by using two cameras to gather the road image that chaufeur is opened vehicle left back under the steering indicating light situation or vehicle right abaft, and the road image with vehicle left back or vehicle right abaft transfers to image processor then.Utilize image processing program in the image processor, obtain the accurate position of rear flank vehicle in road image by image recognition, because camera is with respect to the invariant position of vehicle, therefore, the picture position of the different rear flank vehicles constantly that image recognition obtains, just can access vertical relative distance of the relative vehicle of rear flank vehicle through geometrical calculation, vertically relative velocity and laterally relative distance, in conjunction with the moving velocity of vehicle the safety of lane changing is assessed simultaneously, assessment result is safe and dangerous two kinds, by the signal lamp that uses different colours assessment result is pointed out to chaufeur, assisted help for the lane changing process of chaufeur provides.
In order to reach above-mentioned technical purpose, the present invention is achieved by the following technical solutions.
1, a kind of vehicle lane changing aid is characterized in that, comprising:
Two cameras are separately fixed on the left-hand mirror and right back visor of vehicle, gather the road image at vehicle rear, left side and rear, right side;
The greensignal light of an indication safety and the unsafe red eye of indication are separately fixed on the meter panel of motor vehicle;
An image processor, be electrically connected the video line of two cameras respectively by USB interface, be electrically connected speed signal line, left steering lamp start signal line, the right steering lamp start signal line of greensignal light, red eye and vehicle respectively by the I/O interface.
Further improvement in the technical proposal and characteristics are:
Described camera adopts culminant star YJS-01 USB2.0 camera.
Described image processor is the ARM9 treater, and concrete model is S3C2410.
Described greensignal light is a green LED lamp, and red eye is a red LED lamp.
2, a kind of vehicle lane conversion auxiliary judgment method based on above-mentioned vehicle lane changing aid, is characterized in that, may further comprise the steps:
(1) left side camera calibration: mark post is erect at the rear, left side at vehicle, by left side camera collection mark post image, identify the mark post position in the mark post image, mark post position in the mark post image and mark post actual position are demarcated vertical relative distance of conversion vehicle and mark post and horizontal relative distance;
(2) right side camera calibration, its method is with the left side camera calibration;
(3) image acquisition: vehicle is in motion process, image processor is monitored the moving velocity of vehicle in real time, when the moving velocity of vehicle was higher than 10km/h, image processor was monitored left steering lamp start signal, right steering lamp start signal; Open a certainly when side steering indicating light installed when chaufeur, image processor is connected this side camera, gathers the road image of this side camera;
(4) image pretreatment: remove useless point and noise spot in the road image;
(5) the rear flank vehicle ' s contour extracts: to carrying out binary conversion treatment through the pretreated road image of image, extract the shape of rear flank vehicle in the road image, obtain the contour images of rear flank vehicle;
(6) extract the unique point of rear flank vehicle location, choose the unique point of rear flank vehicle, extract the position of this unique point in road image;
(7) vertically relative distance, vertically relative velocity and transverse distance calculating: obtain after the position of vehicle characteristics point in road image, rear flank vertical relative distance of conversion vehicle and rear flank vehicle and horizontal relative distance; By vertical relative distance that double conversion is obtained, calculate vertical relative velocity of vehicle and rear flank vehicle in real time;
(8) change safety evaluation: according to vertical relative distance of vehicle that calculates in real time and rear flank vehicle, vertical relative velocity and transverse distance, the possibility that causes with the rear flank collision happens is changed in analysis, sends by red eye to be not suitable for changing caution or to send the prompting that can change by greensignal light.
The characteristics of technique scheme are: the described mid point of choosing the unique point of rear flank vehicle for its appearance profile lower edge line.
Vehicle lane changing aid of the present invention, major part adopt camera and ARM9 treater, and investment cost is few, simplicity of design, reliability height, and does not need vehicle is too much reequiped.Vehicle lane conversion auxiliary judgment method of the present invention, based on above-mentioned vehicle lane changing aid, the analytical calculation of the processing of its road image and lane changing safety is directly finished by the ARM9 treater, and is intelligent high, to the visual result of lane for driver conversion aid prompting, reliable.
Description of drawings
Fig. 1 is that the installation of camera reaches the shooting scheme drawing to vehicle left back and right abaft;
Fig. 2 is the signal input and output scheme drawing of ARM9 image processor;
Among the figure: 1, ARM9 treater; 2, left side camera; 3, right side camera; 4, LED lamp; 5, vehicle behind the left side; 6, vehicle behind the right side; 7, USB interface one; 8, USB interface two; 9, left steering modulating signal I/O interface; 10, right steering modulating signal I/O interface; 11, vehicle speed signal I/O interface; 12, greensignal light I/O interface; 13, red eye I/O interface.
The specific embodiment
With reference to Fig. 1, Fig. 2, in the auxiliary device of vehicle lane conversion, ARM9 treater 1 is installed in under-dash in the car.In the image collecting device, present embodiment adopts left side camera 2 and right side camera 3.Left side camera 2 adopts and is bolted on the left side back mirror of vehicle, and install camera lens vehicle 5 regions behind the left side.Right side camera 3 adopts and is bolted on the right rear of vehicle, and install camera lens vehicle 6 regions behind the right side.Red, green two LED lamps 4 are installed in the zone that gauge panel left handle drive person notices easily.Vehicle 6 being shaped as in camera institute images acquired is approximate rectangular behind left side back vehicle 5 and the right side.
ARM9 treater 1 is used to discern the moving velocity of vehicle by the speed signal of the intrinsic car speed sensor of speed signalling interface 11 collection vehicles, and ARM9 treater 1 will start vehicle lane conversion ancillary system when the speed of a motor vehicle is higher than 10km/h.ARM9 treater 1 is by the start signal of left and right steering indicating light signal I/ O interface 9,10 collection vehicle left steering lamps and the start signal of right steering lamp, is used to judge whether chaufeur is intended to carry out the direction that lane changing and intention are carried out lane changing.
The present embodiment camera adopts culminant star YJS-01 USB2.0 camera, valid pixel 6,000,000, left side camera 2 by the USB interface one 7 of usb data wire joint to the ARM9 treater, is passed through the USB interface two 8 of usb data wire joint to the ARM9 treater with right side camera 3.ARM9 treater 1 receives the road image of vehicle left back or the road image of right abaft, obtain rear flank vehicle location in the different road images constantly by image recognition, obtain the fore-and-aft distance between vehicle and the rear flank vehicle, vertical relative velocity and transverse distance by geometrical calculation, in conjunction with Vehicle Speed the safety of lane changing is analyzed, point out safety by greensignal light I/O interface 12 control greensignal lights to chaufeur, perhaps dangerous to the chaufeur prompting by red eye I/O interface 13 control red eyes.
When chaufeur was carried out the lane changing auxiliary judgment, because the time ratio that lane changing itself continues is shorter, therefore, the processing speed of the sampling frequency of camera and ARM9 treater 1 must satisfy the rapidity requirement of lane changing aid.The camera collection frequency that adopts in the present embodiment is 25Hz, and promptly the camera per second is gathered 25 frame pictures to vehicle left back or right abaft.1 pair of treatment of picture rate setting of ARM9 treater is 10Hz, and promptly the lane changing ancillary system can be carried out track conversion safety evaluation 10 times each second, meets the auxiliary rate requirement of lane changing.Because the sampling frequency of camera is higher than the processing frequency of ARM9, so system can normal operation, the phenomenon of picture lag can not occur.
In order to realize vehicle lane conversion auxiliary judgment method of the present invention, be the basis in conjunction with above-mentioned vehicle lane changing aid, concrete steps are as follows:
(1) camera, ARM9 treater and signal lamp are installed
Camera at first is installed, is used two identical cameras altogether, be installed in respectively on the back mirror of left side and on the right rear.Camera adopts thin bolt to be installed in the back mirror upper limb, and level is installed, and camera lens is towards rear view of vehicle.Because left-hand mirror or right back visor are not blocked in the installation of camera, so can not observe rear view of vehicle information by back mirror during the camera normal operation and bring interference chaufeur.Use the USB connection lead respectively the left side camera to be connected with the USB interface one, two of ARM9 treater with the right side camera.
The ARM9 treater is installed after the camera installation.The ARM9 treater is encapsulated in the can, carries out the signal transmission by the lead and the external world, and its installation site is arranged in the meter panel of motor vehicle inner space.Use lead that left steering modulating signal line, right steering modulating signal line and the vehicle speed signal line of vehicle are connected with the I/O interface of ARM9 treater respectively.
Red eye and greensignal light are fixed on the base, utilize double faced adhesive tape base to be sticked on the gauge panel in chaufeur the place ahead, wherein the position of base need be in the place that chaufeur is noticed easily, but it is too many to depart from the chaufeur normal line of sight, otherwise chaufeur can feel to pay particular attention to the state of ability observation signal lamp, has influence on normal driving behavior.
(2) camera calibration
With the left side camera calibration is example: mark post is erect at the rear, left side at vehicle, by left side camera collection mark post image, identify the mark post position in the mark post image, mark post position in the mark post image and mark post actual position are demarcated vertical relative distance of conversion vehicle and mark post and horizontal relative distance.
Be specially: vehicle is parked in open area, is that starting point is rearward carried out range mark with vehicle rear bumper position, makes land marking, erects mark post in the land marking position.Control the mark post image of camera collection left back, left side then.The mark post image that collects is carried out analyzing and processing, identify the mark post position in the mark post image.Because the mark post actual distance is known, can obtain the vertical relative distance of vehicle and mark post and the formula of mathematical of horizontal relative distance by camera calibration.
The right side camera calibration, its method is with the left side camera calibration.
(3) image acquisition and transmission
After the system start-up, the ARM9 treater starts the monitoring to Vehicle Speed and vehicle turn signal state.At first Jian Kong condition is the speed of a motor vehicle, because road environment information more complicated, less usually in the distance between the vehicle after vehicle and the ambient side under the low speed situation, and chaufeur is stronger relatively to the observation ability of surrounding environment under the low speed situation, can not occur the traffic accident that causes inadequately owing to the driver's observation ability usually.Therefore, the speed of a motor vehicle condition setting in the ARM9 treater is 10km/h, and promptly only under the situation of self speed of a motor vehicle greater than 10km/h, the ARM9 treater just carries out subsequent operation, otherwise will quit work.When self speed of a motor vehicle during greater than 10km/h, the ARM9 treater begins to monitor the steering indicating light state of vehicle, specifically comprises left steering lamp and right steering lamp.When the ARM9 treater monitored chaufeur unlatching steering indicating light, what at first judge the chaufeur unlatching was that is side steering indicating light installed, gathers the road image of this side camera then by USB interface.For example, after chaufeur was opened the left steering lamp, the ARM9 treater was judged chaufeur and is prepared lane change left, and the ARM9 treater will be gathered the road image of left side camera by USB interface this moment, then not gather for the road image of right side camera.
The ARM9 treater is according to the road image collection of vehicle speed signal and steering indicating light start signal control left side camera and right side camera, till image acquisition process is closed to steering indicating light from chaufeur unlatching steering indicating light, but the shortest image acquisition time was set to for 10 seconds, this is because modern automobile has been installed the steering indicating light automatic closing system usually, the situation that steering indicating light has been closed when occurring chaufeur sometimes and also do not finish lane changing, in order to guarantee that continuing that in subsequent process chaufeur is carried out lane changing provides auxiliary, the ARM9 treater is with continuous firing, and time length was 10 seconds.
(4) image pretreatment: remove useless point and noise spot in the road image.
The pretreated purpose of image is that removal left side camera or right side camera are gathered the interfere information in the road image.Because the environment property of there are differences of vehicle '; occur and the irrelevant information of target vehicle through regular meeting in the road image that camera collected; these information can produce interference for follow-up distance calculation; therefore in image processing process, at first road image is carried out filtering, specifically adopt median filtering algorithm to carry out.For the some pixels in the image, calculate this some aviation value of 3 * 3 scope interior pixel point gray values on every side, with the gray value of this aviation value as this point.Can eliminate existing interfere information in the camera institute images acquired substantially by using 3 * 3 median filtering algorithm.
(5) the rear flank vehicle ' s contour extracts: to carrying out binary conversion treatment through the pretreated road image of image, extract the shape of rear flank vehicle in the road image, obtain the contour images of rear flank vehicle.
To carrying out binary conversion treatment, extract the frontal aspect of rear flank vehicle in the road image through the pretreated road image of image.For left side camera and right side camera, all be the rear flank vehicle to be carried out image acquisition from the rear flank vehicle front, therefore in the road image that is collected the rear flank vehicle be shaped as frontal aspect.Adopting binarization method that image is carried out profile in the image processing program extracts, detailed process is for setting a gray threshold, for the some points in the image, if this gray value is more than or equal to threshold value, think that then this point belongs to rear flank vehicle in-scope, change the gray value of this point into 0,, change the gray value of this point into 1 if instead the gray value of this point thinks then that less than threshold value this point does not belong to the rear flank vehicle region.After computing was finished in this way to a two field picture, the shape that gray value 0 part in the road image is formed was the shape of rear flank vehicle.
(6) unique point of extraction rear flank vehicle
The mid point of choosing lower edge in the vehicle end outline of rear flank is as unique point.Obtain the end outline of rear flank vehicle in road image behind the profile of extraction rear flank vehicle.Because the end outline of vehicle has integraty, promptly extract the rear flank vehicle ' s contour that obtains and to be the approximate rectangular shape of an osed top, the actual front end of representing the rear flank vehicle of the lower edge of rectangle wherein, the distance of carrying out being adopted when the lane changing safety is calculated is the distance of vehicle rear bumper to the rear flank vehicle front bumper.Adopt the mid point of lower edge in the vehicle end outline as unique point in the image processing program, concrete leaching process is: image processing program is analyzed the result who extracts the rear flank vehicle ' s contour, identify rear flank vehicle in the road image according to the recognition rule of similar sealing rectangle, from the Closed Graph picture of similar rectangle, choose the mid point of lower edge then, obtain the vertical picture position and the landscape images position of lower edge mid point.
(7) vertically relative distance, vertically relative velocity and transverse distance calculating: obtain after the position of vehicle characteristics point in road image, rear flank vertical relative distance of conversion vehicle and rear flank vehicle and horizontal relative distance; By vertical relative distance that double conversion is obtained, calculate vertical relative velocity of vehicle and rear flank vehicle in real time.
Obtain after the picture position of rear flank vehicle characteristics point, utilize mathematical relation between the resulting vertical picture position of camera calibration and actual fore-and-aft distance, landscape images position and the actual transverse distance to calculate actual distance between rear flank vehicle and the vehicle, specifically comprise actual fore-and-aft distance and actual transverse distance.Its concrete process is: for the landscape images position x1 that obtains and vertical picture position value y1, utilize mathematical relation f (x) and the vertical mathematical relation g (y) between picture position and the actual fore-and-aft distance between camera calibration resulting landscape images position and the actual transverse distance, x1 and y1 are updated to respectively among function f (x) and the g (y), calculate actual transverse distance value and actual fore-and-aft distance value.
By vertical relative distance that double conversion is obtained, the actual fore-and-aft distance value that once calculates before the actual fore-and-aft distance value that obtains with a back computing deducts, the fore-and-aft distance that obtains between twice calculating is poor, obtains vertical relative velocity with the fore-and-aft distance difference divided by the time difference between twice calculating.When vertical relative velocity＜0, represent that vehicle speed is lower than rear flank car speed, and vertical relative velocity 〉=represented that vehicle speed was than rear flank car speed height at 0 o'clock.Vertically relative velocity is used to react the close velocity of rear flank vehicle, thereby can carry out the lane changing safety evaluation.For example the rear flank vehicle at a high speed near the time to carry out lane changing be unsafe, need point out chaufeur.
(8) change safety evaluation: according to vertical relative distance of vehicle that calculates in real time and rear flank vehicle, vertical relative velocity and transverse distance, the possibility that causes with the rear flank collision happens is changed in analysis, sends by red eye to be not suitable for changing caution or to send the prompting that can change by greensignal light.
Obtain after fore-and-aft distance, transverse distance and the vertical relative velocity of vehicle and rear flank vehicle, image processing program changes safety evaluation, and assessment result is divided into two kinds of situations: safety and dangerous.If assessment result is a safety, then will to control greensignal light luminous for the ARM9 treater, and the prompting chaufeur can change operation, if assessment result is dangerous, then will to control red eye luminous for the ARM9 treater, and the prompting chaufeur is not suitable for carrying out the lane changing operation at this moment.Concrete estimation flow is as follows:
1. judge the size of transverse distance, the process of lane changing is that horizontal direction is subjected to displacement variation, and the lane changing process of common sense be from a lane changing to adjacent lane, if therefore the rear flank vehicle is not to be arranged in adjacent lane in the change procedure of track, but be arranged in farther track, lane changing in this case is safe, therefore at first judges transverse distance.China's express highway track normal width is 3.75m, and the lane width of other roads can not considered certain elasticity modulus greater than 3.75m usually, adopts 4.5m as judgment value when judging the safety of transverse distance.When the transverse distance that calculates during greater than 4.5m, show that carrying out lane changing can not bring interference to the cruising of vehicle behind the rear side, safety assessment result is a safety, thus the ARM9 treater will to control greensignal light luminous, the prompting chaufeur can carry out lane changing.If during smaller or equal to 4.5m, need carrying out next step safety this moment, the transverse distance value that calculates judges.
2. setup parameter k, k=fore-and-aft distance/vehicle speed, wherein the vehicle speed unit is km/h, fore-and-aft distance unit is m, parameter k reaction be the follow-up time of rear flank vehicle.When rear flank vehicle following distance is very near, change the dead ahead that will cause vehicle to appear at the rear flank vehicle, and two distance between the car very near, thereby this anxiety that can cause back car chaufeur is taked brake operation, can interfere with the normal operation of surrounding vehicles, strengthen the risk that rear-end collision takes place.The size of calculating parameter k adopts k=0.5 as threshold value, and the safety assessment result be dangerous when parameter k≤0.5, this moment the ARM9 treater will control red eye luminous, the prompting chaufeur can not change operation at this moment.When parameter k＞0.5, will carry out next step lane changing safety evaluation.
3. judge the positive and negative of vertical relative velocity.When vertical relative velocity 〉=0, the speed of vehicle will be higher than or equal the rear flank car speed, and it is safe therefore changing this moment, and it is luminous that the ARM9 treater will be controlled greensignal light.When vertical relative velocity＜0, will carry out next step lane changing safety evaluation.
4. setup parameter n, n=fore-and-aft distance/vertical relative velocity absolute value, wherein the unit of fore-and-aft distance absolute value is m, and vertically the unit of relative velocity is m/s, and what parameter n reacted is the possibility that follows the collision happens accident in the lane changing process with the rear adjacent lane closely.Show vehicle positive at high speed in rear flank when parameter n value is very little near vehicle, if carry out lane changing then may cause collision happens accident approaching in the lane changing process this moment with high speed.The size of calculating parameter n adopts n=3 as threshold value, and the safety assessment result be dangerous when parameter n≤3, this moment the ARM9 treater will control red eye luminous, the prompting chaufeur can not change operation at this moment.As parameter n〉3 the time, safety assessment result is a safety, so the ARM9 treater will to control greensignal light luminous, the prompting chaufeur can carry out lane changing.
By above-mentioned 4 step lane changing safety evaluations, obtain the safety of lane changing, when assessment result when being safe, ARM9 treater control greensignal light is luminous, can carry out lane changing this moment to the chaufeur prompting, when assessment result when being dangerous, ARM9 treater control red eye is luminous, be not suitable for carrying out lane changing this moment to the chaufeur prompting, realize aid prompting function, thereby guarantee the safe operation of vehicle the lane for driver conversion.
Claims (6)
1. a vehicle lane changing aid is characterized in that, comprising:
Two cameras are separately fixed on the left-hand mirror and right back visor of vehicle, gather the road image at vehicle rear, left side and rear, right side;
The greensignal light of an indication safety and the unsafe red eye of indication are separately fixed on the meter panel of motor vehicle;
An image processor, be electrically connected the video line of two cameras respectively by USB interface, be electrically connected speed signal line, left steering lamp start signal line, the right steering lamp start signal line of greensignal light, red eye and vehicle respectively by the I/O interface.
2. vehicle lane changing aid according to claim 1 is characterized in that, described camera adopts culminant star YJS-01 USB2.0 camera.
3. vehicle lane changing aid according to claim 1 is characterized in that, described image processor is the ARM9 treater, and concrete model is S3C2410.
4. vehicle lane changing aid according to claim 1 is characterized in that, described greensignal light is a green LED lamp, and red eye is a red LED lamp.
5. a vehicle lane conversion auxiliary judgment method based on the described vehicle lane changing aid of claim 1, is characterized in that, may further comprise the steps:
(1) left side camera calibration: mark post is erect at the rear, left side at vehicle, by left side camera collection mark post image, identify the mark post position in the mark post image, mark post position in the mark post image and mark post actual position are demarcated vertical relative distance of conversion vehicle and mark post and horizontal relative distance;
(2) right side camera calibration, its method is with the left side camera calibration;
(3) image acquisition: vehicle is in motion process, image processor is monitored the moving velocity of vehicle in real time, when the moving velocity of vehicle was higher than 10km/h, image processor was monitored left steering lamp start signal, right steering lamp start signal; Open a certainly when side steering indicating light installed when chaufeur, image processor is connected this side camera, gathers the road image of this side camera;
(4) image pretreatment: remove useless point and noise spot in the road image;
(5) the rear flank vehicle ' s contour extracts: to carrying out binary conversion treatment through the pretreated road image of image, extract the shape of rear flank vehicle in the road image, obtain the contour images of rear flank vehicle;
(6) extract the unique point of rear flank vehicle location, choose the unique point of rear flank vehicle, extract the position of this unique point in road image;
(7) vertically relative distance, vertically relative velocity and transverse distance calculating: obtain after the position of vehicle characteristics point in road image, rear flank vertical relative distance of conversion vehicle and rear flank vehicle and horizontal relative distance; By vertical relative distance that double conversion is obtained, calculate vertical relative velocity of vehicle and rear flank vehicle in real time;
(8) change safety evaluation: according to vertical relative distance of vehicle that calculates in real time and rear flank vehicle, vertical relative velocity and transverse distance, the possibility that causes with the rear flank collision happens is changed in analysis, sends by red eye to be not suitable for changing caution or to send the prompting that can change by greensignal light.
6. vehicle lane conversion auxiliary judgment method according to claim 5, its characteristics are, the described mid point of choosing the unique point of rear flank vehicle for its appearance profile lower edge line.
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| CN110864705A (en) * | 2018-08-10 | 2020-03-06 | 小马智行 | System and method for selectively capturing autonomous vehicle sensor data with sensor rails |
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