CN106546257A - Vehicle distance measurement method and device, vehicle relative velocity measuring method and device - Google Patents
Vehicle distance measurement method and device, vehicle relative velocity measuring method and device Download PDFInfo
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/68—Devices characterised by the determination of the time taken to traverse a fixed distance using optical means, i.e. using infrared, visible, or ultraviolet light
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Analysis (AREA)
- Measurement Of Optical Distance (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of vehicle distance measurement method and device, vehicle relative velocity measuring method and device.Vehicle distance measurement method includes：Obtain horizontal tilt angle of this car relative to front truck；Distance calibrated between front truck and Ben Che is calculated according to horizontal tilt angle.The vehicle distance measurement method and device, vehicle relative velocity measuring method and device of the present invention can be accurately measured to the distance between Ben Che and front truck.
Description
Technical field
The present invention relates to distance survey technical field, more particularly to a kind of vehicle distance measurement method and device, vehicle are relative
Speed measurement method and device.
Background technology
In the control centre of vehicle, there are two big systems, one is front truck collision alarm system (FCWS), and another is vehicle
Driftage warning system (LDWS).Front truck collision alarm system detects front vehicles from vehicle-mounted front-facing camera image, if finding
There is potential risk of collision, then send warning in advance.Vehicle yaw warning system detects front from vehicle-mounted front-facing camera image
Track, if finding, this car deviates driving lane, is reported to the police.
In driving, if accurate leading vehicle distance can be obtained, calculate the estimated time knocked into the back, then can be effective
Prompting driver speed is controlled, so as to avoid traffic accident from occurring.Therefore it is very important mould in FCWS that spacing is calculated
Block.For the measurement of leading vehicle distance in prior art, one is to adopt radar surveying, but radar can not be identified front be vehicle also
It is other barriers, and radar is expensive；Two is to calculate spacing by image algorithm using photographic head, but when shooting
When the optical axis of head is not parallel with horizontal plane, easily there is mistake in computation.
The content of the invention
In view of this, it is special that technical scheme below is provided：
One aspect of the present invention is：A kind of vehicle distance measurement method is provided, including：This car is obtained relative to front
The horizontal tilt angle of car；According to the horizontal tilt angle, distance calibrated between front truck and Ben Che is calculated.
Wherein, it is described obtain this car relative to front truck horizontal tilt angle the step of include：Catch from the photographic head of this car
In the image for obtaining, location of pixels v of the track infinite point in described image plane y-axis is obtained；Existed according to track infinite point
The pixel focal length f and picture centre c of location of pixels v, the photographic head in described image plane y-axis, obtains the photographic head
Optical axis and horizontal plane between angle theta, the angle theta is horizontal tilt angle of this car relative to front truck.
Wherein, it is described obtain this car relative to front truck horizontal tilt angle the step of, including：From the electronic horizon of this car
Instrument or gyroscope obtain the angle theta between the optical axis and horizontal plane of the photographic head of this car, and it is relative that the angle theta is this car
In the horizontal tilt angle of front truck.
Wherein, it is described according to horizontal tilt angle, be calculated between front truck and Ben Che it is calibrated apart from the step of, bag
Include：From the described image of the photographic head capture of this car, pixel position of the front truck in described image plane y-axis is obtained
Put y；According to the location of pixels y, the pixel focal length f of the photographic head and picture centre c, obtain the optical axis of the photographic head with
The angle β of incident ray of the front truck by the location of pixels y；According to the angle theta and the angle β, obtain described
Angle α between incident ray and the horizontal plane of the front truck by the location of pixels y；According to the angle α and described take the photograph
As the height H that head is installed, the first correction distance d between front truck and Ben Che is obtained1, using as Jing schools between the front truck and Ben Che
Positive distance.
Wherein, methods described also includes：From the described image of the photographic head capture of this car, obtain the front truck and exist
Location of pixels x in described image plane x-axis；Pixel according to the front truck of the acquisition in described image plane x-axis
Position x, obtains the front truck perpendicular to this car dead ahead direction apart from d3；According to described apart from d1With apart from d3, obtain front truck
The second correction distance d and this car between2, using as distance calibrated between the front truck and Ben Che, wherein
For solve above-mentioned technical problem, the present invention adopt another technical scheme for：A kind of vehicle relative velocity measurement is provided
Method, including：Obtain horizontal tilt angle of this car relative to front truck；According to the horizontal tilt angle, it is calculated respectively
In t1Moment and t2Calibrated distance between moment front truck and Ben CheWithWherein t2More than t1；Obtain this car and front truck
Between relative velocity V, wherein
Wherein, it is described obtain between this car and front truck relative velocity V the step of also include：Using mean value smoothing, karr
Graceful model or HMM are smoothed to the relative velocity V, the relative velocity V after being smoothedf。
Wherein, the employing mean value smoothing, Kalman model or HMM are put down to the relative velocity V
It is sliding, the relative velocity V after being smoothedfThe step of also include：Obtain t2Shi Keben cars and front truck are expected the time for colliding
Tcollision, i.e.,
In order to solve above-mentioned technical problem, the present invention adopt yet another aspect for：A kind of distance survey device, institute are provided
Stating device includes：Angle acquisition module, for obtaining horizontal tilt angle of this car relative to front truck；Distance calculation module, uses
According to the horizontal tilt angle, distance calibrated between front truck and Ben Che is calculated.
Wherein, the angle acquisition module includes：First position acquiring unit, for the figure of the photographic head capture from this car
As in, location of pixels v of the track infinite point in described image plane y-axis is obtained；First angle obtaining unit, for basis
Location of pixels v of the track infinite point in described image plane y-axis, the pixel focal length f of the photographic head and picture centre c,
The angle theta between the optical axis and horizontal plane of the photographic head is obtained, the angle theta is horizontal tilt of this car relative to front truck
Angle.
Wherein, the angle acquisition module is additionally operable to from the electrolevel or gyroscope of this car obtain take the photograph described in this car
As the angle theta between the optical axis and horizontal plane of head, the angle theta is horizontal tilt angle of this car relative to front truck.
Wherein, the distance calculation module includes：Second position acquiring unit, for the photographic head capture from this car
Described image in, obtain the location of pixels y of the front truck in described image plane y-axis；Second angle obtaining unit, is used for
According to location of pixels y, the pixel focal length f of the photographic head and picture centre c, the optical axis and the front truck of the photographic head are obtained
By the angle β of the incident ray of the location of pixels y；Third angle obtaining unit, for according to the angle theta and the folder
Angle beta, obtains the angle α between incident ray and the horizontal plane of the front truck by the location of pixels y；First distance is obtained
Unit, for the height H installed according to the angle α and the photographic head, obtain between front truck and Ben Che the first correction away from
From d1, using as distance calibrated between the front truck and Ben Che.
Wherein, the distance calculation module also includes：3rd position acquisition unit, for catching from the photographic head of this car
In the described image for obtaining, location of pixels x of the front truck in described image plane x-axis is obtained；Second distance obtaining unit, uses
In location of pixels x of the front truck according to the acquisition in described image plane x-axis, the front truck is obtained perpendicular to this car
Dead ahead direction apart from d3；3rd apart from obtaining unit, for according to described apart from d1With apart from d3, obtain front truck and Ben Che
Between the second correction distance d2, using as distance calibrated between the front truck and Ben Che, wherein
In order to solve above-mentioned technical problem, the present invention adopt another yet another aspect for：A kind of vehicle relative velocity is provided
Measurement apparatus, described device includes：Angle acquisition module, for obtaining horizontal tilt angle of this car relative to front truck；Away from
From computing module, for according to the horizontal tilt angle, being calculated in t respectively1Moment and t2Between moment front truck and Ben Che
Calibrated distanceWithWherein t2More than t1；Speed obtains module, for obtaining the relative velocity between this car and front truck
V, wherein
Wherein, described device also includes smooth acquisition module, and the smooth acquisition module is used for using mean value smoothing, karr
Graceful model or HMM are smoothed to the relative velocity V, the relative velocity V after being smoothedf。
Wherein, described device also includes that the time obtains module, and the time obtains module to be used to obtain t2Shi Keben cars with
Front truck is expected the time T for collidingcollision, i.e.,
The measuring method and device, the measuring method of vehicle relative velocity and device of the spacing of the present invention, according to this car phase
For the horizontal tilt angle of front truck, distance calibrated between front truck and Ben Che is calculated, in this way, can be right
The distance between this car and front truck are accurately measured, and do not add any extra equipment, will not increase it is extra into
This.
Description of the drawings
Fig. 1 is the flow chart of one embodiment of vehicle distance measurement method of the present invention；
Fig. 2 is front truck and this workshop range finding schematic diagram in the case of this car photographic head optical axis and plane-parallel；
Fig. 3 front truck and this workshop finds range schematic diagram in the case of to be this car photographic head optical axis not parallel with horizontal plane；
Fig. 4 is the flow chart of another embodiment of vehicle distance measurement method of the present invention；
Fig. 5 is the analysis schematic diagram of front truck and this first correction distance of workshop in two dimensional surface；
Fig. 6 is the analysis schematic diagram of front truck and this second correction distance of workshop in three dimensions；
Fig. 7 is the analysis schematic diagram of another embodiment of front truck and this first correction distance of workshop in two dimensional surface；
Fig. 8 is the flow chart of one embodiment of vehicle relative velocity measuring method of the present invention；
Fig. 9 is in t1Moment and t2Calibrated distance between moment front truck and Ben CheWithSchematic diagram；
Figure 10 is the flow chart of another embodiment of vehicle relative velocity measuring method of the present invention；
Figure 11 is the structural representation of one embodiment of Vehicular system for including distance survey device of the present invention；
Figure 12 is the structural representation of one embodiment of distance survey device of the present invention；
Figure 13 is the structural representation of another embodiment of distance survey device of the present invention；
Figure 14 is the structural representation of one embodiment of vehicle relative velocity measurement apparatus of the present invention；
Figure 15 is the structural representation of another embodiment of vehicle relative velocity measurement apparatus of the present invention.
Specific embodiment
The present invention is described in detail with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is referred to, Fig. 1 is the flow chart of one embodiment of vehicle distance measurement method of the present invention.Present embodiment include with
Lower step：
Step S101：Obtain horizontal tilt angle of this car relative to front truck.
It is that test carriage typically can arrange photographic head in this car away from, vehicle, by capturing the front road conditions that the photographic head shoots
Image, determine the distance of this car and preceding vehicle.Fig. 2 is referred to, in prior art, the distance of front truck 220 and this car 210
D typically byObtain, wherein, pixel focal lengths of the f for photographic head 230, setting height(from bottom)s of the H for photographic head 230, y are front
Location of pixels of the car 220 in the y-axis of described image plane 232.The method of the measure spacing is adapted to the optical axis of photographic head 230
231 with the situation of plane-parallel.
Fig. 3 is referred to, when the optical axis 331 of the photographic head 330 on this car 310 is not parallel with horizontal plane, according to above-mentioned survey
Determine spacing d ' that the method for spacing obtains actual range d then not between this car 310 and front truck 320.In present embodiment, this
Car 310 capture photographic head 330 shooting front road conditions image after, by entering to the front road conditions on the plane of delineation 332
Row analysis, obtains horizontal tilt angle of this car 310 relative to front truck 320, and the horizontal tilt angle is the optical axis of photographic head 330
331 with the angle theta of horizontal plane residing for this car 310.
Step S102：According to horizontal tilt angle, distance calibrated between front truck and Ben Che is calculated.
Obtain horizontal tilt angle θ of this car relative to front truck after, according to front truck on the image plane image space with
And the pixel focal length f and picture centre c of photographic head, obtain according to the actual range between front truck and Ben Che, i.e. front truck and Ben Che
Between it is calibrated apart from d.
Wherein, the pixel focal length f and picture centre c of photographic head can directly by the internal reference information of this car photographic head offer
Obtain.If photographic head does not provide relevant information, photographic head can be demarcated, to obtain the internal reference information of photographic head.
For example such as photographic head is demarcated by Zhang Zhengyou standardizitions, three line calibration methods or other scaling methods, to obtain photographic head
Internal reference information.Those skilled in the art learn how photographic head is demarcated to obtain camera internal reference information, are letter
For the sake of clean, here is not detailed.
Fig. 4 to Fig. 6 is referred to, Fig. 4 is the flow chart of another embodiment of vehicle distance measurement method of the present invention, and Fig. 5 is two dimension
The analysis schematic diagram of front truck and this first correction distance of workshop in plane, Fig. 6 are front truck and this second schools of workshop in three dimensions
The just analysis schematic diagram of distance.Present embodiment is comprised the following steps：
Step S401：In the image captured from the photographic head of this car, track infinite point is obtained in described image plane y-axis
On location of pixels v.
The photographic head of this car by front road conditions be imaged on in photographic head optical axis vertical image plane.According to projection geometry
Understand, by all straight line parallels of same infinite point.Therefore front track infinite point is to the incident ray and car of photographic head
Road is parallel.For this car, the track which is located is residing horizontal plane, therefore track infinite point is to the incident ray of photographic head
The angle of photographic head optical axis and the horizontal plane residing for this car is with the angle theta of photographic head optical axis.
This car captures the image of front road conditions from photographic head, and track infinite point is through camera imaging in the plane of delineation
On.The lane line that this car goes out in image according to the image recognition of capture, to determine the track infinite point in the plane of delineation, and then
Location of pixels v of the track infinite point in y-axis in the acquisition plane of delineation.
Specifically, in present embodiment, this car identifies the lane line in the image of capture by linear road model,
And then location of pixels v of the track infinite point in y-axis in the acquisition plane of delineation.Also, there is barrier section resistance in the picture
Keep off a car diatom when, this car carry out automatically according to the part lane line that can recognize that it is prolonged treatment, to determine the car in the plane of delineation
Road infinite point, reduces the interference of outer bound pair present embodiment.It should be noted that in other embodiments, this car
Lane line can be determined by other Lane detection modes, for example, according to modes such as the colors of lane line, here is not limited
It is fixed.Skilled in the art realises that Research on Lane Detection Based on Hough Transform, therefore here is not described in detail.
Step S402：According to location of pixels v, the pixel focal length f of photographic head and picture centre c, the optical axis of photographic head is obtained
Angle theta between horizontal plane, the angle theta are horizontal tilt angle of this car relative to front truck.
It is easy to get according to Fig. 5, the angle theta between photographic head optical axis and horizontal plane with the relation of location of pixels v is：And then obtain the angle between photographic head optical axis and horizontal plane：
Track infinite point is being obtained after the location of pixels v in plane of delineation y-axis, this car can be obtained according to above formula (1)
Angle theta between the optical axis and horizontal plane of photographic head, and angle theta is horizontal tilt angle of this car relative to front truck.Above formula
(1), in, f is the pixel focal length of this car photographic head, cyIt is picture centre c in the position of plane of delineation y-axis.In other embodiment
In, when the coordinate axess of the plane of delineation are with picture centre as origin, cyIt is zero.
Step S403：Obtain from the electrolevel or gyroscope of this car between the optical axis and horizontal plane of the photographic head of this car
Angle theta, the angle theta is horizontal tilt angle of this car relative to front truck.
In the case where this car is provided with electrolevel or gyroscope, the electrolevel or gyroscope are corresponding to shooting
Head is arranged so that the angle surveyed by electrolevel or gyroscope is the angle between the optical axis and horizontal plane of photographic head.This car
During lane line that None- identified goes out in image (for example, not having lane line or the lane line unobvious in road surface ahead), can directly from
The angle theta between the optical axis and horizontal plane of the photographic head of this car is read in electrolevel or gyroscope.
Step S404：In the image captured from the photographic head of this car, location of pixels of the front truck in plane of delineation y-axis is obtained
y。
In the image of photographic head capture, front truck is imaged in plane of delineation y-axis near the position of this car on track
Location of pixels y on, this car obtains location of pixels y from image.
Step S405：According to location of pixels y, the pixel focal length f of photographic head and picture centre c, the optical axis of photographic head is obtained
With the angle β of incident ray of the front truck by location of pixels y.
It is easy to get according to Fig. 5, the angle β and location of pixels y of incident ray of the photographic head optical axis with front truck by location of pixels y
Relation be：And then obtain the angle that photographic head optical axis passes through the incident ray of location of pixels y with front truck, meter
Calculate formula as follows：
Front truck is being obtained after the location of pixels y in plane of delineation y-axis, this car can obtain photographic head according to above formula (2)
The angle β of incident ray of the optical axis with front truck by location of pixels y.In above formula (2), f is the pixel focal length of this car photographic head；cy
It is picture centre c in the position of plane of delineation y-axis.
Step S406：According to angle theta and angle β, obtain between incident ray and horizontal plane of the front truck by location of pixels y
Angle α.
Can be obtained according to Fig. 5, the angle α and angle theta and folder between incident ray and horizontal plane of the front truck by location of pixels y
The relation of angle beta is：
α=β-θ (3)
After this car obtains horizontal plane angle θ and angle β, by above formula (3), incidence of the front truck by location of pixels y can be obtained
Angle α between light and horizontal plane.
Step S407：According to the height H that angle α and photographic head are installed, the first correction distance between front truck and Ben Che is obtained
d1。
Can be obtained according to Fig. 5, this car dead ahead upwards front truck and this car apart from d1Relation with angle α is：
After angle α is obtained, this car obtains setting height(from bottom) value H of photographic head, and according to above formula (4), can obtain in this car
Dead ahead upwards front truck and this car apart from d1, the first correction distance d as between front truck and Ben Che1。
Step S408：In the image captured from the photographic head of this car, location of pixels of the front truck in plane of delineation x-axis is obtained
x。
Such as Fig. 6, in another embodiment, it is assumed that 610 dead ahead of this car is the positive direction of X-axis in three dimensions, in front truck
620 when being not at 610 dead ahead of this car, the first correction distance d between front truck that step S407 is obtained and Ben Che1For front truck 620
In the distance of the projection 621 upwards of 610 dead ahead of this car and this car 610.In the image of the capture of this car 610, front truck 620 is imaged
On the location of pixels x of the x-axis of the plane of delineation 632.In present embodiment, the first school between front truck 620 and Ben Che 610 is being obtained
Just apart from d1Afterwards, this car 610 obtains location of pixels x of the front truck 620 on plane of delineation 632x axles from the image of capture.
Step S409：According to location of pixels x of the front truck for obtaining in plane of delineation x-axis, front truck is obtained perpendicular to this car
Dead ahead direction apart from d3。
Such as Fig. 6, the incident ray of the projection 621 of front truck 620 and front truck 620 in 610 dead ahead of this car upwards is through shooting
The 630 C and C ' places for being imaged on the plane of delineation 632 respectively, are easy to get according to similar triangles and Pythagorean theorem：So as to try to achieve d3：
Obtaining location of pixels of the front truck 620 in the x-axis of the plane of delineation 632xAfterwards, this car can be obtained according to above formula (5)
Front truck 620 is perpendicular to 610 dead ahead direction of this car apart from d3.In above formula (5), pixel focal lengths of the f for photographic head 630；cxFor figure
InconocentercThe position of x-axis in the plane of delineation 632, the height that H is installed for photographic head 630, d1For front truck 620 in this car 610 just
First correction distance between the distance of the projection 621 in front direction and this car 610, i.e., step S407 is obtained front truck and Ben Che
d1。
Step S410：According to apart from d1With apart from d3, obtain the second correction distance d between front truck and Ben Che2, wherein
Such as Fig. 6, according to Pythagorean theorem, it is known that obtain front truck 620 and 610 actual range d of this car2With front truck 620 in this car
The projection 621 upwards of 610 dead aheads is with this car 610 apart from d1And front truck 620 is perpendicular to the distance in 610 dead ahead direction of this car
d3Relation be：
This car 610 is being obtained apart from d1With apart from d3Afterwards, according to above formula (6), can obtain between front truck 620 and Ben Che 610
Two correction distance d2, i.e. front truck 620 and 610 actual range of this car.
It should be noted that in other embodiments, all steps of present embodiment are not had to carry out.The present invention
Vehicle distance measurement method be based on above formula (1) to (6), therefore in other embodiments, can be according to the derivation of above formula (1) to (6)
Formula, carries out corresponding step, is not limited thereto.For example, according to above formula (2) to (6) can directly obtain front truck and Ben Che it
Between the second correction distance d2The relation of the location of pixels y with front truck in plane of delineation y-axis and the location of pixels x in x-axis.This
After location of pixels x steps of the car in the location of pixels y obtained in plane of delineation y-axis and in x-axis, front truck is obtained without the need for performing
The first correction distance d and this car between1And front truck perpendicular to this car dead ahead direction apart from d3, directly perform according to front truck and
Second correction distance d between this car2In the pixel focal length f and image of the relation and photographic head of location of pixels y and location of pixels x
Heart c, obtains the second correction distance d between front truck and Ben Che2The step of.
Fig. 7 is referred to, in some cases, photographic head optical axis exists for the downward situation of level with the angle theta of horizontal plane.
According to the record of Fig. 5-6 and description above, in the embodiment of Fig. 7, the angle between photographic head optical axis and horizontal plane isPhotographic head optical axis with front truck by the angle of the incident ray of location of pixels y is
Angle between incident ray and horizontal plane of the front truck by location of pixels y is α=θ-β, the first correction between front truck and Ben Che
Distance isWhen front truck is not at this car dead ahead, distance of the front truck perpendicular to this car dead ahead direction isBetween front truck and Ben Che, the second correction distance isIllustrate and take the photograph with above-mentioned
As head optical axis and the angle theta of horizontal plane are that level situation upwards is similar, will not be described here.
Above-mentioned embodiment analytical derivation can be obtained：Under any circumstance, Ben Che can basisObtain
Angle theta between photographic head optical axis and horizontal plane, according toObtain photographic head optical axis and pass through location of pixels with front truck
Angle β between the incident ray of y, according to α=| θ-β | obtain front truck by the incident ray of location of pixels y and horizontal plane it
Between angle α, according toObtain the first correction distance d between front truck and Ben Che1, according to
Obtain front truck perpendicular to this car dead ahead to apart from d3, according toObtain the second correction between front truck and Ben Che
Apart from d2。
Refer to Fig. 8 and Fig. 9, Fig. 8 be vehicle relative velocity measuring method embodiment of the present invention flow chart, Fig. 9 is
In t1Moment and t2It is calibrated apart from d between moment front truck and Ben Chet1And dt2Schematic diagram.Present embodiment includes following step
Suddenly：
Step S801：Obtain horizontal tilt angle of this car relative to front truck.
This car is carried out point by the image to road conditions in front of this after the image of front road conditions of photographic head shooting is captured
Analysis, obtains horizontal tilt angle of this car relative to front truck, and the horizontal tilt angle is residing for the optical axis and this car of this car photographic head
Horizontal plane angle.
Step S802：According to the horizontal tilt angle, it is calculated in t respectively1Moment and t2Moment front truck and Ben Che it
Between correction distanceWithWherein t2More than t1。
Obtain horizontal tilt angle of this car relative to front truck after, according to front truck on the image plane image space and
The pixel focal length f of photographic head and picture centre c, obtain respectively in t1Moment and t2Actual range between moment front truck and Ben CheWithI.e. calibrated between front truck and Ben Che distanceWith
Present embodiment can specifically adopt the invention described above vehicle distance measurement method embodiment, obtain between front truck and Ben Che
Correction distance, will not be described here, if it is desired, referring to the embodiment of the invention described above vehicle distance measurement method.
Step S803：The relative velocity V between this car and front truck is obtained, wherein
Such as Fig. 9, be easy to get this car relative to front truck speed be this vehicle speed and front vehicle speed difference, that is,This car is respectively in t1Moment and t2Moment obtains distance calibrated between front truck and Ben CheWith
Afterwards, according to above formulaObtain the relative velocity V between this car and front truck.Wherein, when this car is relative to the speed of front truck
Degree V be on the occasion of when, that is, learn that the speed of this car, more than front vehicle speed, when this car is negative value relative to speed V of front truck, is learned
The speed of this car is less than front vehicle speed.
Figure 10 is referred to, Figure 10 is the flow chart of another embodiment of vehicle relative velocity measuring method of the present invention.This reality
The mode of applying is comprised the following steps：
Step S1001：Obtain horizontal tilt angle of this car relative to front truck.
This car is carried out point by the image to road conditions in front of this after the image of front road conditions of photographic head shooting is captured
Analysis, obtains horizontal tilt angle of this car relative to front truck, and the horizontal tilt angle is residing for the optical axis and this car of this car photographic head
Horizontal plane angle.
Step S1002：According to the horizontal tilt angle, it is calculated in t respectively1Moment and t2Moment front truck and Ben Che
Between correction distanceWith
Change as the relative velocity between Ben Che and front truck there may be, therefore directly basisObtain
Relative velocity there may be certain deviation with front truck relative velocity with this car of reality.To obtain more robust (Robust)
Relative velocity, is smoothed with front truck relative velocity V to Ben Che.In present embodiment, this car is using mean value smoothing mode to phase
Speed V is smoothed, i.e., this car continuously captures multiframe front truck image, according to adjacent frame image information, obtain multiple cars with
Relative velocity between front truck, and the multiple relative velocity average value processings to obtaining are carried out, with the relative velocity after being smoothed
Vf。
Image information of this car according to consecutive frame, obtains respectively in t1Moment and t2It is calibrated between moment front truck and Ben Che
DistanceWithThe moment that wherein photographic head captures latter two field picture in the consecutive frame is t2, capture previous in the consecutive frame
The moment of two field picture is t1。
Step S1003：The relative velocity V between this car and front truck is obtained, wherein
This car is being obtained in t1Moment and t2Calibrated distance between moment front truck and Ben CheWithAfterwards, according to above formulaObtain the relative velocity V between this car and front truck.
This car continues return to step S1002, with according to the following group after relative velocity is obtained according to the adjacent frame image information
The image of consecutive frame, obtains in t1Moment and t2Calibrated distance between moment front truck and Ben CheWithUntil obtaining one
Multiple relative velocities between section time Nei Benche and front truck.
Step S1004：Multiple relative velocities between Ben Che and front truck are smoothed, the relative velocity after being smoothed
Vf。
In other embodiments, other smooth manners may also be employed to obtain more robust relative velocity, for example,
The smooth manners such as Kalman, HMM.
Step S1005：Obtain t2Shi Keben cars and front truck are expected the time T for collidingcollision, i.e.,
Relative velocity V of this car after being smoothedfAfterwards, according toAnd this car is in t2Moment and front truck
Correction distanceThis car is obtained in t2Moment and front truck are expected the time T for collidingcollision.In present embodiment, when pre-
The time T that meter collidescollisionFor negative value when, if the relative velocity of front truck and this car remains Vf, then this car and front truck
Will not collide.
Figure 11 is referred to, Figure 11 is the structural representation of one embodiment of Vehicular system for including distance survey device of the present invention
Figure.Vehicular system 1100 includes photographic head 1120, distance survey device 1130 and buzzer 1140.Additionally, Vehicular system 1100
Electrolevel 1110 can also be included.Distance survey device 1130 respectively with electrolevel 1110, photographic head 1120 and honeybee
Ring device 1140 is coupled.Vehicular system obtains distance calibrated between Ben Che and front truck using distance survey device 1130, specifically
Embodiment will be explained below.
In some cases (for example in the case that, no track or track can not be detected), Vehicular system also may be used
Distance calibrated between Ben Che and front truck is obtained further with electrolevel 1110.Electrolevel 1110 is used to measure
The horizontal tilt angle θ of 1100 place vehicle of Vehicular system (being this car) and front truck, and it is sent to distance survey device 1130.At this
When car is travelled, photographic head 1120 captures the image of this front of the host vehicle, and is sent to distance survey device 1130, distance survey dress
1130 are put according to location of pixels y of the front truck in the plane of delineation in the horizontal tilt angle θ and front truck image of the relative front truck of this car,
This car is obtained with the calibrated distance of the front truck, i.e. this car and the actual range of the front truck.
In present embodiment, this car for obtaining calibrated with front truck distance is also preset by distance survey device 1130 with one
First threshold be compared, when Ben Che and the calibrated distance of front truck are more than default first threshold, distance survey device
1130 send control signal to buzzer 1140, so that buzzer 1140 sounds the alarm, to remind this car of driver with front truck
Distance is risk distance, and then ensure that the safety of vehicle.
Alternatively, Vehicular system also includes vehicle relative velocity measurement apparatus, and photographic head captures the front truck figure at multiple moment
Picture, and it is sent to vehicle relative velocity measurement apparatus.In the same manner in distance survey device, vehicle relative velocity measurement apparatus are according to front
Car image, carving copy car and front truck calibrated distance when obtaining corresponding multiple, and then calculate the relative speed between Ben Che and front truck
Degree.Further, vehicle relative velocity measurement apparatus are also by the relative velocity and default second between this car for obtaining and front truck
Threshold value is compared, when the relative velocity between Ben Che and front truck is more than default first threshold, vehicle relative velocity measurement dress
Put to buzzer and send control signal, so that buzzer sounds the alarm, to remind this car of driver relative to the speed of front truck to be
Cal speed, and then ensure that the safety of vehicle.
It should be noted that in another embodiment, electrolevel is not provided with Vehicular system, but can be passed through
Gyroscope is obtaining the horizontal tilt angle of the relative front truck of this car.Further, Vehicular system directly can also be caught according to photographic head
The front truck image for obtaining determines location of pixels v of the forward lane infinite point in the plane of delineation, and then before being calculated this car relatively
The horizontal tilt angle of car, is not limited thereto.In addition, default first, second threshold value can be set as according to actual needs
Different value, is not limited thereto.
Figure 12 is referred to, Figure 12 is the structural representation of one embodiment of distance survey device of the present invention.Present embodiment
In, distance survey device 1200 includes angle acquisition module 1210 and distance calculation module 1220.Angle acquisition module 1210 with
Distance calculation module 1220 is coupled.
Angle acquisition module 1210 is used for the horizontal tilt angle for obtaining the relative front truck of this car.Vehicle typically can be set in Ben Che
Put photographic head, distance survey device 1200 by capturing the image of the front road conditions that photographic head shoots, determine this car with above
The distance of vehicle.Fig. 3 is referred to, when the photographic head optical axis on this car is not parallel with horizontal plane, photographic head shooting is being captured
Front road conditions image after, angle acquisition module 1210 is analyzed by the image to road conditions in front of this, obtains this car phase
For the horizontal tilt angle of front truck, and distance calculation module 1220 is sent to, wherein the horizontal tilt angle is this car photographic head
Optical axis and horizontal plane residing for this car angle theta.
Distance calculation module 1220 for according to horizontal tilt angle, be calculated between front truck and Ben Che it is calibrated away from
From.Distance calculation module 1220 after horizontal tilt angle θ of this car relative to front truck is received, according to front truck in the plane of delineation
The pixel focal length f of upper image space and photographic head and picture centre c, obtain according to the actual range between front truck and Ben Che,
It is calibrated apart from d i.e. between front truck and Ben Che.
Figure 13 and Fig. 5, Fig. 6 are referred to, Figure 13 is the structural representation of another embodiment of distance survey device of the present invention.
In present embodiment, distance survey device 1300 includes angle acquisition module 1310 and distance calculation module 1320, wherein, angle
Acquisition module 1310 includes first position acquiring unit 1311 and first angle obtaining unit 1312, and distance calculation module 1320 is wrapped
Include second position acquiring unit 1321, second angle obtaining unit 1322, the 1323, first distance of third angle obtaining unit to obtain
Unit 1324, the 3rd position acquisition unit 1325, second distance obtaining unit 1326 and the 3rd are apart from obtaining unit 1327.
In image of the first position acquiring unit 1311 for the photographic head capture from this car, obtain track infinite point and exist
The angle theta of location of pixels v and photographic head optical axis in described image plane y-axis and the horizontal plane residing for this car.
Specifically, in present embodiment, first position acquiring unit 1311 identifies capture by linear road model
Location of pixels v of the track infinite point in y-axis in lane line in image, and then the acquisition plane of delineation, and it is sent to first jiao
Degree acquiring unit 1312.Also, when there is barrier section stop lane line in the picture, first position acquiring unit 1311 is certainly
The part lane line that dynamic basis can recognize that carries out prolonged treatment, to determine the track infinite point in the plane of delineation, reduces
The interference of outer bound pair present embodiment.It should be noted that in other embodiments, first position acquiring unit 1311 also may be used
Lane line is determined with by other Lane detection modes, for example, according to modes such as the colors of lane line, here is not limited
It is fixed.
First angle obtaining unit 1312 is for the location of pixels according to track infinite point in described image plane y-axis
V, the pixel focal length f of photographic head and picture centre c, obtain the angle theta between the optical axis and horizontal plane of photographic head.Specifically, exist
Track infinite point is received after the location of pixels v in plane of delineation y-axis, first angle obtaining unit 1312 is according to formula (1)The angle theta between the optical axis of photographic head and horizontal plane can be obtained, and the angle theta is sent to into the third angle
Degree obtaining unit 1323.Wherein, f is the pixel focal length of this car photographic head；cyIt is picture centre c in the position of plane of delineation y-axis.
Further, when this car is provided with electrolevel or gyroscope, angle acquisition module 1310 can also be from this car
Electrolevel or gyroscope obtain this car the photographic head optical axis and horizontal plane between angle theta.The electronic horizon
Instrument or gyroscope are arranged corresponding to photographic head so that the angle surveyed by electrolevel or gyroscope be when photographic head optical axis with
Angle between horizontal plane.When the lane line that acquiring unit 1311 None- identified in first position goes out in image, angle obtains mould
Block 1310 obtains the angle between the optical axis and horizontal plane of the photographic head of this car from the electrolevel or gyroscope of this car
θ, and it is sent to third angle obtaining unit 1323.
In the image that second position acquiring unit 1321 is captured from the photographic head of this car, front truck is obtained in plane of delineation y-axis
On location of pixels y.In the image of photographic head capture, front truck on track images in image near the position of this car and puts down
Face, images on the location of pixels y in plane of delineation y-axis near the corresponding track in this car side, second position acquiring unit
1321 obtain location of pixels y from image, and are sent to second angle obtaining unit 1322.
Second angle obtaining unit 1322 is for according to location of pixels y, the pixel focal length f of photographic head and picture centre c, obtaining
Obtain the angle β of incident ray of the optical axis of photographic head with front truck by location of pixels y.Specifically, front truck is being received in image
After location of pixels y in plane y-axis, second angle obtaining unit 1322 is according to formula (2)Can be taken the photograph
As the optical axis of head passes through the angle β of the incident ray of location of pixels y with front truck, and it is sent to third angle obtaining unit 1323.
Third angle obtaining unit 1323 is for according to angle theta and angle β, incidence of the acquisition front truck by location of pixels y
Angle α between light and horizontal plane.Specifically, third angle obtaining unit 1323 receives horizontal plane angle θ and angle β
Afterwards, by formula (3) α=β-θ, the angle α between incident ray and horizontal plane of the front truck by location of pixels y can be obtained, and is sent
To first apart from obtaining unit 1324.
First apart from obtaining unit 1324 for the height H that installed according to angle α and photographic head, obtain front truck and Ben Che it
Between the first correction distance d1.Specifically, after angle α is received, first obtains the installation of photographic head apart from obtaining unit 1324
Height value H after receiving angle α, according to formula (4)Can obtain in this car dead ahead front truck and this car upwards
Apart from d1, the first correction distance d as between front truck and Ben Che1。
In image of 3rd position acquisition unit 1325 for the photographic head capture from this car, front truck is obtained in the plane of delineation
Location of pixels x in x-axis.
When front truck is not at this car dead ahead, first between the first front truck obtained apart from obtaining unit 1324 and Ben Che
Correction distance d1For the distance that project with this car of the front truck in this car dead ahead upwards.This car capture image in, front truck into
As on the location of pixels x of plane of delineation x-axis.In present embodiment, the first correction distance between front truck and Ben Che is being obtained
d1Afterwards, the 3rd position acquisition unit 1325 obtains location of pixels x of the front truck in plane of delineation x-axis from the image of capture, and
It is sent to second distance obtaining unit 1326.
Second distance obtaining unit 1326 is obtained for the location of pixels x according to the front truck for obtaining in plane of delineation x-axis
Front truck is perpendicular to this car dead ahead direction apart from d3.Specifically, receiving location of pixels of the front truck in plane of delineation x-axis
After x, second distance obtaining unit 1326 is according to formula (5)Can obtain front truck perpendicular to this car just before
Fang Fangxiang apart from d3, and the 3rd is sent to apart from obtaining unit.In formula (5), f is the pixel focal length of this car photographic head；cxFor figure
The height that inconocenter c is installed for photographic head in the position of plane of delineation x-axis, H, d1For this car dead ahead front truck and this car upwards
The first correction distance d between front truck that distance, i.e., first are obtained apart from obtaining unit 1324 and Ben Che1。
3rd apart from obtaining unit 1327 for according to apart from d1With apart from d3, according to formulaBefore acquisition
The second correction distance d between car and Ben Che2, i.e. front truck and this car actual range.
Refer to Figure 14 and Fig. 9, Figure 14 be one embodiment of vehicle relative velocity measurement apparatus structural representation.This reality
Apply in mode, vehicle relative velocity measurement apparatus 1400 include angle acquisition module 1410, distance calculation module 1420 and speed
Obtain module 1430.
Angle acquisition module 1410 is used to obtain horizontal tilt angle of this car relative to front truck.Angle acquisition module 1410
After the image of front road conditions of photographic head shooting is captured, it is analyzed by the image to road conditions in front of this, obtains this car
Relative to the horizontal tilt angle of front truck, and distance calculation module 1420 is sent to, the horizontal tilt angle is this car photographic head
The angle of optical axis and the horizontal plane residing for this car.
Distance calculation module 1420 is for according to the horizontal tilt angle, being calculated in t respectively1Moment and t2Moment
Calibrated distance between front truck and Ben CheWithWherein t2More than t1.Incline level of this car relative to front truck is received
After rake angle, distance calculation module 1420 according to front truck on the image plane the pixel focal length f of image space and photographic head and
Picture centre c, obtains respectively in t1Moment and t2Actual range between moment front truck and Ben CheWithI.e. front truck and this
Calibrated distance between carWithAnd it is sent to speed acquisition module 1430.
Speed obtains module 1430 to be used to obtain the relative velocity V between this car and front truck, whereinSpeed
Obtain module 1430 obtaining in t1Moment and t2Calibrated distance between moment front truck and Ben CheWithAfterwards, according toObtain the relative velocity V between this car and front truck.Wherein, when this car relative to front truck speed V be on the occasion of
When, that is, learn that the speed of this car, more than front vehicle speed, when this car is negative value relative to speed V of front truck, learns the speed of this car
Degree is less than front vehicle speed.
Figure 15 is referred to, Figure 15 is the structural representation of another embodiment of vehicle relative velocity measurement apparatus of the present invention.
In present embodiment, vehicle relative velocity measurement apparatus 1500 include angle acquisition module 1510, distance calculation module 1520, speed
Degree obtains module 1530, smooth acquisition module 1540 and time acquisition module 1550.
Angle acquisition module 1510 is used to obtain horizontal tilt angle of this car relative to front truck.Angle acquisition module 1510
After the image of front road conditions of photographic head shooting is captured, it is analyzed by the image to road conditions in front of this, obtains this car
Relative to the horizontal tilt angle of front truck, and it is sent to distance calculation module 1520.
Distance calculation module 1520 is for according to the horizontal tilt angle, being calculated in t respectively1Moment and t2Moment
Calibrated distance between front truck and Ben CheWithWherein t2More than t1, and t1And t2For relative instant, i.e. photographic head capture
In the consecutive frame, the moment of latter two field picture is t2, the moment for capturing previous frame image in the consecutive frame is t1。
In present embodiment, vehicle relative velocity measurement apparatus 1500 are by continuous capture multiframe front truck figure in the short time
Picture, according to adjacent frame image information, obtains the multiple relative velocities between this car and front truck, and carries out average value processing, to obtain
Relative velocity V after smoothf。
Distance calculation module 1520 is by calibrated distanceWithIt is sent to speed and obtains module 1530.Speed is obtained
1530 basis of moduleWithThe relative velocity V between this car and front truck is obtained, whereinSpeed obtains module
1530 obtain the relative velocity between all adjacent frame time Nei Benche and front truck, and all relative velocities are sent to smooth obtaining
Obtain module 1540.
After multiple relative velocities between this car and front truck for receiving the speed acquisition transmission of module 1530, smooth and obtain
Multiple relative velocity V of 1540 pairs of acquisitions of module average, Jing the relative velocity V using the meansigma methodss as after smoothf, concurrently
Give time acquisition module 1550.
Certainly, in other embodiments, smooth acquisition module 1540 may also be employed its in addition to mean value smoothing mode
His smooth manner to obtain more robust relative velocity, for example, the smooth manner such as Kalman, HMM.
Time obtains module 1550 to be used to obtain t2Shi Keben cars and front truck are expected the time T for collidingcollision, i.e.,Time obtains relative velocity V of the module 1550 after being smoothedfAfterwards, according toAnd this car
In moment and the calibrated distance of front truckThis car is obtained in t2Moment and front truck are expected the time T for collidingcollision.This
In embodiment, it is contemplated that the time T for collidingcollisionFor negative value when, if front truck is remained with the relative velocity of this car
Vf, Ben Che and front truck will not collide.
It should be noted that all embodiments of the invention also can be using flat with horizontal plane with the photographic head optical axis on this car
Capable situation, now, i.e., equivalent to this car relative to front truck horizontal tilt angle θ be 0.
In addition, this car measured in the embodiment of text of the statement and the calibrated distance of front truck, but it is not considered that originally
Invention is only used for measuring this car and the calibrated distance of front truck, and in other embodiments, the present invention can also pass through behind capture
Vehicle image, measures this car and the calibrated distance of vehicle below, is not limited thereto.
Be different from the situation of prior art, embodiment of the present invention according to this car relative to front truck horizontal tilt angle,
Distance calibrated between front truck and Ben Che is calculated, in this way, distance that can be between Ben Che and front truck is entered
Row is accurately measured, and does not add any extra equipment, will not increase extra cost.
Embodiments of the present invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited, it is every using this
Equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, is included within the scope of the present invention.
Claims (16)
1. a kind of vehicle distance measurement method, it is characterised in that include：
Obtain horizontal tilt angle of this car relative to front truck；
According to the horizontal tilt angle, distance calibrated between front truck and Ben Che is calculated.
2. vehicle distance measurement method according to claim 1, it is characterised in that level of described this car of acquisition relative to front truck
The step of angle of inclination, includes：
In the image captured from the photographic head of this car, location of pixels of the track infinite point in described image plane y-axis is obtained
v；
Location of pixels v, the pixel focal length f of the photographic head and figure according to track infinite point in described image plane y-axis
Inconocenter c, obtains the angle theta between the optical axis and horizontal plane of the photographic head, and the angle theta is this car relative to front truck
Horizontal tilt angle.
3. vehicle distance measurement method according to claim 1, it is characterised in that level of described this car of acquisition relative to front truck
The step of angle of inclination, including：
The angle theta between the optical axis and horizontal plane of the photographic head of this car is obtained from the electrolevel or gyroscope of this car,
The angle theta is horizontal tilt angle of this car relative to front truck.
4. the vehicle distance measurement method according to Claims 2 or 3, it is characterised in that described according to horizontal tilt angle, calculates
Obtain between front truck and Ben Che it is calibrated apart from the step of, including：
From the described image of the photographic head capture of this car, pixel of the front truck in described image plane y-axis is obtained
Position y；
According to the location of pixels y, the pixel focal length f of the photographic head and picture centre c, obtain the optical axis of the photographic head with
The angle β of incident ray of the front truck by the location of pixels y；
According to the angle theta and the angle β, incident ray and the water of the front truck by the location of pixels y are obtained
Angle α between plane；
According to the height H that the angle α and the photographic head are installed, the first correction distance d between front truck and Ben Che is obtained1, to make
For distance calibrated between the front truck and Ben Che.
5. vehicle distance measurement method according to claim 4, it is characterised in that methods described also includes：
From the described image of the photographic head capture of this car, pixel of the front truck in described image plane x-axis is obtained
Position x；
Location of pixels x according to the front truck of the acquisition in described image plane x-axis, obtains the front truck perpendicular to this
Car dead ahead direction apart from d3；
According to described apart from d1With apart from d3, obtain the second correction distance d between front truck and Ben Che2, using as the front truck and sheet
Calibrated distance between car, wherein
6. a kind of vehicle relative velocity measuring method, it is characterised in that include：
Obtain horizontal tilt angle of this car relative to front truck；
According to the horizontal tilt angle, it is calculated in t respectively1Moment and t2Between moment front truck and Ben Che it is calibrated away from
FromWithWherein t2More than t1；
The relative velocity V between this car and front truck is obtained, wherein
7. method according to claim 6, it is characterised in that the relative velocity V's between described this car of acquisition and front truck
Step also includes：The relative velocity V is smoothed using mean value smoothing, Kalman model or HMM, obtained
Relative velocity V after must smoothingf。
8. method according to claim 7, it is characterised in that the employing mean value smoothing, Kalman model or hidden Ma Er
Section husband model is smoothed to the relative velocity V, the relative velocity V after being smoothedfThe step of also include：Obtain t2Moment
This car and front truck are expected the time T for collidingcollision, i.e.,
9. a kind of distance survey device, it is characterised in that described device includes：
Angle acquisition module, for obtaining horizontal tilt angle of this car relative to front truck；
Distance calculation module, for according to the horizontal tilt angle, being calculated distance calibrated between front truck and Ben Che.
10. distance survey device according to claim 9, it is characterised in that the angle acquisition module includes：
First position acquiring unit, in the image for the photographic head capture from this car, obtains track infinite point in the figure
Location of pixels v in image plane y-axis；
First angle obtaining unit, for the location of pixels v according to track infinite point in described image plane y-axis, described
The pixel focal length f of photographic head and picture centre c, obtain the angle theta between the optical axis and horizontal plane of the photographic head, the angle
θ is horizontal tilt angle of this car relative to front truck.
11. distance survey devices according to claim 9, it is characterised in that the angle acquisition module is additionally operable to from this
The electrolevel or gyroscope of car obtains the angle theta between the optical axis and horizontal plane of the photographic head of this car, the angle theta
It is horizontal tilt angle of this car relative to front truck.
The 12. distance survey devices according to claim 10 or 11, it is characterised in that the distance calculation module includes：
Second position acquiring unit, in the described image for the photographic head capture from this car, obtains the front truck in institute
State the location of pixels y in plane of delineation y-axis；
Second angle obtaining unit, for according to location of pixels y, the pixel focal length f of the photographic head and picture centre c, obtaining
The angle β of incident ray of the optical axis of the photographic head with the front truck by the location of pixels y；
Third angle obtaining unit, for according to the angle theta and the angle β, obtaining the front truck by the pixel position
Put the angle α between the incident ray of y and the horizontal plane；
First, apart from obtaining unit, for the height H installed according to the angle α and the photographic head, obtains front truck and Ben Che
Between the first correction distance d1, using as distance calibrated between the front truck and Ben Che.
13. distance survey devices according to claim 12, it is characterised in that the distance calculation module also includes：
3rd position acquisition unit, in the described image for the photographic head capture from this car, obtains the front truck in institute
State the location of pixels x in plane of delineation x-axis；
Second distance obtaining unit, for location of pixels of the front truck according to the acquisition in described image plane x-axis
X, obtains the front truck perpendicular to this car dead ahead direction apart from d3；
3rd apart from obtaining unit, for according to described apart from d1With apart from d3, obtain the second correction distance between front truck and Ben Che
d2, using as distance calibrated between the front truck and Ben Che, wherein
14. a kind of measurement apparatus of vehicle relative velocity, it is characterised in that described device includes：
Angle acquisition module, for obtaining horizontal tilt angle of this car relative to front truck；
Distance calculation module, for according to the horizontal tilt angle, being calculated in t respectively1Moment and t2Moment front truck and sheet
Calibrated distance between carWithWherein t2More than t1；
Speed obtains module, for obtaining the relative velocity V between this car and front truck, wherein
15. devices according to claim 14, it is characterised in that described device also includes smooth acquisition module, described flat
Slide module is obtained for smoothing to the relative velocity V using mean value smoothing, Kalman model or HMM,
Relative velocity V after being smoothedf。
16. devices according to claim 15, it is characterised in that described device also includes that the time obtains module, when described
Between obtain module be used for obtain t2Shi Keben cars and front truck are expected the time T for collidingcollision, i.e.,
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109959364B (en) * | 2017-12-25 | 2021-09-03 | 比亚迪股份有限公司 | Vehicle, method and device for automatically correcting distance measurement error based on lane line |
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| CN110533945A (en) * | 2019-08-28 | 2019-12-03 | 肇庆小鹏汽车有限公司 | Method for early warning, system, vehicle and the storage medium of traffic lights |
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| CN104111058A (en) | 2014-10-22 |
| CN104111058B (en) | 2016-12-28 |
| CN106546257B (en) | 2019-09-13 |
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