基于单目视觉的前方车辆距离计算方法研究  

Calculation method of preceding vehicle distance based on monocular vision

作　　者：陈勇[1] 陈瑶[2] 

机构地区：[1]西北工业大学软件与微电子学院,陕西西安710072 [2]北京工业大学计算机学院,北京100124

出　　处：《机电工程》2014年第11期1499-1504,共6页Journal of Mechanical & Electrical Engineering

摘　　要：针对基于单目视觉的前方车辆距离测量方法无法计算曲线道路中的前方车辆实际距离等问题,对结构化道路中的前方车辆模型、前方车辆距离主车及其行驶线的距离计算等方面进行了研究,构建了世界坐标系、摄像机坐标系和图像坐标系中的前方车辆车尾模型,分析了前方车辆在图像平面和道路平面中的对应位置,建立了道路平面中前方车辆位置与主车行驶线之间的相对关系,推导出了前方车辆距离主车纵向行驶距离的计算模型以及前方车辆距离主车行驶线的横向距离计算模型,提出了一种适用于直线和圆弧曲线行驶状况的前方车辆距离计算方法,利用仿真实验平台对距离计算方法的有效性进行了测试。研究结果表明,该计算方法适用于直线和圆弧曲线行驶的道路状况,能够用于估算前方车辆与主车行驶线的距离,该计算方法适用性强、准确性高。Aiming at the problem that the practical preceding vehicle distance in curve road cannot be calculated in vehicle distance measurement based on monocular vision, the preceding vehicle model in structural road and the calculation of distances between preceding vehicle and host vehicle and its running line were studied. The preceding vehicle rear models in the world coordinate system, the camera coordinate system and the image coordinate system were established. The correspondence of preceding vehicle positions in image plane and road plane was analyzed. The relation of preceding vehicle position in road plane to host vehicle running line was built. The calculation models of the longitudinal travel distance between preceding vehicle and host vehicle, the transverse distance between preceding vehicle and host vehicle running line were derived. A preceding vehicle distance calculation method was proposed for host vehicle straight line and curve driving. The experiment verifying the distance calculation method effectiveness was carried out in the simulation environment. The results indicate that the calculation method is useful for host vehicle straight line and curve driving condition and can estimate the distance between preceding vehicle and host vehicle running line, which has good applicability and high accuracy.

关 键 词：车距测量 前方车辆距离 前方车辆模型 智能车辆 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]