基于视频的前车并线及碰撞预警算法研究  

Research on Video-Based Forward Merging and Collision Warning Algorithm

作　　者：赵富强 孔斌 杨静[1,4] 王智灵 梁华为[3,4] ZHAO Fu-qiang;KONG Bin;YANG Jing;WANG Zhi-ling;LIANG Hua-wei(Institute of Intelligent Machines,Chinese Academy of Sciences,Hefei 230031,China;University of Science and Technology of China,Hefei 230026,China;Institute of Applied Technology,Hefei Institutes of Physical Science,C.A.S,Hefei 230088,China;Anhui Engineering Laboratory for Intelligent Driving Technology and Application,Hefei 230088,China)

机构地区：[1]中国科学院合肥智能机械研究所,安徽合肥230031 [2]中国科学技术大学,安徽合肥230026 [3]中国科学院合肥研究院应用技术研究所,安徽合肥230088 [4]安徽省智能驾驶技术及应用工程实验室,安徽合肥230088

出　　处：《测控技术》2019年第9期5-13,35,共10页Measurement & Control Technology

基　　金：国家自然科学基金重大研究计划集成项目(913203002);安徽省新能源汽车暨智能网联汽车创新工程项目

摘　　要：前碰撞预警系统是安全辅助驾驶领域的一项重要部分,通过计算机处理交通环境信息,当检测到潜在危险时,及时提醒并辅助驾驶员。采用计算机视觉方法,通过目标检测和跟踪算法,获取图像中目标车辆的位置和轨迹信息,并利用相机标定,计算当前车辆和前方车辆在世界坐标系中的距离、速度及轨迹等信息,综合该信息,实现前车碰撞时间预警、前车并线预警以及非机动车预警算法。在前车并线过程中,利用轨迹信息实时检测前车并线意图,及时提示驾驶员注意避让前方车辆。实验表明,本文提出的预警算法具有较高的准确性和鲁棒性,特别在高架或高速道路场景下,并线预警算法能检测到前车的并线意图,及时预警。The forward collision warning system is an important part of the safety assisted driving field,the computer handles the traffic environment information and promptly reminds and assists the driver when a potential danger is detected.The computer vision method is used to obtain the position and trajectory information of the target vehicle in the image through the object detection and tracking algorithm,and the camera calibration is used to calculate the distance,velocity and trajectory of the current vehicle and the preceding vehicle in the world coordinate system.This information realizes the warnings of the preceding vehicle collision time,the preceding vehicle merging line and the non-motor vehicle.In the process of merging the preceding vehicles,the trajectory information is used to detect the intention of the preceding vehicles in real time,prompting the driver to avoid the vehicles in front.Experiments show that the proposed early warning algorithm has high accuracy and robustness.Especially in the elevated or high-speed road scene,the method of preceding vehicle merging line warning can detect the in-line intention of the preceding vehicle and timely warning.

关 键 词：碰撞预警 前车并线预警 计算机视觉 碰撞时间 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]