The invention discloses a pedestrian collision early warning method and device based on a binocular stereo camera, thereby carrying out early warning under the condition of the collision risk betweenthe vehicle and the pedestrian. The method comprises the following steps: acquiring a target pedestrian based on a disparity map of a binocular camera; judging whether a target pedestrian is static ornot, if so, executing static operation, and judging whether early warning is performed or not; otherwise, executing non-stationary operation; calculating motion speed vectors of the vehicle and the pedestrian based on the position change; judging whether the included angle between the two vectors is equal to 90 degrees or not, if so, executing pedestrian traversing operation, and judging whetherearly warning is performed or not; judging whether the included angle between the two vectors is equal to 0 degree or 180 degrees or not, if so, executing the same-direction or opposite-direction motion operation, and judging whether early warning is carried out or not; otherwise, executing oblique penetration operation, and judging whether early warning is performed or not.
本发明公开了基于双目立体相机的行人碰撞预警方法和装置,可以在车辆与行人存在碰撞风险时进行预警。该方法包括:基于双目相机的视差图获取目标行人;判断目标行人是否静止,若是,执行静止操作,判断是否预警;否则执行非静止操作:基于位置变化分别计算自车和行人运动速度矢量;判断两矢量夹角是否等于90度,若是,执行行人横穿操作,判断是否预警;否则执行行人非横穿操作:判断两矢量夹角是否等于0度或180度,若是,执行同向或对向运动操作,判断是否预警;否则执行斜穿操作,判断是否预警。
Pedestrian collision early warning method and device based on binocular stereo camera
一种基于双目立体相机的行人碰撞预警方法和装置
2020-10-30
Patent
Electronic Resource
Chinese
IPC: | B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06K Erkennen von Daten , RECOGNITION OF DATA |
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