The invention discloses an intelligent vehicle forward collision early warning method and system based on vision. According to the method, a target in front of a vehicle is recognized and detected by using a YOLOv3 algorithm, and information such as the position of the target and a minimum boundary bounding box is output; a multi-target tracking algorithm measures a target vector speed and predicts a future trend; a monocular distance measurement technology calculates the transverse and longitudinal distances of the current target by using a pinhole imaging principle; lane lines in the video are accurately and stably tracked by using a lane line detection technology combining polynomial fitting and perspective transformation; according to a lane line detection result, driver reflection characteristics, a front nearest target relative speed and the like, two early warning areas dynamically changing along with the speed of the vehicle are drawn in front of the vehicle; a collision early warning technology is fused with distance perception to output different early warning levels for the target detected in an early warning area, and early warning is carried out on the possible collision situation in time. According to the invention, potential dangerous targets can be early warned in time, and the probability of collision is reduced.
本发明公开了一种基于视觉的智能车辆前向碰撞预警方法及系统。本发明方法通过使用YOLOv3算法对车辆前方的目标进行识别检测,输出目标的位置及最小边界包围框等信息;多目标跟踪算法测量目标矢量速度,预测未来走向;单目测距技术利用小孔成像原理计算当前目标的横向及纵向距离;使用结合多项式拟合和透视变换的车道线检测技术对视频中的车道线进行准确稳定的追踪;根据车道线检测结果、及驾驶员反映特性、前方最近目标相对速度等在本车前方绘制两块随自车车速动态变化的预警区域;碰撞预警技术融合距离感知对预警区域内检测到的目标输出不同预警等级,对可能发生碰撞的情况及时预警。采用本发明能够对潜在危险目标及时预警,降低碰撞发生的概率。
Intelligent vehicle forward collision early warning method and system based on vision
一种基于视觉的智能车辆前向碰撞预警方法及系统
2021-09-10
Patent
Electronic Resource
Chinese
IPC: | 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 / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G06K Erkennen von Daten , RECOGNITION OF DATA / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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