The invention provides a lateral lane vehicle distance measuring and calculating method and system based on a monocular camera, and the method comprises the steps: obtaining the image information of a front road through the monocular camera, and obtaining an outer surrounding frame of a target vehicle in the image information through a target detection algorithm; obtaining a transverse coordinate y of the right side of the target vehicle in a vehicle body coordinate system by utilizing a conversion relation from the image coordinate system to the vehicle body coordinate system based on the coordinate of the outer surrounding frame in the image coordinate system; acquiring the type of the target vehicle from the image information by using an image recognition algorithm; and calculating the longitudinal coordinate x of the tail part of the vehicle model frame by using a lateral vehicle distance calculation formula, wherein the longitudinal coordinate x is the vehicle distance from the target vehicle to the vehicle. According to the invention, the detection difficulty of the target detection module in auxiliary driving can be reduced, and the distance measurement stability better than that of the original scheme can be obtained.
本发明提供了一种基于单目摄像头的侧向车道车距测算的方法及系统,其中,方法包括:通过单目摄像头获取前方道路的图像信息,利用目标检测算法在图像信息中获取目标车辆的外包围框;基于外包围框在图像坐标系中的坐标,利用图像坐标系到车体坐标系的转换关系得到目标车辆的右侧在车体坐标系的中的横向坐标y;利用图像识别算法在图像信息中获取目标车辆的类型;利用侧向车距计算公式计算车辆模型框的尾部的纵向坐标x,纵向坐标x为目标车辆到本车的车距。该发明可以降低辅助驾驶中目标检测模块的检测难度,并且能获取比原有方案更好的测距稳定性。
Method and system for measuring and calculating vehicle distance of lateral lane based on monocular camera
基于单目摄像头的侧向车道车距测算的方法及系统
2024-03-29
Patent
Electronic Resource
Chinese
IPC: | G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
High-precision monocular camera distance measuring device and method
European Patent Office | 2024
|Vehicle distance early warning system based on Beidou and monocular camera
European Patent Office | 2024
|Sociai Distance Measuring Based on Monocular Vision
British Library Conference Proceedings | 2022
|Inter-vehicle distance estimation considering camera attitude angles based on monocular vision
SAGE Publications | 2021
|