A distance estimation method of a frontal collision warning system based on an image using a monocular camera is disclosed. The present invention comprises the processes of: obtaining a virtual horizon value from a vehicle position where an average width of an actual fixed vehicle and vehicle width information using the following equation (4) wherein yh is yb - Hc · (ωa / Wa); and estimating a distance from the vehicle position using the following equation (2) wherein d is Fc · Hc / (yb - yh).
본 발명은 하기의 식 (4)를 이용하여고정된 실제의 차량의 평균 폭이 검출된 차량의 위치와 상기 차량 폭의 정보로부터 가상 지평선 값을 구하는 과정 및 하기의 식 (2)를 이용하여차량 위치로부터 거리를 추정하는 과정을 포함하는 것을 단안 카메라를 이용한 거리 추정 방법을 개시한다.
METHOD FOR RANGE ESTIMATION WITH MONOCULAR CAMERA FOR VISION-BASED FORWARD COLLISION WARNING SYSTEM
단안 카메라를 이용한 영상 기반의 전방 추돌 경고 시스템의 거리 추정 방법
2015-12-29
Patent
Electronic Resource
Korean
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 |
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