基于单目视觉的跟驰车辆车距测量方法

为了解决结构化道路上跟驰车辆的防追尾碰撞问题,首先在对车辆制动模型进行分析的基础上得到了车辆制动距离的计算公式,进而计算出跟驰车辆与前方车辆之间的安全距离.然后,从针孔模型摄像机成像的基本原理出发,推导出基于图像中车道线消失点的车距测量公式.车距测量结果只与图像中的近视场点到摄像机的实际距离有关,无需对所有的摄像机参数进行标定,从而解决了单目视觉车距测量问题.最后,完成了不同距离处前方车辆的车距测量试验.试验结果表明,该方法的车距测量相对误差小于3％,具备了较高的检测精度,能够满足跟驰车辆防追尾碰撞的应用要求.

Method of vehicle distance measurement for following car based on monocular vision

To solve the problem of rear collision avoidance for the following car on structural road,the formula of braking distance is obtained based on the analysis of the vehicle braking model,and the safety distance is then calculated accordingly.Then,using the basic theory of imaging of a pinhole model camera,the formula of vehicle distance measurement is deduced based on the vanishing point of lane lines.The formula is related only to the actual distance between the camera and the point of near field of view without calibrating all of the camera parameters,and the vehicle distance measurement can be realized with monocular vision.Finally,experiments for the measurement are performed with the preceding vehicle at different positions.Experimental results demonstrate that the relative error of vehicle distance measurement is less than 3% and the precision can meet the application of collision avoidance for the following car.