CN104111058A - Vehicle distance measuring method and device and vehicle relative speed measuring method and device - Google Patents

Vehicle distance measuring method and device and vehicle relative speed measuring method and device Download PDF

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Publication number
CN104111058A
CN104111058A CN201310131726.4A CN201310131726A CN104111058A CN 104111058 A CN104111058 A CN 104111058A CN 201310131726 A CN201310131726 A CN 201310131726A CN 104111058 A CN104111058 A CN 104111058A
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China
Prior art keywords
front truck
car
distance
angle
camera
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CN201310131726.4A
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Chinese (zh)
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CN104111058B (en
Inventor
钱成
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Hefei Jie FA Technology Co., Ltd.
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Smart Technology (hefei) Co Ltd
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Priority to CN201610831362.4A priority Critical patent/CN106546257B/en
Priority to CN201310131726.4A priority patent/CN104111058B/en
Publication of CN104111058A publication Critical patent/CN104111058A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
    • G01P3/68—Devices characterised by the determination of the time taken to traverse a fixed distance using optical means, i.e. using infrared, visible, or ultraviolet light
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

Abstract

The invention discloses a vehicle distance measuring method and device and a vehicle relative speed measuring method and device. The vehicle distance measuring method comprises the following steps: obtaining a horizontal inclination angle relative to a front car, and then calculating to obtain a corrected distance between a car and the front car according to the horizontal inclination angle. The vehicle distance measuring method and device and the vehicle relative speed measuring method and device can carry out precise measurement on the distance between two cars.

Description

Vehicle distance measurement method and device, vehicle relative velocity measuring method and device
Technical field
The present invention relates to distance survey technical field, particularly relate to a kind of vehicle distance measurement method and device, vehicle relative velocity measuring method and device.
Background technology
In the control center of vehicle, there are two large systems, one is front truck collision warning system (FCWS), another is vehicle yaw warning system (LDWS).Front truck collision warning system detects front vehicles from vehicle-mounted front-facing camera image, if find that there is potential risk of collision, sends in advance warning.Vehicle yaw warning system detects track, the place ahead from vehicle-mounted front-facing camera image, if find, this car departs from drives track, reports to the police.
When driving, if can obtain leading vehicle distance accurately, calculate the time that expectation is knocked into the back, can effectively remind driver to control the speed of a motor vehicle, thereby avoid traffic accident to occur.Therefore spacing calculating is very important module in FCWS.In prior art for the measurement of leading vehicle distance, the one, adopt radargrammetry, but can not differentiate the place ahead be vehicle or other barrier to radar, and radar is expensive; The 2nd, adopt camera to calculate spacing by image algorithm, but when the optical axis of camera and surface level are when not parallel, easily occur miscount.
Summary of the invention
In view of this, spy provides following technical scheme:
The technical scheme that the present invention adopts is: a kind of vehicle distance measurement method is provided, comprises: obtain this car with respect to the horizontal tilt angle of front truck; According to described horizontal tilt angle, calculate distance calibrated between front truck and Ben Che.
Wherein, described in, obtaining this car comprises with respect to the step of the horizontal tilt angle of front truck: the image of catching from the camera of this car, obtain the location of pixels v of track infinite point on described plane of delineation y axle; Location of pixels v according to track infinite point on described plane of delineation y axle, pixel focal distance f and the picture centre c of described camera, obtain the optical axis of described camera and the angle theta between surface level, described angle theta is this car with respect to the horizontal tilt angle of front truck.
Wherein, described this car that obtains is with respect to the step of the horizontal tilt angle of front truck, comprise: the optical axis of the described camera that obtains this car from electrolevel or the gyroscope of this car and the angle theta between surface level, described angle theta is this car with respect to the horizontal tilt angle of front truck.
Wherein, described according to horizontal tilt angle, calculate the step of distance calibrated between front truck and Ben Che, comprising: the described image of catching from the described camera of this car, obtain the location of pixels y of described front truck on described plane of delineation y axle; According to the pixel focal distance f of described location of pixels y, described camera and picture centre c, obtain the optical axis of described camera and the angle β that described front truck passes through the incident ray of described location of pixels y; According to described angle theta and described angle β, obtain described front truck by the incident ray of described location of pixels y and the angle α between described surface level; Height H according to described angle α and the installation of described camera, obtains the first correction distance d between front truck and Ben Che 1, using as distance calibrated between described front truck and Ben Che.
Wherein, described method also comprises: the described image of catching from the described camera of this car, obtain the location of pixels x of described front truck on described plane of delineation x axle; Location of pixels x according to the described front truck of described acquisition on described plane of delineation x axle, obtains described front truck perpendicular to the distance d of this car dead ahead direction 3; According to described apart from d 1with apart from d 3, obtain the second correction distance d between front truck and Ben Che 2, using as distance calibrated between described front truck and Ben Che, wherein d 2 = d 1 2 + d 3 2 .
For solving the problems of the technologies described above, the present invention adopts another technical scheme to be: a kind of vehicle relative velocity measuring method is provided, comprises: obtain this car with respect to the horizontal tilt angle of front truck; According to described horizontal tilt angle, calculate at t respectively 1the moment and t 2calibrated distance between moment front truck and Ben Che with t wherein 2be greater than t 1; Obtain the relative velocity V between this car and front truck, wherein V = d t 1 - d t 2 t 2 - t 1 .
Wherein, the step of the relative velocity V between described this car of acquisition and front truck also comprises: adopt mean value smoothing, Kalman model or Hidden Markov Model (HMM) to carry out smoothly described relative velocity V, the relative velocity V after acquisition is level and smooth f.
Wherein, described employing mean value smoothing, Kalman model or Hidden Markov Model (HMM) are carried out smoothly described relative velocity V, the relative velocity V after acquisition is level and smooth fstep also comprise: obtain t 2shi Keben car and front truck are estimated the time T bumping collision,
In order to solve the problems of the technologies described above, the present invention adopts a technical scheme to be again: a kind of distance survey device is provided, and described device comprises: angle acquisition module, for obtaining this car with respect to the horizontal tilt angle of front truck; Distance calculation module, for according to described horizontal tilt angle, calculates distance calibrated between front truck and Ben Che.
Wherein, described angle acquisition module comprises: primary importance acquiring unit, for the image of catching from the camera of this car, obtains the location of pixels v of track infinite point on described plane of delineation y axle; The first angle obtains unit, pixel focal distance f and picture centre c for the location of pixels v on described plane of delineation y axle, described camera according to track infinite point, obtain the optical axis of described camera and the angle theta between surface level, described angle theta is this car with respect to the horizontal tilt angle of front truck.
Wherein, described angle acquisition module also obtains the optical axis of described camera of this car and the angle theta between surface level for the electrolevel from this car or gyroscope, and described angle theta is this car with respect to the horizontal tilt angle of front truck.
Wherein, described distance calculation module comprises: second place acquiring unit, for the described image of catching from the described camera of this car, obtains the location of pixels y of described front truck on described plane of delineation y axle; The second angle obtains unit, for according to the pixel focal distance f of location of pixels y, described camera and picture centre c, obtains the optical axis of described camera and the angle β that described front truck passes through the incident ray of described location of pixels y; The 3rd angle obtains unit, for according to described angle theta and described angle β, obtains described front truck by the incident ray of described location of pixels y and the angle α between described surface level; The first distance obtains unit, for according to the height H of described angle α and the installation of described camera, obtains the first correction distance d between front truck and Ben Che 1, using as distance calibrated between described front truck and Ben Che.
Wherein, described distance calculation module also comprises: the 3rd position acquisition unit, for the described image of catching from the described camera of this car, obtains the location of pixels x of described front truck on described plane of delineation x axle; Second distance obtains unit, for the location of pixels x on described plane of delineation x axle according to the described front truck of described acquisition, obtains described front truck perpendicular to the distance d of this car dead ahead direction 3; The 3rd distance obtains unit, for according to described apart from d 1with apart from d 3, obtain the second correction distance d between front truck and Ben Che 2, using as distance calibrated between described front truck and Ben Che, wherein d 2 = d 1 2 + d 3 2 .
In order to solve the problems of the technologies described above, the present invention adopts separately a technical scheme to be again: a kind of measurement mechanism of vehicle relative velocity is provided, and described device comprises: angle acquisition module, for obtaining this car with respect to the horizontal tilt angle of front truck; Distance calculation module, for according to described horizontal tilt angle, calculates at t respectively 1the moment and t 2calibrated distance between moment front truck and Ben Che with t wherein 2be greater than t 1; Speed obtains module, for obtaining the relative velocity V between this car and front truck, wherein V = d t 1 - d t 2 t 2 - t 1 .
Wherein, described device also comprises level and smooth acquisition module, and described level and smooth acquisition module is used for adopting mean value smoothing, Kalman model or Hidden Markov Model (HMM) to carry out smoothly described relative velocity V, the relative velocity V after acquisition is level and smooth f.
Wherein, described device also comprises time acquisition module, and the described time obtains module and is used for obtaining t 2shi Keben car and front truck are estimated the time T bumping collision,
The measuring method of the measuring method of spacing of the present invention and device, vehicle relative velocity and device, horizontal tilt angle according to this car with respect to front truck, calculate distance calibrated between front truck and Ben Che, in this way, can measure accurately the distance between Ben Che and front truck, and do not add any extra equipment, can not increase extra cost.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of vehicle distance measurement method one embodiment of the present invention;
Fig. 2 is front truck and this workshop range finding schematic diagram in this car camera optical axis situation parallel with surface level;
Fig. 3 is front truck and this workshop range finding schematic diagram in this car camera optical axis and the not parallel situation of surface level;
Fig. 4 is the process flow diagram of another embodiment of vehicle distance measurement method of the present invention;
Fig. 5 is the analysis schematic diagram of front truck and this workshop the first correction distance in two dimensional surface;
Fig. 6 is the analysis schematic diagram of front truck and this workshop the second correction distance in three dimensions;
Fig. 7 is the analysis schematic diagram of another embodiment of front truck and this workshop the first correction distance in two dimensional surface;
Fig. 8 is the process flow diagram of vehicle relative velocity measuring method of the present invention one embodiment;
Fig. 9 is at t 1the moment and t 2calibrated distance between moment front truck and Ben Che with schematic diagram;
Figure 10 is the process flow diagram of another embodiment of vehicle relative velocity measuring method of the present invention;
Figure 11 is the structural representation that comprises Vehicular system one embodiment of distance survey device of the present invention;
Figure 12 is the structural representation of distance survey device one embodiment of the present invention;
Figure 13 is the structural representation of another embodiment of distance survey device of the present invention;
Figure 14 is the structural representation of vehicle relative velocity measurement mechanism of the present invention one embodiment;
Figure 15 is the structural representation of another embodiment of vehicle relative velocity measurement mechanism of the present invention.
Embodiment
Below in conjunction with drawings and embodiments, the present invention is described in detail.
Refer to Fig. 1, Fig. 1 is the process flow diagram of vehicle distance measurement method one embodiment of the present invention.Present embodiment comprises the following steps:
Step S101: obtain this car with respect to the horizontal tilt angle of front truck.
For test carriage distance, vehicle generally can arrange camera at this car, by catching the image of the place ahead road conditions of this camera shooting, determines the distance of this car and preceding vehicle.Refer to Fig. 2, in prior art, the distance d of front truck 220 and this car 210 generally by obtain, wherein, f is the pixel focal length of camera 230, and H is the setting height(from bottom) of camera 230, and y is the location of pixels of front truck 220 on the y of the described plane of delineation 232 axle.This method of measuring spacing is applicable to optical axis 231 situation parallel with surface level of camera 230.
Refer to Fig. 3, when the optical axis 331 of the camera 330 on this car 310 and surface level are not parallel, the spacing d ' obtaining according to the method for said determination spacing is not the actual range d between this car 310 and front truck 320.In present embodiment, this car 310 is after the image of the place ahead road conditions that captures camera 330 shootings, by the place ahead road conditions on the plane of delineation 332, analyze, obtain this car 310 with respect to the horizontal tilt angle of front truck 320, the optical axis 331 that this horizontal tilt angle is camera 330 and the angle theta of this car 310 residing surface levels.
Step S102: according to horizontal tilt angle, calculate distance calibrated between front truck and Ben Che.
After obtaining the horizontal tilt angle θ of this car with respect to front truck, according to pixel focal distance f and the picture centre c of front truck image space and camera on the plane of delineation, acquisition is according to the actual range between front truck and Ben Che, i.e. calibrated distance d between front truck and Ben Che.
Wherein, in the internal reference information that the pixel focal distance f of camera and picture centre c can directly provide by this car camera, obtain.If camera does not provide relevant information, can demarcate camera, to obtain the internal reference information of camera.For example by Zhang Zhengyou standardization, three line calibration methods or other scaling methods as camera is demarcated, to obtain the internal reference information of camera.Those skilled in the art all understand how camera is demarcated to obtain camera internal reference information, for for purpose of brevity, at this, do not describe in detail.
Refer to Fig. 4 to Fig. 6, Fig. 4 is the process flow diagram of another embodiment of vehicle distance measurement method of the present invention, Fig. 5 is the analysis schematic diagram of front truck and this workshop the first correction distance in two dimensional surface, and Fig. 6 is the analysis schematic diagram of front truck and this workshop the second correction distance in three dimensions.Present embodiment comprises the following steps:
Step S401: the image of catching from the camera of this car, obtain the location of pixels v of track infinite point on described plane of delineation y axle.
The camera of this car by the place ahead road conditions be imaged on camera optical axis vertical image plane on.Known according to projection geometry, by all straight line parallels of same infinity point.Therefore track, the place ahead infinite point is parallel with track to the incident ray of camera.For this car, the track at its place is residing surface level, therefore track infinite point is the angle of camera optical axis and the residing surface level of this car to the incident ray of camera and the angle theta of camera optical axis.
This car is caught the image of the place ahead road conditions from camera, track infinite point sees through camera imaging on the plane of delineation.The lane line that this car is published picture in picture according to the image recognition of catching, to determine the track infinite point in the plane of delineation, and then obtains in the plane of delineation track infinite point at the location of pixels v of y axle.
Particularly, in present embodiment, this car by straight line road model, identifies the lane line in the image of catching, and then obtains in the plane of delineation track infinite point at the location of pixels v of y axle.And while existing barrier partly to stop lane line in image, this car extends processing according to the part lane line that can identify automatically, to determine the track infinite point in the plane of delineation, has reduced the interference of outer bound pair present embodiment.It should be noted that, in other embodiments, this car also can be determined lane line by other lane line recognition method, for example, according to the modes such as color of lane line, in this no limit.Those skilled in the art understand Research on Lane Detection Based on Hough Transform, therefore do not describe in detail at this.
Step S402: according to the pixel focal distance f of location of pixels v, camera and picture centre c, obtain the optical axis of camera and the angle theta between surface level, described angle theta is this car with respect to the horizontal tilt angle of front truck.
According to Fig. 5, be easy to get, the pass of the angle theta between camera optical axis and surface level and location of pixels v is: and then obtain the angle between camera optical axis and surface level:
θ = arctan ( v - c y f ) - - - ( 1 ) .
After obtaining the location of pixels v of track infinite point on plane of delineation y axle, this car, according to above formula (1), can obtain the optical axis of camera and the angle theta between surface level, and angle theta is this car with respect to the horizontal tilt angle of front truck.In above formula (1), f is the pixel focal length of this car camera, c yfor the position of picture centre c at plane of delineation y axle.In other embodiments, when the coordinate axis of the plane of delineation be take picture centre during as initial point, c ybe zero.
Step S403: the optical axis of the camera that obtains this car from electrolevel or the gyroscope of this car and the angle theta between surface level, described angle theta is this car with respect to the horizontal tilt angle of front truck.
At this car, be provided with in electrolevel or gyrostatic situation, this electrolevel or gyroscope be corresponding to camera setting, makes optical axis that angle that electrolevel or gyroscope are surveyed is camera and the angle between surface level.This car None-identified publish picture lane line in picture (for example, forwardly road surface do not have lane line or lane line not obvious) time, can directly from electrolevel or gyroscope, read the optical axis of camera of this car and the angle theta between surface level.
Step S404: the image of catching from the camera of this car, obtain the location of pixels y of front truck on plane of delineation y axle.
In the image of catching at camera, front truck on track the position of close this car image on the location of pixels y on plane of delineation y axle, this car obtains this location of pixels y from image.
Step S405: according to the pixel focal distance f of location of pixels y, camera and picture centre c, obtain the optical axis of camera and the angle β that front truck passes through the incident ray of location of pixels y.
According to Fig. 5, be easy to get, camera optical axis and front truck by the angle β of the incident ray of location of pixels y and the pass of location of pixels y are: and then obtain camera optical axis and front truck by the angle of the incident ray of location of pixels y, computing formula is as follows:
β = arctan ( y - c y f ) - - - ( 2 ) .
After obtaining the location of pixels y of front truck on plane of delineation y axle, this car, according to above formula (2), can obtain the optical axis of camera and the angle β that front truck passes through the incident ray of location of pixels y.In above formula (2), f is the pixel focal length of this car camera; c yfor the position of picture centre c at plane of delineation y axle.
Step S406: according to angle theta and angle β, obtain front truck by the incident ray of location of pixels y and the angle α between surface level.
According to Fig. 5, can obtain, front truck by the pass of the incident ray of location of pixels y and the angle α between surface level and angle theta and angle β is:
α=β-θ （3）
This car obtains after horizontal plane angle θ and angle β, by above formula (3), can obtain front truck by the incident ray of location of pixels y and the angle α between surface level.
Step S407: the height H according to angle α and camera installation, obtains the first correction distance d between front truck and Ben Che 1.
According to Fig. 5, can obtain the distance d of make progress in this car dead ahead front truck and this car 1with the pass of angle α be:
d 1 = H tan α - - - ( 4 )
After obtaining angle α, this car obtains the setting height(from bottom) value H of camera, and according to above formula (4), can obtain the distance d of make progress in this car dead ahead front truck and this car 1, be the first correction distance d between front truck and Ben Che 1.
Step S408: the image of catching from the camera of this car, obtain the location of pixels x of front truck on plane of delineation x axle.
As Fig. 6, in another embodiment, suppose that this car 610 dead aheads are the positive dirction of X-axis in three dimensions, at front truck 620 during not in this car 610 dead ahead, the first correction distance d between the front truck that step S407 obtains and Ben Che 1the projection 621 making progress in this car 610 dead aheads for front truck 620 and the distance of this car 610.In the image of catching at this car 610, front truck 620 is imaged on the location of pixels x of x axle of the plane of delineation 632.In present embodiment, obtaining the first correction distance d between front truck 620 and Ben Che 610 1after, this car 610 obtains the location of pixels x of front truck 620 on plane of delineation 632x axle from the image of catching.
Step S409: the location of pixels x according to the front truck obtaining on plane of delineation x axle, obtains front truck perpendicular to the distance d of this car dead ahead direction 3.
As Fig. 6, C and C ' that the incident ray of the projection 621 that front truck 620 and front truck 620 make progress in this car 610 dead aheads is imaged on respectively the plane of delineation 632 through camera 630 locate, and according to similar triangles and Pythagorean theorem, are easy to get: thereby try to achieve d 3:
d 3 = ( x - c x ) H 2 + d 1 2 y 2 + f 2 - - - ( 5 ) .
After obtaining the location of pixels x of front truck 620 on the x of the plane of delineation 632 axle, this car, according to above formula (5), can obtain front truck 620 perpendicular to the distance d of this car 610 dead ahead directions 3.In above formula (5), f is the pixel focal length of camera 630; c xfor the position of picture centre c x axle in the plane of delineation 632, H is the height that camera 630 is installed, d 1the projection 621 making progress in this car 610 dead aheads for front truck 620 and the distance of this car 610, the first correction distance d between the front truck that step S407 obtains and Ben Che 1.
Step S410: according to apart from d 1with apart from d 3, obtain the second correction distance d between front truck and Ben Che 2, wherein d 2 = d 1 2 + d 3 2 .
As Fig. 6, according to Pythagorean theorem, known acquisition front truck 620 and this car 610 actual range d 2the projection 621 making progress in this car 610 dead aheads with front truck 620 and the distance d of this car 610 1and front truck 620 is perpendicular to the distance d of this car 610 dead ahead directions 3pass be:
d 2 = d 1 2 + d 3 2 - - - ( 6 ) .
This car 610 is obtaining apart from d 1with apart from d 3after, according to above formula (6), can obtain the second correction distance d between front truck 620 and Ben Che 610 2, i.e. front truck 620 and this car 610 actual ranges.
It should be noted that, in other embodiments, must not carry out the institute of present embodiment in steps.Vehicle distance measurement method of the present invention to (6), therefore in other embodiments, can carry out corresponding step according to the derivation formula of above formula (1) to (6) based on above formula (1), in this no limit.For example, according to above formula (2) to (6), can directly obtain the second correction distance d between front truck and Ben Che 2location of pixels y with front truck on plane of delineation y axle and the relation of the location of pixels x on x axle.This car, after the location of pixels y and the location of pixels x step on x axle that obtain on plane of delineation y axle, obtains the first correction distance d between front truck and Ben Che without carrying out 1and front truck is perpendicular to the distance d of this car dead ahead direction 3, directly carry out according to the second correction distance d between front truck and Ben Che 2with the relation of location of pixels y and location of pixels x and the pixel focal distance f of camera and picture centre c, obtain the second correction distance d between front truck and Ben Che 2step.
Refer to Fig. 7, in some cases, the angle theta of camera optical axis and surface level exists for the downward situation of level.Known according to the record of Fig. 5-6 and above-mentioned instructions, in the embodiment of Fig. 7, the angle between camera optical axis and surface level is camera optical axis and front truck by the angle of the incident ray of location of pixels y are front truck is α=θ-β by incident ray and the angle between surface level of location of pixels y, and between front truck and Ben Che, the first correction distance is at front truck, during not in this car dead ahead, front truck perpendicular to the distance of this car dead ahead direction is between front truck and Ben Che, the second correction distance is illustrate angle theta with above-mentioned camera optical axis and surface level and be the situation that level makes progress similar, do not repeat them here.
To above-mentioned embodiment analytical derivation, can obtain: under any circumstance, Ben Che can basis obtain angle theta between camera optical axis and surface level, according to obtain camera optical axis and front truck by the angle β between the incident ray of location of pixels y, according to α=| θ-β | obtain front truck by the incident ray of location of pixels y and the angle α between surface level, according to obtain the first correction distance d between front truck and Ben Che 1, according to obtain front truck perpendicular to this car dead ahead to distance d 3, according to obtain the second correction distance d between front truck and Ben Che 2.
Refer to Fig. 8 and Fig. 9, Fig. 8 is the process flow diagram of vehicle relative velocity measuring method embodiment of the present invention, and Fig. 9 is at t 1the moment and t 2calibrated distance between moment front truck and Ben Che with schematic diagram.Present embodiment comprises the following steps:
Step S801: obtain this car with respect to the horizontal tilt angle of front truck.
This car is after the image of the place ahead road conditions that captures camera shooting, by the image of these the place ahead road conditions is analyzed, obtain this car with respect to the horizontal tilt angle of front truck, the optical axis that this horizontal tilt angle is this car camera and the angle of the residing surface level of this car.
Step S802: according to described horizontal tilt angle, calculate at t respectively 1the moment and t 2correction distance between moment front truck and Ben Che with t wherein 2be greater than t 1.
After obtaining the horizontal tilt angle of this car with respect to front truck, pixel focal distance f and picture centre c according to front truck image space and camera on the plane of delineation, obtain respectively at t 1the moment and t 2actual range between moment front truck and Ben Che with it is distance calibrated between front truck and Ben Che with
Present embodiment specifically can adopt the invention described above vehicle distance measurement method embodiment, obtains the correction distance between front truck and Ben Che, does not repeat them here, and if needed, refers to the embodiment of the invention described above vehicle distance measurement method.
Step S803: obtain the relative velocity V between this car and front truck, wherein
As Fig. 9, this car that is easy to get is the difference of this vehicle speed with front vehicle speed with respect to the speed of front truck, that is this car is respectively at t 1the moment and t 2constantly obtain distance calibrated between front truck and Ben Che with after, according to above formula obtain the relative velocity V between this car and front truck.Wherein, when this car with respect to the speed V of front truck be on the occasion of time, learn that the speed of this car is greater than front vehicle speed, when this car is negative value with respect to the speed V of front truck, learn that the speed of this car is less than front vehicle speed.
Refer to Figure 10, Figure 10 is the process flow diagram of another embodiment of vehicle relative velocity measuring method of the present invention.Present embodiment comprises the following steps:
Step S1001: obtain this car with respect to the horizontal tilt angle of front truck.
This car is after the image of the place ahead road conditions that captures camera shooting, by the image of these the place ahead road conditions is analyzed, obtain this car with respect to the horizontal tilt angle of front truck, the optical axis that this horizontal tilt angle is this car camera and the angle of the residing surface level of this car.
Step S1002: according to described horizontal tilt angle, calculate at t respectively 1the moment and t 2correction distance between moment front truck and Ben Che with
Because the relative velocity between Ben Che and front truck may exist variation, therefore direct basis may there is certain deviation with this actual car with front truck relative velocity in the relative velocity obtaining.For obtaining the more relative velocity of robust (Robust), Ben Che and front truck relative velocity V are carried out smoothly.In present embodiment, this car adopts mean value smoothing mode to carry out smoothly relative velocity V, be that this car is caught multiframe front truck image continuously, according to consecutive frame image information, obtain the relative velocity between a plurality of cars and front truck, and carry out a plurality of relative velocity average value processings to obtaining, with the relative velocity V after obtaining smoothly f.
This car, according to the image information of consecutive frame, obtains respectively at t 1the moment and t 2calibrated distance between moment front truck and Ben Che with after wherein camera is caught in this consecutive frame, the moment of a two field picture is t 2, the moment of catching former frame image in this consecutive frame is t 1.
Step S1003: obtain the relative velocity V between this car and front truck, wherein
This car is obtaining at t 1the moment and t 2calibrated distance between moment front truck and Ben Che with after, according to above formula obtain the relative velocity V between this car and front truck.
This car, obtaining after relative velocity according to this consecutive frame image information, continues to return step S1002, with according to the image of lower group of consecutive frame, obtains at t 1the moment and t 2calibrated distance between moment front truck and Ben Che with until obtain a plurality of relative velocities between a period of time Nei Benche and front truck.
Step S1004: a plurality of relative velocities between Ben Che and front truck are carried out smoothly to the relative velocity V after acquisition is level and smooth f.
In other embodiments, also can adopt other smooth manner to obtain the more relative velocity of robust, for example, the smooth manners such as Kalman, Hidden Markov Model (HMM).
Step S1005: obtain t 2shi Keben car and front truck are estimated the time T bumping collision, T collision = d t 2 V f .
The relative velocity V of this car after obtaining smoothly fafter, according to and this car is at t 2constantly with the correction distance of front truck obtain this car at t 2constantly estimate with front truck the time T bumping collision.In present embodiment, when the time T of estimating to bump collisionduring for negative value, if the relative velocity of front truck and this car remains V f, this car can not bump with front truck.
Refer to Figure 11, Figure 11 is the structural representation that comprises Vehicular system one embodiment of distance survey device of the present invention.Vehicular system 1100 comprises camera 1120, distance survey device 1130 and hummer 1140.In addition, Vehicular system 1100 also can comprise electrolevel 1110.Distance survey device 1130 couples with electrolevel 1110, camera 1120 and hummer 1140 respectively.Vehicular system utilizes distance survey device 1130 to obtain distance calibrated between Ben Che and front truck, and embodiment will be explained below.
(for example, in the absence that track or track can not be detected) in some cases, Vehicular system also can further utilize electrolevel 1110 to obtain distance calibrated between Ben Che and front truck.Electrolevel 1110 is the horizontal tilt angle θ with front truck for measuring vehicle system 1100 place vehicles (being this car), and sends to distance survey device 1130.When this car travels, camera 1120 is caught the image of this car preceding vehicle, and send to distance survey device 1130, distance survey device 1130 is according to the location of pixels y of front truck in the plane of delineation in the horizontal tilt angle θ of the relative front truck of this car and front truck image, obtain this car distance calibrated with this front truck, i.e. the actual range of this car and this front truck.
In present embodiment, distance survey device 1130 also compares the calibrated distance of this car obtaining and front truck and a default first threshold, when Ben Che and the calibrated distance of front truck are greater than default first threshold, distance survey device 1130 transmits control signal to hummer 1140, so that hummer 1140 sounds the alarm, this car of prompting driver of take is risk distance with the distance of front truck, and then has guaranteed the safety of vehicle.
Alternatively, Vehicular system also comprises vehicle relative velocity measurement mechanism, and camera is caught the front truck image in a plurality of moment, and sends to vehicle relative velocity measurement mechanism.In like manner in distance survey device, vehicle relative velocity measurement mechanism is according to front truck image, obtains corresponding carving copy car and the calibrated distance of front truck when a plurality of, and then calculates the relative velocity between Ben Che and front truck.Further, vehicle relative velocity measurement mechanism also compares this car obtaining and the relative velocity between front truck and default Second Threshold, when the relative velocity between Ben Che and front truck is greater than default first threshold, vehicle relative velocity measurement mechanism transmits control signal to hummer, so that hummer sounds the alarm, take and remind that this car of driver is cal speed with respect to the speed of front truck, and then guaranteed the safety of vehicle.
It should be noted that, in another embodiment, electrolevel is not set in Vehicular system, but can obtain by gyroscope the horizontal tilt angle of the relative front truck of this car.Further, front truck image that Vehicular system can also directly be caught according to camera determines that above track infinite point is at the location of pixels v of the plane of delineation, and then calculates the horizontal tilt angle of the relative front truck of this car, in this no limit.In addition, described first, second default threshold value can be set as different value according to actual needs, in this no limit.
Refer to Figure 12, Figure 12 is the structural representation of distance survey device one embodiment of the present invention.In present embodiment, distance survey device 1200 comprises angle acquisition module 1210 and distance calculation module 1220.Angle acquisition module 1210 couples with distance calculation module 1220.
Angle acquisition module 1210 is for obtaining the horizontal tilt angle of the relative front truck of this car.Vehicle generally can arrange camera at this car, and distance survey device 1200, by catching the image of the place ahead road conditions of camera shooting, is determined the distance of this car and preceding vehicle.Refer to Fig. 3, when the camera optical axis on this car and surface level are not parallel, after the image of the place ahead road conditions that captures camera shooting, angle acquisition module 1210 is by analyzing the image of these the place ahead road conditions, obtain this car with respect to the horizontal tilt angle of front truck, and send to distance calculation module 1220, the optical axis that wherein this horizontal tilt angle is this car camera and the angle theta of the residing surface level of this car.
Distance calculation module 1220, for according to horizontal tilt angle, calculates distance calibrated between front truck and Ben Che.Distance calculation module 1220 is after receiving the horizontal tilt angle θ of this car with respect to front truck, according to pixel focal distance f and the picture centre c of front truck image space and camera on the plane of delineation, acquisition is according to the actual range between front truck and Ben Che, i.e. calibrated distance d between front truck and Ben Che.
Refer to Figure 13 and Fig. 5, Fig. 6, Figure 13 is the structural representation of another embodiment of distance survey device of the present invention.In present embodiment, distance survey device 1300 comprises angle acquisition module 1310 and distance calculation module 1320, wherein, angle acquisition module 1310 comprises that primary importance acquiring unit 1311 and the first angle obtain unit 1312, and distance calculation module 1320 comprises that second place acquiring unit 1321, the second angle obtain unit 1322, the 3rd angle acquisition unit 1323, first obtains unit 1326 and the 3rd distance acquisition unit 1327 apart from acquisition unit 1324, the 3rd position acquisition unit 1325, second distance.
The image of primary importance acquiring unit 1311 for catching from the camera of this car, obtains the location of pixels v of track infinite point on described plane of delineation y axle and the angle theta of camera optical axis and the residing surface level of this car.
Particularly, in present embodiment, primary importance acquiring unit 1311, by straight line road model, identifies the lane line in the image of catching, and then obtain in the plane of delineation track infinite point at the location of pixels v of y axle, and send to the first angle acquiring unit 1312.And, while existing barrier partly to stop lane line in image, primary importance acquiring unit 1311 extends processing according to the part lane line that can identify automatically, to determine the track infinite point in the plane of delineation, has reduced the interference of outer bound pair present embodiment.It should be noted that, in other embodiments, primary importance acquiring unit 1311 also can be determined lane line by other lane line recognition method, for example, according to the modes such as color of lane line, in this no limit.
The first angle obtains unit 1312 for pixel focal distance f and the picture centre c of the location of pixels v on described plane of delineation y axle, camera according to track infinite point, obtains the optical axis of camera and the angle theta between surface level.Particularly, after receiving the location of pixels v of track infinite point on plane of delineation y axle, the first angle obtains unit 1312 according to formula (1) can obtain the optical axis of camera and the angle theta between surface level, and send to the 3rd angle to obtain unit 1323 this angle theta.Wherein, f is the pixel focal length of this car camera; c yfor the position of picture centre c at plane of delineation y axle.
Further, when this car is provided with electrolevel or gyroscope, the optical axis of the described camera that angle acquisition module 1310 also can obtain this car from electrolevel or the gyroscope of this car and the angle theta between surface level.This electrolevel or gyroscope are corresponding to camera setting, and making the angle that electrolevel or gyroscope are surveyed is the optical axis when camera and the angle between surface level.When primary importance acquiring unit 1311 None-identifieds publish picture picture in lane line time, the optical axis of the described camera that angle acquisition module 1310 obtains this car from electrolevel or the gyroscope of this car and the angle theta between surface level, and send to the 3rd angle to obtain unit 1323.
The image that second place acquiring unit 1321 is caught from the camera of this car, obtain the location of pixels y of front truck on plane of delineation y axle.In the image of catching at camera, front truck on track the position of close this car image in the plane of delineation, near track corresponding to this car one side, image on the location of pixels y on plane of delineation y axle, second place acquiring unit 1321 obtains this location of pixels y from image, and sends to the second angle to obtain unit 1322.
The second angle obtains unit 1322 for according to the pixel focal distance f of location of pixels y, camera and picture centre c, obtains the optical axis of camera and the angle β that front truck passes through the incident ray of location of pixels y.Particularly, after receiving the location of pixels y of front truck on plane of delineation y axle, the second angle obtains unit 1322 according to formula (2) optical axis and the front truck that can obtain camera pass through the angle β of the incident ray of location of pixels y, and send to the 3rd angle to obtain unit 1323.
The 3rd angle obtains unit 1323 for according to angle theta and angle β, obtains front truck by the incident ray of location of pixels y and the angle α between surface level.Particularly, the 3rd angle obtains unit 1323 and receives after horizontal plane angle θ and angle β, by formula (3) α=β-θ, can obtain front truck by the incident ray of location of pixels y and the angle α between surface level, and sends to the first distance to obtain unit 1324.
The first distance obtains unit 1324 for according to the height H of angle α and camera installation, obtains the first correction distance d between front truck and Ben Che 1.Particularly, after receiving angle α, the first distance obtains unit 1324 and obtains the setting height(from bottom) value H of camera and receive after angle α, according to formula (4) can obtain the distance d of make progress in this car dead ahead front truck and this car 1, be the first correction distance d between front truck and Ben Che 1.
The 3rd image of position acquisition unit 1325 for catching from the camera of this car, obtains the location of pixels x of front truck on plane of delineation x axle.
At front truck during not in this car dead ahead, the first distance obtains the first correction distance d between front truck that unit 1324 obtains and Ben Che 1the projection making progress in this car dead ahead for front truck and the distance of this car.In the image of catching at this car, front truck is imaged on the location of pixels x of plane of delineation x axle.In present embodiment, at the first correction distance d obtaining between front truck and Ben Che 1after, the 3rd position acquisition unit 1325 obtains the location of pixels x of front truck on plane of delineation x axle from the image of catching, and sends to second distance to obtain unit 1326.
Second distance obtains unit 1326 for the location of pixels x on plane of delineation x axle according to the front truck obtaining, and obtains front truck perpendicular to the distance d of this car dead ahead direction 3.Particularly, after receiving the location of pixels x of front truck on plane of delineation x axle, second distance obtains unit 1326 according to formula (5) can obtain front truck perpendicular to the distance d of this car dead ahead direction 3, and send to the 3rd distance to obtain unit.In formula (5), f is the pixel focal length of this car camera; c xfor the position of picture centre c at plane of delineation x axle, H is the height that camera is installed, d 1for the make progress distance of front truck and this car of this car dead ahead, the first distance obtains front truck that unit 1324 obtains and the first correction distance d between Ben Che 1.
The 3rd distance obtains unit 1327 for according to apart from d 1with apart from d 3, according to formula obtain the second correction distance d between front truck and Ben Che 2, i.e. front truck and this car actual range.
Refer to Figure 14 and Fig. 9, Figure 14 is the structural representation of vehicle relative velocity measurement mechanism one embodiment.In present embodiment, vehicle relative velocity measurement mechanism 1400 comprises that angle acquisition module 1410, distance calculation module 1420 and speed obtain module 1430.
Angle acquisition module 1410 is for obtaining this car with respect to the horizontal tilt angle of front truck.Angle acquisition module 1410 is after the image of the place ahead road conditions that captures camera shooting, by the image of these the place ahead road conditions is analyzed, obtain this car with respect to the horizontal tilt angle of front truck, and send to distance calculation module 1420, the optical axis that this horizontal tilt angle is this car camera and the angle of the residing surface level of this car.
Distance calculation module 1420, for according to described horizontal tilt angle, calculates at t respectively 1the moment and t 2calibrated distance between moment front truck and Ben Che with , t wherein 2be greater than t 1.After receiving the horizontal tilt angle of this car with respect to front truck, distance calculation module 1420, according to pixel focal distance f and the picture centre c of front truck image space and camera on the plane of delineation, obtains respectively at t 1the moment and t 2actual range between moment front truck and Ben Che with , i.e. calibrated distance between front truck and Ben Che with , and send to speed to obtain module 1430.
Speed obtains module 1430 for obtaining the relative velocity V between this car and front truck, wherein speed obtains module 1430 and is obtaining at t 1the moment and t 2calibrated distance between moment front truck and Ben Che with after, according to obtain the relative velocity V between this car and front truck.Wherein, when this car with respect to the speed V of front truck be on the occasion of time, learn that the speed of this car is greater than front vehicle speed, when this car is negative value with respect to the speed V of front truck, learn that the speed of this car is less than front vehicle speed.
Refer to Figure 15, Figure 15 is the structural representation of another embodiment of vehicle relative velocity measurement mechanism of the present invention.In present embodiment, vehicle relative velocity measurement mechanism 1500 comprises that angle acquisition module 1510, distance calculation module 1520, speed obtain module 1530, smoothly obtaining module 1540 and time obtains module 1550.
Angle acquisition module 1510 is for obtaining this car with respect to the horizontal tilt angle of front truck.Angle acquisition module 1510, after the image of the place ahead road conditions that captures camera shooting, by the image of these the place ahead road conditions is analyzed, obtains this car with respect to the horizontal tilt angle of front truck, and sends to distance calculation module 1520.
Distance calculation module 1520, for according to described horizontal tilt angle, calculates at t respectively 1the moment and t 2calibrated distance between moment front truck and Ben Che with t wherein 2be greater than t 1, and t 1and t 2for the relative moment, after camera is caught in this consecutive frame, the moment of a two field picture is t 2, the moment of catching former frame image in this consecutive frame is t 1.
In present embodiment, vehicle relative velocity measurement mechanism 1500, by catching continuously multiframe front truck image in the short time, according to consecutive frame image information, obtains a plurality of relative velocities between this car and front truck, and carry out average value processing, with the relative velocity V after obtaining smoothly f.
Distance calculation module 1520 is by calibrated distance with send to speed to obtain module 1530.Speed obtains module 1530 bases with obtain the relative velocity V between this car and front truck, wherein speed obtains the relative velocity that module 1530 obtains between all consecutive frame time Nei Benche and front truck, and all relative velocities are sent to level and smooth acquisition module 1540.
In the speed that receives, obtain after this car and a plurality of relative velocities between front truck of module 1530 transmissions, a plurality of relative velocity V that smoothly obtain 1540 pairs of acquisitions of module average, through the relative velocity V after level and smooth using this mean value f, and send to the time to obtain module 1550.
Certainly, in other embodiments, smoothly obtain module 1540 and also can adopt other smooth manner except mean value smoothing mode to obtain the more relative velocity of robust, for example, the smooth manners such as Kalman, Hidden Markov Model (HMM).
Time obtains module 1550 for obtaining t 2shi Keben car and front truck are estimated the time T bumping collision, time obtains the relative velocity V of module 1550 after obtaining smoothly fafter, according to and this car constantly with the calibrated distance of front truck obtain this car at t 2constantly estimate with front truck the time T bumping collision.In present embodiment, estimate the time T bumping collisionduring for negative value, if the relative velocity of front truck and this car remains V f, Ben Che and front truck can not bump.
It should be noted that, all embodiments of the present invention also can be applied the situation parallel with surface level with camera optical axis on this car, and now, being equivalent to this car is 0 with respect to the horizontal tilt angle θ of front truck.
In addition, this car distance calibrated with front truck of measuring in the application's embodiment in full, but should not think that the present invention is only for measuring the calibrated distance of this car and front truck, in other embodiments, the present invention also can be by catching vehicle image below, measure this car distance calibrated with vehicle below, in this no limit.
Be different from the situation of prior art, embodiment of the present invention is the horizontal tilt angle with respect to front truck according to this car, calculate distance calibrated between front truck and Ben Che, in this way, can the distance between Ben Che and front truck measure accurately, and do not add any extra equipment, can not increase extra cost.
The foregoing is only embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes instructions of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.

Claims (16)

1. a vehicle distance measurement method, is characterized in that, comprising:
Obtain this car with respect to the horizontal tilt angle of front truck;
According to described horizontal tilt angle, calculate distance calibrated between front truck and Ben Che.
2. vehicle distance measurement method according to claim 1, is characterized in that, described in obtain this car and comprise with respect to the step of the horizontal tilt angle of front truck:
The image of catching from the camera of this car, obtain the location of pixels v of track infinite point on described plane of delineation y axle;
Location of pixels v according to track infinite point on described plane of delineation y axle, pixel focal distance f and the picture centre c of described camera, obtain the optical axis of described camera and the angle theta between surface level, described angle theta is this car with respect to the horizontal tilt angle of front truck.
3. vehicle distance measurement method according to claim 1, is characterized in that, described in obtain this car with respect to the step of the horizontal tilt angle of front truck, comprising:
The optical axis of the described camera that obtains this car from electrolevel or the gyroscope of this car and the angle theta between surface level, described angle theta is this car with respect to the horizontal tilt angle of front truck.
4. according to the vehicle distance measurement method described in claim 2 or 3, it is characterized in that, described according to horizontal tilt angle, calculate the step of distance calibrated between front truck and Ben Che, comprising:
The described image of catching from the described camera of this car, obtain the location of pixels y of described front truck on described plane of delineation y axle;
According to the pixel focal distance f of described location of pixels y, described camera and picture centre c, obtain the optical axis of described camera and the angle β that described front truck passes through the incident ray of described location of pixels y;
According to described angle theta and described angle β, obtain described front truck by the incident ray of described location of pixels y and the angle α between described surface level;
Height H according to described angle α and the installation of described camera, obtains the first correction distance d between front truck and Ben Che 1, using as distance calibrated between described front truck and Ben Che.
5. vehicle distance measurement method according to claim 4, is characterized in that, described method also comprises:
The described image of catching from the described camera of this car, obtain the location of pixels x of described front truck on described plane of delineation x axle;
Location of pixels x according to the described front truck of described acquisition on described plane of delineation x axle, obtains described front truck perpendicular to the distance d of this car dead ahead direction 3;
According to described apart from d 1with apart from d 3, obtain the second correction distance d between front truck and Ben Che 2, using as distance calibrated between described front truck and Ben Che, wherein
6. a vehicle relative velocity measuring method, is characterized in that, comprising:
Obtain this car with respect to the horizontal tilt angle of front truck;
According to described horizontal tilt angle, calculate at t respectively 1the moment and t 2calibrated distance between moment front truck and Ben Che with t wherein 2be greater than t 1;
Obtain the relative velocity V between this car and front truck, wherein
7. method according to claim 6, it is characterized in that, the step of relative velocity V between described this car of acquisition and front truck also comprises: adopt mean value smoothing, Kalman model or Hidden Markov Model (HMM) to carry out smoothly described relative velocity V, the relative velocity V after acquisition is level and smooth f.
8. method according to claim 7, is characterized in that, described employing mean value smoothing, Kalman model or Hidden Markov Model (HMM) are carried out smoothly described relative velocity V, the relative velocity V after acquisition is level and smooth fstep also comprise: obtain t 2shi Keben car and front truck are estimated the time T bumping collision, T collision = d t 2 V f .
9. a distance survey device, is characterized in that, described device comprises:
Angle acquisition module, for obtaining this car with respect to the horizontal tilt angle of front truck;
Distance calculation module, for according to described horizontal tilt angle, calculates distance calibrated between front truck and Ben Che.
10. distance survey device according to claim 9, is characterized in that, described angle acquisition module comprises:
Primary importance acquiring unit, for the image of catching from the camera of this car, obtains the location of pixels v of track infinite point on described plane of delineation y axle;
The first angle obtains unit, pixel focal distance f and picture centre c for the location of pixels v on described plane of delineation y axle, described camera according to track infinite point, obtain the optical axis of described camera and the angle theta between surface level, described angle theta is this car with respect to the horizontal tilt angle of front truck.
11. distance survey devices according to claim 9, it is characterized in that, described angle acquisition module also obtains the optical axis of described camera of this car and the angle theta between surface level for the electrolevel from this car or gyroscope, and described angle theta is this car with respect to the horizontal tilt angle of front truck.
12. according to the distance survey device described in claim 10 or 11, it is characterized in that, described distance calculation module comprises:
Second place acquiring unit, for the described image of catching from the described camera of this car, obtains the location of pixels y of described front truck on described plane of delineation y axle;
The second angle obtains unit, for according to the pixel focal distance f of location of pixels y, described camera and picture centre c, obtains the optical axis of described camera and the angle β that described front truck passes through the incident ray of described location of pixels y;
The 3rd angle obtains unit, for according to described angle theta and described angle β, obtains described front truck by the incident ray of described location of pixels y and the angle α between described surface level;
The first distance obtains unit, for according to the height H of described angle α and the installation of described camera, obtains the first correction distance d between front truck and Ben Che 1, using as distance calibrated between described front truck and Ben Che.
13. distance survey devices according to claim 12, is characterized in that, described distance calculation module also comprises:
The 3rd position acquisition unit, for the described image of catching from the described camera of this car, obtains the location of pixels x of described front truck on described plane of delineation x axle;
Second distance obtains unit, for the location of pixels x on described plane of delineation x axle according to the described front truck of described acquisition, obtains described front truck perpendicular to the distance d of this car dead ahead direction 3;
The 3rd distance obtains unit, for according to described apart from d 1with apart from d 3, obtain the second correction distance d between front truck and Ben Che 2, using as distance calibrated between described front truck and Ben Che, wherein d 2 = d 1 2 + d 3 2 .
The measurement mechanism of 14. 1 kinds of vehicle relative velocities, is characterized in that, described device comprises:
Angle acquisition module, for obtaining this car with respect to the horizontal tilt angle of front truck;
Distance calculation module, for according to described horizontal tilt angle, calculates at t respectively 1the moment and t 2calibrated distance between moment front truck and Ben Che with t wherein 2be greater than t 1;
Speed obtains module, for obtaining the relative velocity V between this car and front truck, wherein V = d t 1 - d t 2 t 2 - t 1 .
15. devices according to claim 14, it is characterized in that, described device also comprises level and smooth acquisition module, and described level and smooth acquisition module is used for adopting mean value smoothing, Kalman model or Hidden Markov Model (HMM) to carry out smoothly described relative velocity V, the relative velocity V after acquisition is level and smooth f.
16. devices according to claim 15, is characterized in that, described device also comprises time acquisition module, and the described time obtains module and is used for obtaining t 2shi Keben car and front truck are estimated the time T bumping collision,
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