CN105416290B - The method and apparatus for detecting spacing - Google Patents
The method and apparatus for detecting spacing Download PDFInfo
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- CN105416290B CN105416290B CN201510869803.5A CN201510869803A CN105416290B CN 105416290 B CN105416290 B CN 105416290B CN 201510869803 A CN201510869803 A CN 201510869803A CN 105416290 B CN105416290 B CN 105416290B
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- 238000000605 extraction Methods 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 abstract description 13
- 238000010586 diagram Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000002708 enhancing effect Effects 0.000 description 3
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- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- Automation & Control Theory (AREA)
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- Image Analysis (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of method and apparatus for detecting spacing, belong to computer realm.This method includes：First vehicle front road is shot, obtains road image, and the inside lane line in track is extracted from the road image；According to the inside lane line, the yaw angle between the travel direction of the first vehicle and the inside lane line is calculated；Determine to whether there is the second vehicle in the track；If the second vehicle in the track be present, the first lateral separation and first longitudinal direction distance of the travel direction between the first vehicle and the second vehicle relative to the first vehicle are calculated；According to the yaw angle, the first lateral separation and first longitudinal direction distance, calculate between the first vehicle and the second vehicle relative to second lateral separation and second longitudinal direction distance in the inside lane line direction.The device includes：Taking module, extraction module, the first computing module, determining module, the second computing module and the 3rd computing module.The present invention improves the accuracy of detection spacing.
Description
Technical field
The present invention relates to computer realm, more particularly to a kind of method and apparatus for detecting spacing.
Background technology
Urban traffic jam is the serious traffic problems that numerous countries of the world today face, and urban traffic blocking gives people
Go on a journey and bring inconvenience, while also bring serious social concern and environmental problem；In order to solve urban traffic blocking band
The problem of coming, intelligence turn into the emphasis of nowadays car enterprise industry research and development with driving skills art.Intelligence is divided into two modules with driving skills art, point
Not Wei environmental perception module and control module, environmental perception module is used to measure this vehicle and the spacing of front vehicles, controls mould
Block is used to control this vehicle to follow front vehicles to travel according to spacing.
At present, detecting the method for this vehicle and the spacing of front vehicles can be：Using the camera or thunder of this vehicle
Up to the image waited in front of sensor shooting road vehicle, using image processing techniques calculate this vehicle and front vehicles compared to
The lateral separation and fore-and-aft distance of the travel direction of this vehicle.
During the present invention is realized, inventor has found that prior art at least has problems with：
If when the travel direction and inconsistent lane line direction of this vehicle, the lateral separation of above-mentioned detection and longitudinal direction away from
From respectively and actual lateral separation and fore-and-aft distance have certain deviation, cause the accuracy for detecting spacing low.
The content of the invention
In order to solve problem of the prior art, the embodiments of the invention provide a kind of method and apparatus for detecting spacing.Institute
It is as follows to state technical scheme：
A kind of method for detecting spacing, methods described include：
First vehicle front road is shot, obtains road image, and track is extracted from the road image
Inside lane line；
According to the inside lane line, the driftage between the travel direction of first vehicle and the inside lane line is calculated
Angle；
Determine to whether there is the second vehicle in the track；
If the second vehicle in the track be present, calculate between first vehicle and second vehicle relative to institute
State the first lateral separation and first longitudinal direction distance of the travel direction of the first vehicle；
According to the yaw angle, first lateral separation and the first longitudinal direction distance, calculate first vehicle with
Relative to second lateral separation and second longitudinal direction distance in the inside lane line direction between second vehicle.
Optionally, it is described according to the yaw angle, first lateral separation and the first longitudinal direction distance, described in calculating
Relative to second lateral separation and second longitudinal direction distance in the inside lane line direction between first vehicle and second vehicle,
Including：
According to first lateral separation and the first longitudinal direction distance, first vehicle and second vehicle are calculated
Between relative to the first angle between the travel direction of first vehicle；
According to the yaw angle and first angle, calculate between first vehicle and second vehicle relative to
The second angle between the inside lane line direction；
According to first lateral separation, the first longitudinal direction distance and second angle, first vehicle is calculated
Relative to second lateral separation and second longitudinal direction distance in the inside lane line direction between second vehicle.
Optionally, it is described according to first lateral separation and the first longitudinal direction distance, calculate first vehicle with
Relative to the first angle between the travel direction of first vehicle between second vehicle, including：
Calculate the ratio of first lateral separation and the first longitudinal direction distance；
Calculate the arc-tangent value of the ratio；
The arc-tangent value is defined as between first vehicle and second vehicle relative to first vehicle
Travel direction between the first angle.
Optionally, it is described according to the yaw angle and first angle, calculate first vehicle and second car
Relative to the second angle between the inside lane line direction between, including：
Calculate the differential seat angle of the yaw angle and first angle；
The differential seat angle is defined as between first vehicle and second vehicle relative to the inside lane line side
The second angle between.
Optionally, it is described according to first lateral separation, the first longitudinal direction distance and second angle, calculate institute
State between the first vehicle and second vehicle relative to the inside lane line direction the second lateral separation and second longitudinal direction away from
From, including：
According to first lateral separation and the first longitudinal direction distance, first vehicle and second vehicle are calculated
The distance between；
Calculate the sine value and cosine value of second angle；
The distance is calculated with the product of the sine value as relative between first vehicle and second vehicle
The second lateral separation in the inside lane line direction；
The distance is calculated with the product of the cosine value as relative between first vehicle and second vehicle
Second longitudinal direction distance in the inside lane line direction.
A kind of device for detecting spacing, described device include：
Taking module, for being shot to the first vehicle front road, obtain road image；
Extraction module, for extracting the inside lane line in track from the road image；
First computing module, for according to the inside lane line, calculate the travel direction of first vehicle with it is described interior
Yaw angle between lane line；
Determining module, for determining to whether there is the second vehicle in the track；
Second computing module, if for the second vehicle in the track be present, calculate first vehicle and described the
Between two vehicles relative to first vehicle travel direction the first lateral separation and first longitudinal direction distance；
3rd computing module, for according to the yaw angle, first lateral separation and the first longitudinal direction distance, meter
Calculate vertical relative to second lateral separation in the inside lane line direction and second between first vehicle and second vehicle
To distance.
Optionally, the 3rd computing module, including：
First computing unit, for according to first lateral separation and the first longitudinal direction distance, calculating described first
Relative to the first angle between the travel direction of first vehicle between vehicle and second vehicle；
Second computing unit, for according to the yaw angle and first angle, calculate first vehicle with it is described
Relative to the second angle between the inside lane line direction between second vehicle；
3rd computing unit, for according to first lateral separation, the first longitudinal direction distance and second angle,
Calculate between first vehicle and second vehicle relative to second lateral separation and second in the inside lane line direction
Fore-and-aft distance.
Optionally, first computing unit, including：
First computation subunit, for calculating the ratio of first lateral separation and the first longitudinal direction distance；
Second computation subunit, for calculating the arc-tangent value of the ratio；
First determination subelement, for the arc-tangent value to be defined as between first vehicle and second vehicle
Relative to the first angle between the travel direction of first vehicle.
Optionally, second computing unit, including：
3rd computation subunit, for calculating the differential seat angle of the yaw angle and first angle；
Second determination subelement, for the differential seat angle to be defined as into phase between first vehicle and second vehicle
For the second angle between the inside lane line direction.
Optionally, the 3rd computing unit, including：
4th computation subunit, for according to first lateral separation and the first longitudinal direction distance, calculating described the
The distance between one vehicle and second vehicle；
5th computation subunit, for calculating the sine value and cosine value of second angle；
6th computation subunit, for calculating the distance with the product of the sine value as first vehicle and institute
State between the second vehicle relative to second lateral separation in the inside lane line direction；
7th computation subunit, for calculating the distance with the product of the cosine value as first vehicle and institute
State between the second vehicle relative to the second longitudinal direction distance in the inside lane line direction.
In embodiments of the present invention, the inside lane line in track is obtained from the road image of the first vehicle front, according to this
Inside lane line, calculate the yaw angle between the travel direction of the first vehicle and inside lane line；If the second vehicle in track be present,
Calculate the travel direction between the first vehicle and the second vehicle relative to the first vehicle the first lateral separation and first longitudinal direction away from
From；According to the yaw angle, the first lateral separation and first longitudinal direction distance, calculate between the first vehicle and the second vehicle relative to interior
Second lateral separation and second longitudinal direction distance in lane line direction.Because the travel direction of the first vehicle can with inside lane line direction
Can be inconsistent, so as to the yaw angle between the travel direction and inside lane line according to the first vehicle, the first lateral separation and first
Fore-and-aft distance, determine that the second lateral separation and second longitudinal direction distance are more accurate, improve the accuracy of detection spacing.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of method flow diagram for detection spacing that the embodiment of the present invention one provides；
Fig. 2-1 is a kind of method flow diagram for detection spacing that the embodiment of the present invention two provides；
Fig. 2-2 is a kind of interface schematic diagram for detection spacing that the embodiment of the present invention two provides；
Fig. 3 is a kind of apparatus structure schematic diagram for detection spacing that the embodiment of the present invention three provides.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
Embodiment one
Fig. 1 is a kind of method flow diagram for detecting spacing provided in an embodiment of the present invention, and the executive agent of this method can be with
For the car-mounted terminal of the first vehicle.
Referring to Fig. 1, this method includes：
Step 101：First vehicle front road is shot, obtains road image, and car is extracted from road image
The inside lane line in road.
Step 102：According to inside lane line, the yaw angle between the travel direction of the first vehicle and inside lane line is calculated.
Step 103：Determine to whether there is the second vehicle in track.
Step 104：If the second vehicle in track be present, calculate between the first vehicle and the second vehicle relative to the first car
Travel direction the first lateral separation and first longitudinal direction distance.
Step 105：According to yaw angle, the first lateral separation and first longitudinal direction distance, the first vehicle and the second vehicle are calculated
Between relative to inside lane line direction the second lateral separation and second longitudinal direction distance.
This step can be realized by following steps (1) to (3), including：
(1)：According to the first lateral separation and first longitudinal direction distance, calculate between the first vehicle and the second vehicle relative to the
The first angle between the travel direction of one vehicle.
Specifically, the ratio of the first lateral separation and first longitudinal direction distance is calculated；Calculate the arc-tangent value of the ratio；Should
Arc-tangent value is defined as between the first vehicle and the second vehicle relative to the first angle between the travel direction of the first vehicle.
(2)：According to the yaw angle and the first angle, calculate between the first vehicle and the second vehicle relative to inside lane line side
The second angle between.
Specifically, the differential seat angle of the yaw angle and the first angle is calculated；The differential seat angle is defined as the first vehicle and second
Relative to the second angle between inside lane line direction between vehicle.
(3)：According to the first lateral separation, first longitudinal direction distance and the second angle, calculate the first vehicle and the second vehicle it
Between relative to inside lane line direction the second lateral separation and second longitudinal direction distance.
Specifically, according to the first lateral separation and first longitudinal direction distance, calculate between the first vehicle and the second vehicle away from
From；Calculate the sine value and cosine value of the second angle；The distance is calculated with the product of sine value as the first vehicle and the second car
Relative to second lateral separation in inside lane line direction between；Calculate the product of the distance and cosine value as the first vehicle with
Relative to the second longitudinal direction distance in inside lane line direction between second vehicle.
In embodiments of the present invention, the inside lane line in track is obtained from the road image of the first vehicle front, according to this
Inside lane line, calculate the yaw angle between the travel direction of the first vehicle and inside lane line；If the second vehicle in track be present,
Calculate the travel direction between the first vehicle and the second vehicle relative to the first vehicle the first lateral separation and first longitudinal direction away from
From；According to the yaw angle, the first lateral separation and first longitudinal direction distance, calculate between the first vehicle and the second vehicle relative to interior
Second lateral separation and second longitudinal direction distance in lane line direction.Because the travel direction of the first vehicle can with inside lane line direction
Can be inconsistent, so as to the yaw angle between the travel direction and inside lane line according to the first vehicle, the first lateral separation and first
Fore-and-aft distance, determine that the second lateral separation and second longitudinal direction distance are more accurate, improve the accuracy of detection spacing.
Embodiment two
Fig. 2-1 is a kind of method flow diagram for detecting spacing provided in an embodiment of the present invention, and the executive agent of this method can
Think the car-mounted terminal of the first vehicle.Referring to Fig. 2-1, this method includes：
Step 201：First vehicle front road is shot, obtains road image, and car is extracted from road image
The inside lane line in road.
This step can be realized by following steps (1) to (4), including：
(1)：By the video camera mounted in the first vehicle interior or outside, the first vehicle front road is shot,
Obtain road image；
(2)：Road image is converted into gray level image, and the gray level image is carried out at edge enhancing and binaryzation
Reason, obtains image to be detected；
Specifically, the road image is converted into gray level image；Ground level vanishing line in the gray level image, from this
Area-of-interest is obtained in gray level image, the area-of-interest is subjected to edge enhancing and binary conversion treatment, obtained to be detected
Image.Or
Ground level vanishing line in the road image, area-of-interest is obtained from the road image, will be interested
Region is converted to gray level image, and the gray level image is carried out into edge enhancing and binary conversion treatment, obtains image to be detected.
(3)：The inside edge characteristic point for the lane line that extraction image to be detected includes；
Specifically, according to Edge Feature Points extraction algorithm, the inside edge feature of extraction lane line from image to be detected
Point.
(4)：According to inside edge characteristic point, inside lane line is fitted by hough conversion, and skill is tracked according to lane line
The inside lane line that art is stablized.
Step 202：According to inside lane line, the yaw angle between the travel direction of the first vehicle and inside lane line is calculated.
The travel direction of the first vehicle is obtained, according to the direction of inside lane line and the travel direction of the first vehicle, calculates the
Angle between the travel direction of one vehicle and inside lane line direction, by the angle be defined as the travel direction of the first vehicle with it is interior
Yaw angle between lane line.
As shown in Fig. 2-2, α (t) is the yaw angle between the travel direction of the first vehicle and inside lane line.
It should be noted that according to lane line direction and the travel direction of the first vehicle, the traveling side of the first vehicle of calculating
It is prior art to the process of the angle between inside lane line, no longer describes in detail herein.
Step 203：Determine to whether there is the second vehicle in the track.
According to description automobile information mathematical modeling and road image, detect in the track in whether there is meet the mathematical modulo
The image of type, if it is present determining vehicle be present in the track, for the ease of description, existing vehicle in the track is claimed
For the second vehicle, and meet that the image of the mathematical modeling is the second vehicle.
Before this step, a large amount of vehicle pictures are gathered, positive and negative sample database are formed, using machine learning method to sample
Database is trained, and obtains describing the mathematical modeling of automobile information.
Further, if the second vehicle in the track be present, step 204 is performed；If second is not present in the vehicle
Vehicle, terminate.
Step 204：If the second vehicle in the track be present, calculate between the first vehicle and the second vehicle relative to first
The first lateral separation and first longitudinal direction distance of the travel direction of vehicle.
For example, with reference to Fig. 2-2, dis_x is the first lateral separation, and dis_y is first longitudinal direction distance.
It should be noted that calculate first of the travel direction between the first vehicle and the second vehicle relative to the first vehicle
The detailed process of lateral separation and first longitudinal direction distance is prior art, is no longer described in detail herein.
Step 205：According to the first lateral separation and first longitudinal direction distance, calculate relative between the first vehicle and the second vehicle
The first angle between the travel direction of the first vehicle.
Specifically, the ratio of the first lateral separation and first longitudinal direction distance is calculated；Calculate the arc-tangent value of the ratio；Should
Arc-tangent value is defined as between the first vehicle and the second vehicle relative to the first angle between the travel direction of the first vehicle.
For example, with reference to Fig. 2-2, β (t) is the first angle, and
Wherein, dis_x is the first lateral separation, and dis_y is first longitudinal direction distance.
Step 206：According to yaw angle and the first angle, calculate between the first vehicle and the second vehicle relative to inside lane line
The second angle between direction.
Specifically, the differential seat angle of the yaw angle and the first angle is calculated；The differential seat angle is defined as the first vehicle and second
Relative to the second angle between inside lane line direction between vehicle.
For example, with reference to Fig. 2-2, θ (t) is the second angle, and θ (t)=α (t)-β (t).
Wherein, α (t) is yaw angle, and β (t) is the first angle.
Step 207：According to the first lateral separation, first longitudinal direction distance and the second angle, the first vehicle and the second car are calculated
Relative to second lateral separation and second longitudinal direction distance in inside lane line direction between.
Specifically, according to the first lateral separation and first longitudinal direction distance, calculate between the first vehicle and the second vehicle away from
From；Calculate the sine value and cosine value of the second angle；The product of the distance and sine value is calculated as the first vehicle and described the
Relative to second lateral separation in inside lane line direction between two vehicles；The distance is calculated with the product of the cosine value as first
Relative to the second longitudinal direction distance in inside lane line direction between vehicle and the second vehicle.
This step can be calculated between the first vehicle and the second vehicle relative to inside lane line direction by below equation (1)
The second lateral separation, calculated by below equation (2) between the first vehicle and the second vehicle relative to inside lane line direction
Second longitudinal direction distance.
Formula (1)
Formula (2)
Wherein, Δ x (t) is the second lateral separation, and Δ y (t) is second longitudinal direction distance, and θ (t) is the second angle, and dis_x is
First lateral separation, dis_y are first longitudinal direction distance.
Further, second is followed according to the second lateral separation, second longitudinal direction distance and control algolithm, the first vehicle of control
Vehicle travels.
In embodiments of the present invention, the inside lane line in track is obtained from the road image of the first vehicle front, according to this
Inside lane line, calculate the yaw angle between the travel direction of the first vehicle and inside lane line；If the second vehicle in track be present,
Calculate the travel direction between the first vehicle and the second vehicle relative to the first vehicle the first lateral separation and first longitudinal direction away from
From；According to the yaw angle, the first lateral separation and first longitudinal direction distance, calculate between the first vehicle and the second vehicle relative to interior
Second lateral separation and second longitudinal direction distance in lane line direction.Because the travel direction of the first vehicle can with inside lane line direction
Can be inconsistent, so as to the yaw angle between the travel direction and inside lane line according to the first vehicle, the first lateral separation and first
Fore-and-aft distance, determine that the second lateral separation and second longitudinal direction distance are more accurate, improve the accuracy of detection spacing.
Embodiment three
The embodiments of the invention provide a kind of device for detecting spacing, the device can be used for performing embodiment one and two
The method for detecting spacing.
Referring to Fig. 3, wherein, the device includes：
Taking module 301, for being shot to the first vehicle front road, obtain road image；
Extraction module 302, for extracting the inside lane line in track from road image；
First computing module 303, between travel direction and the inside lane line for according to inside lane line, calculating the first vehicle
Yaw angle；
Determining module 304, for determining to whether there is the second vehicle in track；
Second computing module 305, if for the second vehicle in track be present, calculate between the first vehicle and the second vehicle
Relative to the first lateral separation and first longitudinal direction distance of the travel direction of the first vehicle；
3rd computing module 306, for according to yaw angle, the first lateral separation and first longitudinal direction distance, calculating the first car
Relative to second lateral separation and second longitudinal direction distance in inside lane line direction between the second vehicle.
Optionally, the 3rd computing module 306, including：
First computing unit, for according to the first lateral separation and first longitudinal direction distance, calculating the first vehicle and the second car
Relative to the first angle between the travel direction of the first vehicle between；
Second computing unit, for according to yaw angle and the first angle, calculating relative between the first vehicle and the second vehicle
The second angle between inside lane line direction；
3rd computing unit, for according to the first lateral separation, first longitudinal direction distance and the second angle, calculating the first vehicle
Relative to second lateral separation and second longitudinal direction distance in inside lane line direction between the second vehicle.
Optionally, the first computing unit, including：
First computation subunit, for calculating the ratio of the first lateral separation and first longitudinal direction distance；
Second computation subunit, the arc-tangent value for ratio calculated；
First determination subelement, for arc-tangent value to be defined as between the first vehicle and the second vehicle relative to the first car
Travel direction between the first angle.
Optionally, the second computing unit, including：
3rd computation subunit, for calculating the differential seat angle of yaw angle and the first angle；
Second determination subelement, for differential seat angle to be defined as between the first vehicle and the second vehicle relative to inside lane line
The second angle between direction.
Optionally, the 3rd computing unit, including：
4th computation subunit, for according to the first lateral separation and first longitudinal direction distance, calculating the first vehicle and second
The distance between vehicle；
5th computation subunit, for calculating the sine value and cosine value of the second angle；
6th computation subunit, for calculating distance with the product of sine value as phase between the first vehicle and the second vehicle
For second lateral separation in inside lane line direction；
7th computation subunit, for calculating distance with the product of cosine value as phase between the first vehicle and the second vehicle
For the second longitudinal direction distance in inside lane line direction.
In embodiments of the present invention, the inside lane line in track is obtained from the road image of the first vehicle front, according to this
Inside lane line, calculate the yaw angle between the travel direction of the first vehicle and inside lane line；If the second vehicle in track be present,
Calculate the travel direction between the first vehicle and the second vehicle relative to the first vehicle the first lateral separation and first longitudinal direction away from
From；According to the yaw angle, the first lateral separation and first longitudinal direction distance, calculate between the first vehicle and the second vehicle relative to interior
Second lateral separation and second longitudinal direction distance in lane line direction.Because the travel direction of the first vehicle can with inside lane line direction
Can be inconsistent, so as to the yaw angle between the travel direction and inside lane line according to the first vehicle, the first lateral separation and first
Fore-and-aft distance, determine that the second lateral separation and second longitudinal direction distance are more accurate, improve the accuracy of detection spacing.
It should be noted that：The device for the detection spacing that above-described embodiment provides is when detecting spacing, only with above-mentioned each work(
Can module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different functions
Module is completed, i.e., the internal structure of device is divided into different functional modules, described above all or part of to complete
Function.In addition, the embodiment of the method for the device for the detection spacing that above-described embodiment provides and detection spacing belongs to same design, its
Specific implementation process refers to embodiment of the method, repeats no more here.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
One of ordinary skill in the art will appreciate that hardware can be passed through by realizing all or part of step of above-described embodiment
To complete, by program the hardware of correlation can also be instructed to complete, described program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only storage, disk or CD etc..
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
- A kind of 1. method for detecting spacing, it is characterised in that methods described includes：First vehicle front road is shot, obtains road image, and the interior car in track is extracted from the road image Diatom；According to the inside lane line, the yaw angle between the travel direction of first vehicle and the inside lane line is calculated；Determine to whether there is the second vehicle in the track；If the second vehicle in the track be present, calculate between first vehicle and second vehicle relative to described the The first lateral separation and first longitudinal direction distance of the travel direction of one vehicle；According to the yaw angle, first lateral separation and the first longitudinal direction distance, calculate first vehicle with it is described Relative to second lateral separation and second longitudinal direction distance in the inside lane line direction between second vehicle.
- 2. the method as described in claim 1, it is characterised in that it is described according to the yaw angle, first lateral separation and The first longitudinal direction distance, calculate between first vehicle and second vehicle relative to the of the inside lane line direction Two lateral separations and second longitudinal direction distance, including：According to first lateral separation and the first longitudinal direction distance, calculate between first vehicle and second vehicle Relative to the first angle between the travel direction of first vehicle；According to the yaw angle and first angle, calculate between first vehicle and second vehicle relative to described The second angle between inside lane line direction；According to first lateral separation, the first longitudinal direction distance and second angle, first vehicle and institute are calculated State between the second vehicle relative to second lateral separation and second longitudinal direction distance in the inside lane line direction.
- 3. method as claimed in claim 2, it is characterised in that described according to first lateral separation and the first longitudinal direction Distance, calculate between first vehicle and second vehicle relative to first between the travel direction of first vehicle Angle, including：Calculate the ratio of first lateral separation and the first longitudinal direction distance；Calculate the arc-tangent value of the ratio；The arc-tangent value is defined as between first vehicle and second vehicle relative to the row of first vehicle Sail the first angle between direction.
- 4. method as claimed in claim 2, it is characterised in that it is described according to the yaw angle and first angle, calculate Relative to the second angle between the inside lane line direction between first vehicle and second vehicle, including：Calculate the differential seat angle of the yaw angle and first angle；By the differential seat angle be defined as between first vehicle and second vehicle relative to the inside lane line direction it Between the second angle.
- 5. method as claimed in claim 2, it is characterised in that described according to first lateral separation, the first longitudinal direction Distance and second angle, calculate between first vehicle and second vehicle relative to the inside lane line direction Second lateral separation and second longitudinal direction distance, including：According to first lateral separation and the first longitudinal direction distance, calculate between first vehicle and second vehicle Distance；Calculate the sine value and cosine value of second angle；The distance between first vehicle and second vehicle are calculated with the product of the sine value as first car Relative to second lateral separation in the inside lane line direction between second vehicle；The distance between first vehicle and second vehicle are calculated with the product of the cosine value as first car Relative to the second longitudinal direction distance in the inside lane line direction between second vehicle.
- 6. a kind of device for detecting spacing, it is characterised in that described device includes：Taking module, for being shot to the first vehicle front road, obtain road image；Extraction module, for extracting the inside lane line in track from the road image；First computing module, for according to the inside lane line, calculating the travel direction of first vehicle and the inside lane Yaw angle between line；Determining module, for determining to whether there is the second vehicle in the track；Second computing module, if for the second vehicle in the track be present, calculate first vehicle and second car Between relative to first vehicle travel direction the first lateral separation and first longitudinal direction distance；3rd computing module, for according to the yaw angle, first lateral separation and the first longitudinal direction distance, calculating institute State between the first vehicle and second vehicle relative to the inside lane line direction the second lateral separation and second longitudinal direction away from From.
- 7. device as claimed in claim 6, it is characterised in that the 3rd computing module, including：First computing unit, for according to first lateral separation and the first longitudinal direction distance, calculating first vehicle Relative to the first angle between the travel direction of first vehicle between second vehicle；Second computing unit, for according to the yaw angle and first angle, calculating first vehicle and described second Relative to the second angle between the inside lane line direction between vehicle；3rd computing unit, for according to first lateral separation, the first longitudinal direction distance and second angle, calculating Relative to second lateral separation and second longitudinal direction in the inside lane line direction between first vehicle and second vehicle Distance.
- 8. device as claimed in claim 7, it is characterised in that first computing unit, including：First computation subunit, for calculating the ratio of first lateral separation and the first longitudinal direction distance；Second computation subunit, for calculating the arc-tangent value of the ratio；First determination subelement, for the arc-tangent value to be defined as between first vehicle and second vehicle relatively The first angle between the travel direction of first vehicle.
- 9. device as claimed in claim 7, it is characterised in that second computing unit, including：3rd computation subunit, for calculating the differential seat angle of the yaw angle and first angle；Second determination subelement, for by the differential seat angle be defined as between first vehicle and second vehicle relative to The second angle between the inside lane line direction.
- 10. device as claimed in claim 7, it is characterised in that the 3rd computing unit, including：4th computation subunit, for according to first lateral separation and the first longitudinal direction distance, calculating first car The distance between with second vehicle；5th computation subunit, for calculating the sine value and cosine value of second angle；6th computation subunit, for calculating the distance between first vehicle and second vehicle and the sine value Product as between first vehicle and second vehicle relative to second lateral separation in the inside lane line direction；7th computation subunit, for calculating the distance between first vehicle and second vehicle and the cosine value Product as between first vehicle and second vehicle relative to the second longitudinal direction distance in the inside lane line direction.
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