CN107462742A - Speed measurement method, measurement apparatus, measuring system and vehicle - Google Patents
Speed measurement method, measurement apparatus, measuring system and vehicle Download PDFInfo
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- CN107462742A CN107462742A CN201710790486.7A CN201710790486A CN107462742A CN 107462742 A CN107462742 A CN 107462742A CN 201710790486 A CN201710790486 A CN 201710790486A CN 107462742 A CN107462742 A CN 107462742A
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- 238000005259 measurement Methods 0.000 title abstract description 27
- 238000012360 testing method Methods 0.000 claims abstract description 79
- 238000004364 calculation method Methods 0.000 claims description 18
- 238000000034 method Methods 0.000 abstract description 9
- 238000004891 communication Methods 0.000 description 5
- 238000005286 illumination Methods 0.000 description 3
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- 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
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Abstract
The present invention provides a kind of speed measurement method, measurement apparatus, measuring system and vehicle, wherein, method includes：The two width ground images that image acquisition device continuous acquisition arrives are obtained, include identical ground texture in two width ground images；Described image collector is fixedly installed on object under test；The translational speed of object under test is calculated according to height of position, ground image size and described image collector of the ground texture in two width ground images apart from ground.Speed measurement method, measurement apparatus, measuring system and vehicle provided by the invention can reduce tachometric survey cost and improve measuring accuracy.
Description
Technical field
The present invention relates to speed measurement techniques, more particularly to a kind of speed measurement method, measurement apparatus, measuring system and car
.
Background technology
The displacement and speed for measuring vehicle are basic measurement projects more important in transportation industry.For automobile,
The performance available for evaluation automobile, condition of road surface, traffic rules formulation, accident identification, racing car etc. are measured to speed
There is important meaning.
Existing vehicle speed measurement mode includes following several：
First, be arranged on using photo-electric sensing equipment or electromagnetic induction device on wheel, by measure the rotating speed of wheel come
Obtain speed.But the inflated condition of wheel, state of wear and vehicle-mounted state can all influence the rotating speed of wheel, thus it is resulting
Speed accuracy is not high.
Second, speed is measured using global positioning system, but this method can be by the signal quality of global positioning system
Influence, and the delay of data in actual applications be present so that the speed accuracy for measuring to obtain is not high.
Third, using Doppler effect principle, speed is measured using radar.Generally the test equipments such as radar are pacified
Pass through the top of road mounted in road both sides or vehicle to be measured, the measuring method is easily travelled by radar transmitting wave and vehicle
The influence of variable angle between direction, cause accuracy not high.
Fourth, filter the measuring method such as velocimetry using laser Doppler velocimetry (LDV), grating, although measurement accuracy compared with
Height, but the precision optics price used is costly so that vehicle speed measurement cost is higher.
Above-mentioned four kinds conventional vehicle speed measurement modes, in the presence of some defects, therefore, it is badly in need of a kind of with compared with high measurement essence
Degree and the relatively low vehicle speed measurement mode of measurement cost.
The content of the invention
The present invention provides a kind of speed measurement method, measurement apparatus, measuring system and vehicle, for reduce tachometric survey into
Sheet and raising measuring accuracy.
First aspect present invention provides a kind of speed measurement method, including：
The two width ground images that image acquisition device continuous acquisition arrives are obtained, include identical ground in two width ground images
Texture；Described image collector is fixedly installed on object under test；
According to position, ground image size and described image collector of the ground texture in two width ground images away from
The translational speed of object under test is calculated in height from the ground.
Speed measurement method as described above, according to position of the ground texture in two width ground images, surface map
As the height of size and described image collector apart from ground be calculated object under test movement speed, including：
According to position, ground image size and described image collector of the ground texture in two width ground images away from
The actual range of the object under test movement is calculated in height from the ground；
According to being calculated the time difference that actual range and two width ground images that the object under test moves are shot
The translational speed of object under test.
Speed measurement method as described above, according to position of the ground texture in two width ground images, surface map
As the actual range that the object under test moves is calculated in the height of size and described image collector apart from ground, including：
Figure is calculated apart from the height on ground and the shooting angle of described image collector according to described image collector
As the size for the actual ground that collector viewfinder can absorb；
The ground texture is calculated on two width ground according to position of the ground texture in two width ground images
The length moved in image；
The length that is moved according to the size of actual ground, the ground texture in two width ground images and described
The Size calculation of face image obtains the actual range of object under test movement.
Speed measurement method as described above, according to the size of actual ground, the ground texture in two width ground images
The Size calculation of the length of middle movement and the ground image obtains the actual range of object under test movement, specific using such as
Lower formula：
Wherein, X is actual range of the object under test in ground moving, and W is the length of actual ground, and w is surface map
As length, Δ x is the length that the ground texture moves in two width ground images.
Speed measurement method as described above, the actual range moved according to the object under test and two width ground images are clapped
The translational speed of the object under test is calculated in the time difference taken the photograph, specifically using equation below：
Wherein, V is the translational speed of the object under test, and X is the actual range of object under test movement, and Δ t is two
The time difference of width ground image shooting.
Second aspect of the present invention provides a kind of velocity measuring device, including：
Ground image acquisition module, the two width ground images arrived for obtaining image acquisition device continuous acquisition, two width ground
Include identical ground texture in image；Described image collector is fixedly installed on object under test；
Speed calculation module, for according to position of the ground texture in two width ground images, ground image size
And the translational speed of object under test is calculated in height of the described image collector apart from ground.
Velocity measuring device as described above, the speed calculation module, including：
Actual distance calculation unit, for according to position of the ground texture in two width ground images, ground image
The actual range of the object under test movement is calculated in the height of size and described image collector apart from ground；
Speed computing unit, for the actual range moved according to the object under test and two width ground images shoot when
Between difference the translational speed of the object under test is calculated.
Third aspect present invention provides a kind of velocity measuring system, including：Image acquisition device, image processor and illumination are set
Standby, described image collector and lighting apparatus are fixedly installed on object under test, the viewfinder direction of described image collector
Ground；Described image processor is connected with image acquisition device, and described image processor includes velocity measuring device as described above.
Velocity measuring system as described above, described image collector are shot perpendicular to ground.
Fourth aspect present invention provides a kind of automobile, including：Velocity measuring system as described above.
Technical scheme provided by the invention, the two width ground images arrived by obtaining image acquisition device continuous acquisition, two width
Identical ground texture in ground image be present, according to position of the ground texture in two width ground images, ground image size
And the translational speed of object under test is calculated in height of the image acquisition device apart from ground.Technical scheme provided by the invention, no
Can be by such as wheel condition, vehicle-mounted state be influenceed in the prior art, also will not be by external communication signals, environment temperature, survey
The influence of the factors such as measuring angle, and then measurement accuracy can be improved.And compared to expensive precision optics, this reality
The cost for applying the such scheme that example is provided is relatively low, it is easy to accomplish.
Brief description of the drawings
Fig. 1 is the flow chart for the speed measurement method that the embodiment of the present invention one provides；
Fig. 2 is the stream for the actual range that object under test movement is calculated in the speed measurement method that the embodiment of the present invention two provides
Cheng Tu；
Fig. 3 is the structural representation for the velocity measuring device that the embodiment of the present invention three provides；
Fig. 4 is the structural representation for the velocity measuring system that the embodiment of the present invention four provides.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Embodiment one
The present embodiment provides a kind of speed measurement method, this method can by the image processor in velocity measuring system Lai
Perform.Fig. 1 is the flow chart for the speed measurement method that the embodiment of the present invention one provides, as shown in figure 1, the speed that the present embodiment provides
Degree measuring method includes the following steps：
Step 101, image processor obtain the two width ground images that image acquisition device continuous acquisition arrives, two width ground images
In include identical ground texture.
Image acquisition device is fixedly installed on object under test, and the camera lens of image acquisition device is towards ground, with to be measured
Object shoots ground image during moving.In the present embodiment, using vehicle as object under test exemplified by, to speed measurement method
It is described in detail.Except of course that outside vehicle, people or other moveable objects can serve as object under test,
The translational speed of object under test is measured in the method provided using the present embodiment.
Image processor obtains the ground image collected from image acquisition device, and extracts what wherein continuous acquisition arrived
Two width ground images.
Image acquisition device can use high speed camera commonly used in the prior art, and its shooting speed is hundreds of frame per second to several
Thousand frames.Therefore, some parts on ground can appear in simultaneously by image acquisition device continuous acquisition to two images in.Example
Such as：It is different according to ground textural characteristics, or particle object on ground be present, then it is different gray scales to be presented in ground image
Value, then to ground image carry out analysis of texture, it may be determined that go out at the same be present in continuous acquisition to two images in
Ground texture.Position of the ground texture in continuous two width ground image is different, and ground texture moves in ground image
Speed it is identical with the speed that object under test moves.
The mode of texture analysis is carried out to ground image can use mode commonly used in the prior art, and the present embodiment does not limit
It is fixed.
Position, ground image size and the figure of step 102, image processor according to ground texture in two width ground images
As the translational speed of object under test is calculated in height of the collector apart from ground.
The speed that ground texture moves in ground image is identical with the translational speed of object under test, then according to ground image
The translational speed of object under test can be both calculated in dimension scale relation between corresponding actual ground.
The present embodiment provides a kind of specific calculation：By position of the ground texture in two width ground images,
Face picture size can obtain the distance that ground texture moves in two width ground images.
Because the speed that ground texture moves in ground image is identical with the translational speed of object under test, then according to collection
Ratio between the ground image size and the size of corresponding actual ground that arrive, and then by ground texture in two width surface maps
The distance that object under test moves on actual ground is calculated in the distance moved as in.
Further according to the time difference of continuous two width ground image collection, the speed that object under test moves can be calculated.
Different according to height of the image acquisition device apart from ground, the ground actual size in its view-finder coverage is not
With.Image acquisition device is fixed on object under test (such as vehicle) so that height of the image acquisition device apart from ground is fixed,
Then the ground actual size in view-finder coverage is fixed.
The technical scheme that the present embodiment provides, the two width ground images arrived by obtaining image acquisition device continuous acquisition, two
Identical ground texture in width ground image be present, according to position of the ground texture in two width ground images, ground image chi
The translational speed of object under test is calculated in height of the very little and image acquisition device apart from ground.The technical side that the present embodiment provides
Case, it will not be influenceed by wheel condition, vehicle-mounted state, also will not be by external communication signals, environment temperature, measurement angle etc.
The influence of factor, and then measurement accuracy can be improved.And compared to expensive precision optics, the present embodiment is carried
The cost of the such scheme of confession is relatively low, it is easy to accomplish.
Embodiment two
The present embodiment is on the basis of above-described embodiment, and speed measurement method is further optimized.
Fig. 2 is the stream for the actual range that object under test movement is calculated in the speed measurement method that the embodiment of the present invention two provides
Cheng Tu.As shown in Fig. 2 in above-described embodiment, according to position of the ground texture in two width ground images, ground image size and
Actual range of the object under test in ground moving is calculated in height of the image acquisition device apart from ground, can specifically use such as lower section
Formula is realized：
Step 201, image processor are according to image acquisition device apart from the height on ground and the shooting angle of image acquisition device
The size for the actual ground that image acquisition device viewfinder can absorb is calculated.
Height of the image acquisition device apart from ground is just secured after image acquisition device installs, and the height specifically may be used
Drawn, such as can be measured by laser ranging instrument by operating personnel's measurement, then be input and stored in image processor.
Image processor can combine the height of the shooting angle and image acquisition device of image acquisition device apart from ground and calculate
The size for the actual ground that can be absorbed to the viewfinder of image acquisition device.
Or after image acquisition device installs, its height and shooting angle apart from ground just secures, because
This, the size of acquired actual ground can also be after image acquisition device installs, by manually shooting in step 201
Ground image and correspondingly measurement obtain the size of actual ground, then are previously provided to image processor.
Ground texture is calculated according to position of the ground texture in two width ground images in step 202, image processor
The length moved in two width ground images.
Such as：Coordinate system can be established in two width ground images, the origin of coordinates is identical, calculates ground in two images respectively
The coordinate of texture.Then, calculate the difference in two images between ground texture coordinate, you can obtain ground texture in two width
The length moved in the image of face.
The length that step 203, image processor move according to the size of actual ground, ground texture in two width ground images
Degree and the Size calculation of ground image obtain actual range of the object under test in ground moving.
The ground texture that size, the step 202 for the actual ground being calculated according to above-mentioned steps 201 are calculated is two
The length and the Size calculation of ground image moved in width ground image obtain object under test ground moving it is actual away from
From.
Specifically, establishing identical coordinate system in two width ground images respectively, ground texture is in two width ground images
Coordinate be respectively (x1, y1) and (x2, y2).
First aspect, it is assumed that object under test, which only moves horizontally, not to be rotated (i.e.：Y1 is equal with y2) because measurement interval
It is very short, even if there is rotation, rotational angle also very little, it can be ignored, so this hypothesis is to set up.X directions are vehicles
The direction of advance.Can equation below calculate actual range of the object under test in ground moving：
Wherein, X is physical length of the object under test in ground moving, and W is the length of actual ground, and w grows for ground image
Degree, Δ x are the length that ground texture moves in two width ground images.
It is calculated further according to object under test in the physical length X of ground moving and two width the ground images time difference shot
The speed of object under test movement, specifically using equation below：
Wherein, V is the speed of object under test movement, and Δ t is the time difference of two width ground images shooting.
It is similar with such scheme, the displacement and speed in y directions (transverse direction) can be measured, here is omitted.
Calculate the business between the time difference of actual range and the shooting of two width ground images, you can obtain object under test movement
Speed.
It is understood that the distance that ground texture moves in two width ground images is：Mobile pixel quantity and list
The product of position length in pixels.
Summary scheme, set the areas of two width ground images as：W*d, highly consolidate BR in image acquisition device
To ground real area be：W*D.Ground image is continuously shot at t1 the and t2 moment respectively, ground texture is in two width surface maps
As in coordinate be respectively：(x1, y1) and (x2, y2), the then distance that ground texture elapsed time Δ t=t2-t1 is moved are
(x2-x1, y2-y1).Assuming that the actual distance moved of object under test is (X, Y), then can be calculated according to following two formula
To above-mentioned component X and component Y：
Pythagorean theorem calculating is carried out according to above-mentioned component X and component Y, you can the actual distance moved of object under test is obtained,
I.e.：The actual distance moved of vehicle.
Embodiment three
Fig. 3 is the structural representation for the velocity measuring device that the embodiment of the present invention three provides.As shown in figure 3, the present embodiment
A kind of velocity measuring device is provided, including：Ground image acquisition module 31 and speed calculation module 32.
Wherein, ground image acquisition module 31 is used to obtain the two width ground images that image acquisition device continuous acquisition arrives, and two
Include identical ground texture in width ground image；Image acquisition device is fixedly installed on object under test.Speed calculation module
32 are used for the height apart from ground according to position, ground image size and image acquisition device of the ground texture in two width ground images
The translational speed of object under test is calculated in degree.
The technical scheme that the present embodiment provides, the two width ground images arrived by obtaining image acquisition device continuous acquisition, two
Identical ground texture in width ground image be present, according to position of the ground texture in two width ground images, ground image chi
The translational speed of object under test is calculated in height of the very little and image acquisition device apart from ground.The technical side that the present embodiment provides
Case, it will not be influenceed by wheel condition, vehicle-mounted state, also will not be by external communication signals, environment temperature, measurement angle etc.
The influence of factor, and then measurement accuracy can be improved.And compared to expensive precision optics, the present embodiment is carried
The cost of the such scheme of confession is relatively low, it is easy to accomplish.
Further, above-mentioned speed calculation module 32 specifically includes：Actual distance calculation unit and speed computing unit.Its
In, actual distance calculation unit is used for position, ground image size and image according to ground texture in two width ground images
The actual range of object under test movement is calculated in height of the collector apart from ground.Speed computing unit is used for according to determinand
The translational speed of object under test is calculated in the actual range of body movement and the time difference of two width ground images shooting.
Example IV
Fig. 4 is the structural representation for the velocity measuring system that the embodiment of the present invention four provides.As shown in figure 4, the present embodiment
A kind of velocity measuring system is provided, including：Image acquisition device 41, image processor (not shown) and lighting apparatus 43, figure
As collector 41 and lighting apparatus 43 be fixedly installed on object under test (such as：Vehicle 44) on, image acquisition device 41 is found a view
Window is towards ground 45.Image processor is connected with image acquisition device 41, and image processor includes the speed that above-described embodiment is provided
Spend measurement apparatus.
The function of above-mentioned lighting apparatus 43 is to send strong light, to ensure to collect clearly image.Lighting apparatus 43 can be with
For continuous illumination, can also just be lighted when the shutter of image acquisition device 41 is opened.The specific illumination mode sheet of lighting apparatus 43
Embodiment does not limit.
Above-mentioned image acquisition device 41 is specifically as follows high speed camera, and its IMAQ speed, hundreds of frame per second is extremely
Thousands of frames.Image acquisition device 41 can be shot perpendicular to ground 45, can also be shot with ground 45 in set angle.IMAQ
Device 41 may be provided at head, afterbody, the side of vehicle.
Lighting apparatus 43 can use the higher light source of brightness in the prior art, such as：Fluorescent lamp, light emitting diode etc..This
In embodiment, lighting apparatus 43 can be made of light emitting diode, specifically, lighting apparatus 43 includes：Light emitting diode drives
Device and at least two light emitting diodes being connected with LED drive.
It is corresponding, the position of lighting apparatus 43 can be set according to the position of image acquisition device 41, lighting apparatus 43 can be with
Irradiated perpendicular to ground 45, can also be in set angle with ground 45.
As for image acquisition device 41 and the mounting means of lighting apparatus 43, it can use and the mode such as weld, be spirally connected, riveting.Example
Such as：Image acquisition device 41 can be fixed on object under test using mounting bracket, bolt hole is opened up in mounting bracket, passes through bolt
Carry out still image collector 41.
The mounting means of lighting apparatus 43 can refer to image acquisition device 41 to set.
The technical scheme that the present embodiment provides, the two width ground images arrived by obtaining image acquisition device continuous acquisition, two
Identical ground texture in width ground image be present, according to position of the ground texture in two width ground images, ground image chi
The translational speed of object under test is calculated in height of the very little and image acquisition device apart from ground.The technical side that the present embodiment provides
Case, it will not be influenceed by wheel condition, vehicle-mounted state, also will not be by external communication signals, environment temperature, measurement angle etc.
The influence of factor, and then measurement accuracy can be improved.And compared to expensive precision optics, the present embodiment is carried
The cost of the such scheme of confession is relatively low, it is easy to accomplish.
Embodiment five
The present embodiment also provides a kind of automobile, including：The velocity measuring system provided such as above-mentioned embodiment.By using
Above-mentioned measuring system of picture, the two width ground images that image acquisition device continuous acquisition arrives are obtained, phase be present in two width ground images
Same ground texture, according to position, ground image size and image acquisition device distance of the ground texture in two width ground images
The translational speed of object under test is calculated in the height on ground.The present embodiment provide technical scheme, will not by wheel condition,
The influence of vehicle-mounted state, it will not also be influenceed by factors such as external communication signals, environment temperature, measurement angles, and then can
Improve measurement accuracy.And compared to expensive precision optics, the cost for the such scheme that the present embodiment is provided
It is relatively low, it is easy to accomplish.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above-mentioned each method embodiment can lead to
The related hardware of programmed instruction is crossed to complete.Foregoing program can be stored in a computer read/write memory medium.The journey
Sequence upon execution, execution the step of including above-mentioned each method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or
Person's CD etc. is various can be with the medium of store program codes.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
The instruction such as " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer "
Orientation or position relationship are based on orientation shown in the drawings or position relationship, are for only for ease of the description present invention and simplification is retouched
State, rather than instruction or imply signified device or element there must be specific orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect or can communicate with one another；Can be joined directly together, can also be indirectly connected by intermediary, can
To be connection or the interaction relationship of two elements of two element internals.For the ordinary skill in the art,
The concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
- A kind of 1. speed measurement method, it is characterised in that including：The two width ground images that image acquisition device continuous acquisition arrives are obtained, include identical ground line in two width ground images Reason；Described image collector is fixedly installed on object under test；According to position, ground image size and described image collector distance ground of the ground texture in two width ground images The translational speed of object under test is calculated in the height in face.
- 2. speed measurement method according to claim 1, it is characterised in that according to the ground texture in two width surface maps The speed of object under test movement is calculated in the height of position, ground image size and described image collector apart from ground as in Degree, including：According to position, ground image size and described image collector distance ground of the ground texture in two width ground images The actual range of the object under test movement is calculated in the height in face；The time difference that the actual range moved according to the object under test and two width ground images are shot is calculated described to be measured The translational speed of object.
- 3. speed measurement method according to claim 2, it is characterised in that according to the ground texture in two width surface maps The object under test movement is calculated in the height of position, ground image size and described image collector apart from ground as in Actual range, including：Image is calculated and adopts apart from the height on ground and the shooting angle of described image collector according to described image collector The size for the actual ground that storage viewfinder can absorb；The ground texture is calculated in two width ground images according to position of the ground texture in two width ground images The length of middle movement；The length moved according to the size of actual ground, the ground texture in two width ground images and the surface map The Size calculation of picture obtains the actual range of object under test movement.
- 4. speed measurement method according to claim 3, it is characterised in that according to the size of actual ground, the ground The length and the Size calculation of the ground image that texture moves in two width ground images obtain the reality of object under test movement Border distance, specifically using equation below：<mrow> <mi>X</mi> <mo>=</mo> <mfrac> <mi>W</mi> <mi>w</mi> </mfrac> <mi>&Delta;</mi> <mi>x</mi> <mo>,</mo> </mrow>Wherein, X is actual range of the object under test in ground moving, and W is the length of actual ground, and w grows for ground image Degree, Δ x are the length that the ground texture moves in two width ground images.
- 5. speed measurement method according to claim 4, it is characterised in that according to the object under test move it is actual away from From the translational speed that the object under test is calculated in the time difference shot with two width ground images, specifically using equation below：<mrow> <mi>V</mi> <mo>=</mo> <mfrac> <mi>X</mi> <mrow> <mi>&Delta;</mi> <mi>t</mi> </mrow> </mfrac> <mo>,</mo> </mrow>Wherein, V is the translational speed of the object under test, and X is the actual range of object under test movement, and Δ t is for two width The time difference of face image taking.
- A kind of 6. velocity measuring device, it is characterised in that including：Ground image acquisition module, the two width ground images arrived for obtaining image acquisition device continuous acquisition, two width ground images In include identical ground texture；Described image collector is fixedly installed on object under test；Speed calculation module, for position, ground image size and the institute according to the ground texture in two width ground images State the translational speed that object under test is calculated in height of the image acquisition device apart from ground.
- 7. velocity measuring device according to claim 6, it is characterised in that the speed calculation module, including：Actual distance calculation unit, for according to position of the ground texture in two width ground images, ground image size And the actual range of the object under test movement is calculated in height of the described image collector apart from ground；Speed computing unit, the time difference shot for the actual range moved according to the object under test and two width ground images The translational speed of the object under test is calculated.
- A kind of 8. velocity measuring system, it is characterised in that including：Image acquisition device, image processor and lighting apparatus, the figure As collector and lighting apparatus are fixedly installed on object under test, the viewfinder of described image collector is towards ground；It is described Image processor is connected with image acquisition device, and described image processor includes tachometric survey dress as claimed in claims 6 or 7 Put.
- 9. velocity measuring system according to claim 8, it is characterised in that described image collector is clapped perpendicular to ground Take the photograph.
- A kind of 10. automobile, it is characterised in that including：Velocity measuring system as claimed in claim 8 or 9.
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| CN201710790486.7A CN107462742A (en) | 2017-09-05 | 2017-09-05 | Speed measurement method, measurement apparatus, measuring system and vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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