CN108052908A - Track keeping method - Google Patents
Track keeping method Download PDFInfo
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- CN108052908A CN108052908A CN201711343500.5A CN201711343500A CN108052908A CN 108052908 A CN108052908 A CN 108052908A CN 201711343500 A CN201711343500 A CN 201711343500A CN 108052908 A CN108052908 A CN 108052908A
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
Abstract
The invention discloses a kind of track keeping methods of the present invention, comprise the following steps：The installation of the first step, camera：Camera is provided at the upper middle position of front windshield glass of car, so as to the wide end point for monitoring lane line of clear visual field, end point, that is, lane line is in the intersection point in a road distant place；The calibration of second step, image：The acquisition of image and the car body coordinate of calibration point and the acquisition of pixel coordinate；Calibrating parameters obtain；The acquisition of disappearance point coordinates；3rd step, signal output：4th step, steering wheel angle amendment：When steering motor receives the signal of camera output, the steering motor action carries out the amendment of steering wheel angle, and vehicle is revert among left and right lane line.The invention has the advantages that constantly being calculated by end point into row distance, and judge with the comparison of target range, then export corresponding signal to realize vehicle heading modified function automatically.
Description
Technical field
The present invention relates to automobile active safety technical field, more particularly, to a kind of track keeping method.
Background technology
With the raising that people require automobile active safety, lane departure warning device is more and more applied common
It on car, is reminded using lane departure warning device, auxiliary driver corrects vehicle heading or automatic vehicle of correcting travels
Direction has become the important method for reducing traffic accident, particularly with the drop of the traffic accident of the vehicle of running on expressway
It is low play the role of it is very big.
The content of the invention
Present invention aims at provide it is a kind of can interpolate that vehicle whether deviate and carry out travel direction adjustment track guarantor
Hold method.
To achieve the above object, the present invention can take following technical proposals：
Track keeping method of the present invention, comprises the following steps：
The installation of the first step, camera：
S1.1：Camera is provided at the upper middle position of front windshield glass of car, so as to the wide monitoring of clear visual field
To the end point of lane line, end point, that is, lane line is in the intersection point in a road distant place；
The calibration of second step, image：
S2.1：The acquisition of image：The acquisition of picture, it is desirable that the Calibration Field of acquisition using camera progress Calibration Field
Lane line is clear and legible in ground picture；By continuously changing the pitch angle of camera, the calibration place under different pitch angles is gathered
Picture is simultaneously numbered, and number is respectively：Scene 1.1, scene 1.2, scene 1.3, scene 1.4, scene 1.5, scene 1.6, field
Scape 1.7 and scene 1.8；
S2.2：The car body coordinate of calibration point and the acquisition of pixel coordinate（Calibration point is for demarcating the point of disappearance point coordinates）：
If the intersection point for drawing vertical line and ground from camera lens is the coordinate origin of bodywork reference frame, headstock front horizontal direction is
Positive direction of the y-axis, horizontal vertical are x-axis in the y-axis, and the right is positive direction, and overall height direction is z-axis, is upwards positive direction, from
And form bodywork reference frame；With opening the Calibration Field respectively in drawing software picture, each mark is respectively moved to by cursor
Determine the position of each calibration point in the picture of place, each picture of the calibration point in two-dimensional coordinate system is read in drawing software
Plain coordinate（x,y）And it is recorded;The pixel coordinate for defining i-th of calibration point is（xi,yi）, unit pixel is corresponding
Bodywork reference frame（That is point coordinate under in kind state of the Calibration Field ground in picture）Car body coordinate be denoted as（Xi,Yi）, unit
For m；
S2.3：Calibrating parameters obtain：If arbitrary point in current bodywork reference frame（X,Y,Z）Seat on two dimensional image coordinate system
Mark（x,y）If the arbitrary point（X,Y,Z）All on x/y plane, i.e. Z is constant, then arbitrary point（X,Y,Z）And pixel coordinate
（x,y）Coordinate meet following formula：
Formula（1）；
Formula（2）；
In formula,For the unknowm coefficient required by required 8；By formula（1）、
Formula（2）It understands, if the space point coordinates of known 4 or more calibration points and its on the image the image point coordinates of corresponding points, uses
8 unknowm coefficients of Non-linear least-square curve fitting, so that it is determined that the space point coordinates and described image point coordinates are corresponded to and closed
System；Coordinate based on each calibration point in bodywork reference frame and image coordinate system uses least square method using Matlab softwares
Fit formula（1）And formula（2）In 8 unknown parametersValue；
S2.4：The acquisition of disappearance point coordinates：Choose two left and right symmetrical lane lines, and the pixel that will be obtained in S2.2
Coordinate carries out linear fit, obtains the left and right lane line（The traveling auxiliary line of vehicle i.e. on highway）Equation formulations, respectively
For：
Formula（3）；
Formula（4）；
In formulaFor fitting parameter；According to the equation formulations of left-lane line（3）It is public with the equation of right-lane line
Formula（4）The intersecting point coordinate of two straight lines is obtained, as disappear point coordinates；
3rd step, signal output：
S3.1：After calibration is completed, corrected range limit value is set, that is, is demarcated between disappearance point coordinates and actual disappearance point coordinates
Distance L（It is a standard value to demarcate disappearance point coordinates, and actual disappearance point coordinates is to calculate value in vehicle actual travel）；
S3.2：When demarcating distance >=L of disappearance point coordinates and actual disappearance point coordinates, camera output pulse or voltage letter
Number；
4th step, steering wheel angle amendment：
S4.1：When steering motor receives the pulse or the voltage signal of camera output, the steering motor action carries out
The amendment of steering wheel angle；
S4.2：When being adapted to calibration the distance between disappearance point coordinates and actual disappearance point coordinates ＜ L, camera stop signal
Output, angle modification stop, and steering wheel self-return, vehicle is revert among left and right lane line.
The invention has the advantages that constantly being calculated by end point into row distance, and judge with the comparison of target range,
Corresponding signal is exported again to realize vehicle heading modified function automatically.Ranging uses the ordinate based on end point
Coordinate transform is carried out, and data computation model is simple, signal processing and transmission are simple, improve the modified reaction of steering wheel angle
Speed；Ranging speed is fast, precision is high.First, the image of road ahead is shot by camera, and identifies left and right in the picture
The lane line of both sides；Then, the coordinate system of image and the correspondence of lane line are obtained based on vehicle-mounted camera calibration technique, from
And the target disappearance point coordinates in image is calculated with demarcating the distance of disappearance point coordinates；Finally, this distance and setting are compared
Corrected range limit value, and then judge whether to need the steering mechanism for outputing signal to steering wheel, and by adjusting the angle of steering wheel
Degree corrects the direction of vehicle traveling, realizes the function that track is kept.The present invention will liberate the both hands of user completely, there is lane line
Road on when driving vehicle can carry out automatically traveling angle amendment, frequently need not artificially adjust vehicle traveling side
To.
Description of the drawings
Fig. 1 is 8 scene graph in present invention calibration place.
Fig. 2 is the enlarged drawing of Fig. 1 Scenes 1.1.
Fig. 3 is the calibration calibrated parameter corresponding diagram in place in Fig. 1.
Fig. 4 is the flow chart of the present invention.
Specific embodiment
As shown in Figure 1,2,3, 4, track keeping method of the present invention, comprises the following steps：
It is laid with the first step, the installation of camera and Calibration Field：
S1.1：Camera is installed at the upper middle position of front windshield glass of car, so as to the wide monitoring of clear visual field
To the end point of lane line, end point, that is, lane line is in the intersection point in a road distant place；Horizontal calibration place is selected, by each calibration object
A is placed according to Fig. 2.
The calibration of second step, image：
S2.1：The acquisition of image：The acquisition of picture, it is desirable that the Calibration Field of acquisition using camera progress Calibration Field
Lane line B is clear and legible in ground picture；By continuously changing the pitch angle of camera, the calibration place under different pitch angles is gathered
Picture is simultaneously numbered, and number is respectively：Scene 1.1, scene 1.2, scene 1.3, scene 1.4, scene 1.5, scene 1.6, field
Scape 1.7 and scene 1.8；
S2.2：The car body coordinate of calibration point C and the acquisition of pixel coordinate（Calibration point is for demarcating the point of disappearance point coordinates）：
If the intersection point for drawing vertical line and ground from camera lens is the coordinate origin of bodywork reference frame, headstock front horizontal direction is
Positive direction of the y-axis, horizontal vertical are x-axis in the y-axis, and the right is positive direction, and overall height direction is z-axis, is upwards positive direction, from
And form bodywork reference frame；With opening the Calibration Field respectively in drawing software picture, each mark is respectively moved to by cursor
Determine the position of each calibration point C in the picture of place, each calibration point C is read in drawing software in two-dimensional coordinate system
Pixel coordinate（x,y）And it is recorded;The pixel coordinate for defining i-th of calibration point is（xi,yi）, unit pixel is right with it
The bodywork reference frame answered（That is calibration point C coordinate under in kind state of the Calibration Field ground in picture）Car body coordinate be denoted as（Xi,
Yi）, unit m, specific coordinate values see the table below 1（Note：It is referred to interposition, the second from left is intermediate left side secondary series, during the first from left is
Between left side first row, the right side one be right middle first row, the right side two be right middle secondary series；Demarcate object A coordinates from top to bottom according to
It is secondary to be included in table）；
Table 1：
S2.3：Calibrating parameters obtain：If arbitrary point in current bodywork reference frame（X,Y,Z）Seat on two dimensional image coordinate system
Mark（x,y）If the arbitrary point（X,Y,Z）All on x/y plane, i.e. Z is constant, then arbitrary point（X,Y,Z）And pixel coordinate
（x,y）Coordinate meet following formula：
Formula（1）；
Formula（2）；
In formula,For the unknowm coefficient required by required 8；By formula（1）、
Formula（2）It understands, if the space point coordinates of known 4 or more calibration point B and its on the image the image point coordinates of corresponding points, uses
8 unknowm coefficients of Non-linear least-square curve fitting, so that it is determined that the space point coordinates and described image point coordinates are corresponded to and closed
System；Coordinate based on each calibration point B in bodywork reference frame and image coordinate system uses least square method using Matlab softwares
Fit formula（1）And formula（2）In 8 unknown parametersValue, it is specific to intend
Add up to what is calculatedNumerical value see the table below 2；
S2.4：The acquisition of disappearance point coordinates：Choose two left and right symmetrical lane lines, and the pixel that will be obtained in S2.2
Coordinate carries out linear fit, obtains left and right lane line（The traveling auxiliary line of vehicle i.e. on highway）Equation formulations, be respectively：
Formula（3）；
Formula（4）；
In formulaFor fitting parameter；According to the equation formulations of left-lane line（3）It is public with the equation of right-lane line
Formula（4）The intersecting point coordinate of two straight lines is obtained, as disappear point coordinates；
3rd step, signal output：
S3.1：After calibration is completed, corrected range limit value is set, that is, is demarcated between disappearance point coordinates and actual disappearance point coordinates
Distance L（It is a standard value to demarcate disappearance point coordinates, and actual disappearance point coordinates is to calculate value in vehicle actual travel）；
S3.2：When demarcating distance >=L of disappearance point coordinates and actual disappearance point coordinates, camera output pulse or voltage letter
Number；
4th step, steering wheel angle amendment：
S4.1：When steering motor receives the pulse or the voltage signal of camera output, the steering motor action carries out
The amendment of steering wheel angle；
S4.2：When being adapted to calibration the distance between disappearance point coordinates and actual disappearance point coordinates ＜ L, camera stop signal
Output, angle modification stop, and steering wheel self-return, vehicle is revert among left and right lane line.
Claims (1)
1. a kind of track keeping method, it is characterised in that：Comprise the following steps：
The installation of the first step, camera：
S1.1：Camera is provided at the upper middle position of front windshield glass of car, so as to the wide monitoring of clear visual field
To the end point of lane line；
The calibration of second step, image：
S2.1：The acquisition of image：The acquisition of picture, it is desirable that the Calibration Field of acquisition using camera progress Calibration Field
Lane line is clear and legible in ground picture；By continuously changing the pitch angle of camera, the calibration place under different pitch angles is gathered
Picture is simultaneously numbered, and number is respectively：Scene 1.1, scene 1.2, scene 1.3, scene 1.4, scene 1.5, scene 1.6, field
Scape 1.7 and scene 1.8；
S2.2：The car body coordinate of calibration point and the acquisition of pixel coordinate：
If the intersection point for drawing vertical line and ground from camera lens is the coordinate origin of bodywork reference frame, headstock front horizontal direction is
Positive direction of the y-axis, horizontal vertical are x-axis in the y-axis, and the right is the positive direction of the x-axis, and overall height direction is z-axis, upwards for just
Direction, so as to form bodywork reference frame；With opening the Calibration Field respectively in drawing software picture, cursor is respectively moved to
Each Calibration Field ground position of each calibration point in picture, reads each calibration point in two-dimensional coordinate system in drawing software
In pixel coordinate（x,y）And it is recorded;The pixel coordinate for defining i-th of calibration point is（xi,yi）, unit pixel, with
The car body coordinate of its corresponding bodywork reference frame is denoted as（Xi,Yi）, unit m；
S2.3：Calibrating parameters obtain：If arbitrary point in current bodywork reference frame（X,Y,Z）Seat on two dimensional image coordinate system
Mark（x,y）If the arbitrary point（X,Y,Z）All on x/y plane, i.e. Z is constant, then arbitrary point（X,Y,Z）And pixel coordinate
（x,y）Coordinate meet following formula：
Formula（1）；
Formula（2）；
In formula,For the unknowm coefficient required by required 8；By formula（1）, it is public
Formula（2）It understands, if the space point coordinates of known 4 or more calibration points and its image point coordinates of corresponding points, use are non-on the image
8 unknowm coefficients of linear least squares fit, so that it is determined that the space point coordinates and described image point coordinates correspondence；
Coordinate based on each calibration point in bodywork reference frame and image coordinate system uses least square fitting using Matlab softwares
Go out formula（1）And formula（2）In 8 unknown parametersValue；
S2.4：The acquisition of disappearance point coordinates：Choose two left and right symmetrical lane lines, and the pixel that will be obtained in S2.2
Coordinate carries out linear fit, obtains the equation formulations of the left and right lane line, is respectively：
Formula（3）；
Formula（4）；
In formulaFor fitting parameter；According to the equation formulations of left-lane line（3）It is public with the equation of right-lane line
Formula（4）The intersecting point coordinate of two straight lines is obtained, as disappear point coordinates；
3rd step, signal output：
S3.1：After calibration is completed, corrected range limit value is set, that is, is demarcated between disappearance point coordinates and actual disappearance point coordinates
Distance L；
S3.2：When demarcating distance >=L of disappearance point coordinates and actual disappearance point coordinates, camera output pulse or voltage letter
Number；
4th step, steering wheel angle amendment：
S4.1：When steering motor receives the pulse or the voltage signal of camera output, the steering motor action carries out
The amendment of steering wheel angle；
S4.2：When being adapted to calibration the distance between disappearance point coordinates and actual disappearance point coordinates ＜ L, camera stop signal
Output, angle modification stop, and steering wheel self-return, vehicle is revert among left and right lane line.
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| CN201711343500.5A CN108052908A (en) | 2017-12-15 | 2017-12-15 | Track keeping method |
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| CN201711343500.5A CN108052908A (en) | 2017-12-15 | 2017-12-15 | Track keeping method |
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| CN109345593A (en) * | 2018-09-04 | 2019-02-15 | 海信集团有限公司 | A kind of detection method and device of video camera posture |
| CN109472843A (en) * | 2018-10-29 | 2019-03-15 | 上海伟世通汽车电子系统有限公司 | A kind of auxiliary line generation method |
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| CN112525147A (en) * | 2020-12-08 | 2021-03-19 | 北京嘀嘀无限科技发展有限公司 | Distance measurement method for automatic driving equipment and related device |
| CN113515973A (en) * | 2020-04-09 | 2021-10-19 | 北京地平线机器人技术研发有限公司 | Data acquisition method, training method, adjustment method and device |
| CN113963060A (en) * | 2021-09-22 | 2022-01-21 | 腾讯科技（深圳）有限公司 | Vehicle information image processing method and device based on artificial intelligence and electronic equipment |
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Cited By (11)
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|---|---|---|---|---|
| CN110570475A (en) * | 2018-06-05 | 2019-12-13 | 上海商汤智能科技有限公司 | vehicle-mounted camera self-calibration method and device and vehicle driving method and device |
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| WO2022078074A1 (en) * | 2020-10-16 | 2022-04-21 | 广州大学 | Method and system for detecting position relation between vehicle and lane line, and storage medium |
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| CN113963060A (en) * | 2021-09-22 | 2022-01-21 | 腾讯科技（深圳）有限公司 | Vehicle information image processing method and device based on artificial intelligence and electronic equipment |
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