CN109541583A - 一种前车距离检测方法及系统 - Google Patents
一种前车距离检测方法及系统 Download PDFInfo
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- CN109541583A CN109541583A CN201811359075.3A CN201811359075A CN109541583A CN 109541583 A CN109541583 A CN 109541583A CN 201811359075 A CN201811359075 A CN 201811359075A CN 109541583 A CN109541583 A CN 109541583A
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- China
- Prior art keywords
- vehicle
- target
- frame
- rgb image
- front truck
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- 238000001514 detection method Methods 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 claims abstract description 33
- 230000000007 visual effect Effects 0.000 claims abstract description 26
- 238000012216 screening Methods 0.000 claims abstract description 16
- 239000000284 extract Substances 0.000 claims abstract description 11
- 238000005096 rolling process Methods 0.000 claims abstract description 11
- 238000001914 filtration Methods 0.000 claims description 42
- 238000007689 inspection Methods 0.000 claims description 10
- 230000002159 abnormal effect Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000005457 optimization Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 9
- 238000004422 calculation algorithm Methods 0.000 description 18
- 238000012549 training Methods 0.000 description 5
- 238000013528 artificial neural network Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000007619 statistical method Methods 0.000 description 3
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- 238000011161 development Methods 0.000 description 1
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- 230000002123 temporal effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
-
- 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
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computer Networks & Wireless Communication (AREA)
- Geometry (AREA)
- Multimedia (AREA)
- Image Analysis (AREA)
- Traffic Control Systems (AREA)
- Image Processing (AREA)
Abstract
Description
Claims (10)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811359075.3A CN109541583B (zh) | 2018-11-15 | 2018-11-15 | 一种前车距离检测方法及系统 |
SG11202010955SA SG11202010955SA (en) | 2018-11-15 | 2019-07-15 | Method and system for detecting distance to front vehicle |
JP2019563448A JP6851505B2 (ja) | 2018-11-15 | 2019-07-15 | 先行車との距離の検出方法及びシステム |
PCT/CN2019/095980 WO2020098297A1 (zh) | 2018-11-15 | 2019-07-15 | 一种前车距离检测方法及系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811359075.3A CN109541583B (zh) | 2018-11-15 | 2018-11-15 | 一种前车距离检测方法及系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109541583A true CN109541583A (zh) | 2019-03-29 |
CN109541583B CN109541583B (zh) | 2020-05-01 |
Family
ID=65847562
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811359075.3A Active CN109541583B (zh) | 2018-11-15 | 2018-11-15 | 一种前车距离检测方法及系统 |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP6851505B2 (zh) |
CN (1) | CN109541583B (zh) |
SG (1) | SG11202010955SA (zh) |
WO (1) | WO2020098297A1 (zh) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110401786A (zh) * | 2019-04-24 | 2019-11-01 | 解晗 | 数字设备开关控制机构 |
CN110794397A (zh) * | 2019-10-18 | 2020-02-14 | 北京全路通信信号研究设计院集团有限公司 | 一种基于相机和雷达的目标检测方法及系统 |
CN111009166A (zh) * | 2019-12-04 | 2020-04-14 | 上海市城市建设设计研究总院(集团)有限公司 | 基于bim和驾驶模拟器的道路三维视距验算方法 |
WO2020098297A1 (zh) * | 2018-11-15 | 2020-05-22 | 众安信息技术服务有限公司 | 一种前车距离检测方法及系统 |
CN111369824A (zh) * | 2020-01-22 | 2020-07-03 | 星汉智能科技股份有限公司 | 一种基于图像识别定位的引导泊车方法及系统 |
CN111746545A (zh) * | 2020-06-29 | 2020-10-09 | 中国联合网络通信集团有限公司 | 车距检测方法及装置,和车距提醒方法及装置 |
CN111931864A (zh) * | 2020-09-17 | 2020-11-13 | 南京甄视智能科技有限公司 | 基于顶点距离与交并比多重优化目标检测器的方法与系统 |
CN112241717A (zh) * | 2020-10-23 | 2021-01-19 | 北京嘀嘀无限科技发展有限公司 | 前车检测方法、前车检测模型的训练获取方法及装置 |
CN112580402A (zh) * | 2019-09-30 | 2021-03-30 | 广州汽车集团股份有限公司 | 一种单目视觉行人测距方法及其系统、车辆、介质 |
CN112949544A (zh) * | 2021-03-17 | 2021-06-11 | 上海大学 | 一种基于3d卷积网络的动作时序检测方法 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7291505B2 (ja) * | 2019-03-19 | 2023-06-15 | 株式会社Subaru | 車外環境検出装置 |
CN113781665A (zh) * | 2020-07-28 | 2021-12-10 | 北京沃东天骏信息技术有限公司 | 一种标注信息的审核方法和装置 |
KR102620325B1 (ko) * | 2020-11-09 | 2024-01-03 | 우이시 (상하이) 오토모티브 테크놀로지스 리미티드 | 교통 흐름 정보의 결정 방법, 장치, 전자 기기 및 저장 매체 |
CN113421298A (zh) * | 2021-06-17 | 2021-09-21 | 深圳市高格通讯技术有限公司 | 车辆测距方法、车辆控制装置、车辆及可读存储介质 |
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CN1975327A (zh) * | 2006-12-19 | 2007-06-06 | 北京中星微电子有限公司 | 一种车距检测方法及装置 |
CN104837007A (zh) * | 2014-02-11 | 2015-08-12 | 阿里巴巴集团控股有限公司 | 一种数字图像质量分级的方法和装置 |
US20160132728A1 (en) * | 2014-11-12 | 2016-05-12 | Nec Laboratories America, Inc. | Near Online Multi-Target Tracking with Aggregated Local Flow Descriptor (ALFD) |
Family Cites Families (11)
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JP4968369B2 (ja) * | 2010-06-25 | 2012-07-04 | アイシン・エィ・ダブリュ株式会社 | 車載装置及び車両認識方法 |
US9406145B2 (en) * | 2014-01-31 | 2016-08-02 | Applied Concepts, Inc. | Mobile radar and visual tracking coordinate transformation |
JP6591188B2 (ja) * | 2015-03-30 | 2019-10-16 | 株式会社Subaru | 車外環境認識装置 |
JP6236039B2 (ja) * | 2015-06-26 | 2017-11-22 | 株式会社Subaru | 車外環境認識装置 |
CN105469052B (zh) * | 2015-11-25 | 2018-10-19 | 东方网力科技股份有限公司 | 一种车辆检测跟踪方法和装置 |
US10145951B2 (en) * | 2016-03-30 | 2018-12-04 | Aptiv Technologies Limited | Object detection using radar and vision defined image detection zone |
JP6427611B2 (ja) * | 2017-02-28 | 2018-11-21 | 株式会社東芝 | 車両画像処理装置、及び、車両画像処理システム |
CN107202983B (zh) * | 2017-05-19 | 2020-11-13 | 深圳佑驾创新科技有限公司 | 基于图像识别和毫米波雷达融合的自动刹车方法和系统 |
CN107463890B (zh) * | 2017-07-20 | 2019-11-29 | 浙江零跑科技有限公司 | 一种基于单目前视相机的前车检测与跟踪方法 |
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CN109541583B (zh) * | 2018-11-15 | 2020-05-01 | 众安信息技术服务有限公司 | 一种前车距离检测方法及系统 |
-
2018
- 2018-11-15 CN CN201811359075.3A patent/CN109541583B/zh active Active
-
2019
- 2019-07-15 JP JP2019563448A patent/JP6851505B2/ja active Active
- 2019-07-15 SG SG11202010955SA patent/SG11202010955SA/en unknown
- 2019-07-15 WO PCT/CN2019/095980 patent/WO2020098297A1/zh active Application Filing
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CN104837007A (zh) * | 2014-02-11 | 2015-08-12 | 阿里巴巴集团控股有限公司 | 一种数字图像质量分级的方法和装置 |
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Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020098297A1 (zh) * | 2018-11-15 | 2020-05-22 | 众安信息技术服务有限公司 | 一种前车距离检测方法及系统 |
CN110401786A (zh) * | 2019-04-24 | 2019-11-01 | 解晗 | 数字设备开关控制机构 |
CN112580402A (zh) * | 2019-09-30 | 2021-03-30 | 广州汽车集团股份有限公司 | 一种单目视觉行人测距方法及其系统、车辆、介质 |
CN110794397A (zh) * | 2019-10-18 | 2020-02-14 | 北京全路通信信号研究设计院集团有限公司 | 一种基于相机和雷达的目标检测方法及系统 |
CN111009166A (zh) * | 2019-12-04 | 2020-04-14 | 上海市城市建设设计研究总院(集团)有限公司 | 基于bim和驾驶模拟器的道路三维视距验算方法 |
CN111369824A (zh) * | 2020-01-22 | 2020-07-03 | 星汉智能科技股份有限公司 | 一种基于图像识别定位的引导泊车方法及系统 |
CN111746545A (zh) * | 2020-06-29 | 2020-10-09 | 中国联合网络通信集团有限公司 | 车距检测方法及装置,和车距提醒方法及装置 |
CN111931864A (zh) * | 2020-09-17 | 2020-11-13 | 南京甄视智能科技有限公司 | 基于顶点距离与交并比多重优化目标检测器的方法与系统 |
CN112241717A (zh) * | 2020-10-23 | 2021-01-19 | 北京嘀嘀无限科技发展有限公司 | 前车检测方法、前车检测模型的训练获取方法及装置 |
CN112949544A (zh) * | 2021-03-17 | 2021-06-11 | 上海大学 | 一种基于3d卷积网络的动作时序检测方法 |
Also Published As
Publication number | Publication date |
---|---|
CN109541583B (zh) | 2020-05-01 |
JP6851505B2 (ja) | 2021-03-31 |
WO2020098297A1 (zh) | 2020-05-22 |
SG11202010955SA (en) | 2020-12-30 |
JP2021508387A (ja) | 2021-03-04 |
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