CN109959920A - Vehicle carries out the method and apparatus for automatically correcting range error based on street lamp - Google Patents
Vehicle carries out the method and apparatus for automatically correcting range error based on street lamp Download PDFInfo
- Publication number
- CN109959920A CN109959920A CN201711424678.2A CN201711424678A CN109959920A CN 109959920 A CN109959920 A CN 109959920A CN 201711424678 A CN201711424678 A CN 201711424678A CN 109959920 A CN109959920 A CN 109959920A
- Authority
- CN
- China
- Prior art keywords
- lamp
- error
- distance
- street lamp
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
Abstract
The invention discloses a kind of vehicles, the method and apparatus for carrying out automatically correcting range error based on street lamp, it the described method comprises the following steps: by camera real-time image acquisition, when the steering wheel angle of vehicle meets predetermined angle range, the area-of-interest in image is obtained, and is judged in area-of-interest with the presence or absence of lamp post；If it is present saving present image, and start timing；When there is lamp post again in area-of-interest, stopping timing to obtain timing time, the distance between two lamp posts D1 is obtained according to speed and timing time；The outer parameter demarcated when being handled the image of preservation with according to vehicle release obtains the distance between two lamp posts D2；Percentage error is obtained according to D2 and D1, and error correction is carried out to D2 according to percentage error.Error correction is carried out thereby, it is possible to automatic in real time, driving is improved and the accurate distance of barrier is judged.
Description
Technical field
The present invention relates to technical field of vehicle, in particular to a kind of side for automatically correct based on street lamp range error
Method, a kind of device and a kind of vehicle with the device for automatically correct based on street lamp range error.
Background technique
Monocular cam ranging has been widely used in current Vehicular video equipment, is chiefly used in automotive front end
Barrier ranging and the ADAS such as self-actuating brake (Advanced Driver Assistant Systems, advanced driving auxiliary
System) function.
In the related technology, monocular cam product is outer by asking to obtain in automotive front end one piece of scaling board of placement before factory
Parameter (i.e. camera mounting height, light shaft offset angle etc.), monocular cam can be according to intrinsic parameter (focal lengths, amount of distortion
Deng) and outer parameter carry out correlation formula and the distance of front obstacle be calculated.
But above-mentioned technical disadvantages are that monocular cam has only demarcated primary outer parameter before factory, but real in automobile
In the operation on border, loading capacity or other reasons cause inconsistent before tire pressure and factory, cause the variation of outer parameter, therefore make
Error at range accuracy becomes larger, to affect the performance of product, reduces user experience.
Summary of the invention
The present invention is directed at least solve one of the technical problem in above-mentioned technology to a certain extent.For this purpose, of the invention
First purpose be to propose a kind of method for carrying out automatically correcting range error based on street lamp, can carry out error automatically in real time
Correction, improves the range accuracy of camera, judges to improve driving the accurate distance of barrier, is barrier anti-collision
It hits equal ADAS function and provides more accurate data judgement, improve travel safety.
Second object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
Third object of the present invention is to propose a kind of device for automatically correct based on street lamp range error.
Fourth object of the present invention is to propose a kind of vehicle.
In order to achieve the above objectives, one kind that first aspect present invention embodiment proposes is based on street lamp and carries out automatically correcting ranging
The method of error, comprising the following steps: pass through camera real-time image acquisition；When the steering wheel angle of vehicle meets predetermined angle
When range, the area-of-interest in described image is obtained, and street lamp detection is carried out to judge currently to scheme to the area-of-interest
It whether there is lamp post in area-of-interest as in；If it is present saving present image, and start timing；When described
When there is lamp post in area-of-interest again, stop timing to obtain timing time, and according to speed and the timing
Time obtains the distance between two lamp posts D1；The image of preservation is handled according to calibration when the vehicle release
Outer parameter obtain the distance between two lamp posts D2；Percentage error is obtained according to the D2 and D1, and according to described
Percentage error carries out error correction to the distance between two lamp posts D2.
The method according to an embodiment of the present invention for being carried out automatically correcting range error based on street lamp is adopted in real time by camera
Collect image, when the steering wheel angle of vehicle meets predetermined angle range, obtains the area-of-interest in image, and to interested
Region carries out street lamp detection to judge with the presence or absence of lamp post in the area-of-interest in present image, if it is present protecting
Present image is deposited, and starts timing, when there is lamp post again in area-of-interest, when stopping timing to obtain timing
Between, and the distance between two lamp posts D1 obtained according to speed and timing time, to the image of preservation handled with
The outer parameter demarcated when according to vehicle release obtains the distance between two lamp posts D2, obtains error percentage according to D2 and D1
Than, and error correction is carried out to the distance between two lamp posts D2 according to percentage error.This method can be real-time as a result,
It is automatic to carry out error correction, the range accuracy of camera is improved, the accurate distance of barrier is judged to improve driving,
More accurate data judgement is provided for the ADAS function such as barrier anticollision, improves travel safety.
In addition, the method for carrying out automatically correcting range error based on street lamp proposed according to that above embodiment of the present invention may be used also
To have following additional technical characteristic:
According to one embodiment of present invention, the percentage error is obtained according to the following formula:
β=(D1-D2)/D2
Wherein, β is the percentage error.
According to one embodiment of present invention, error correction is carried out to D2 according to the percentage error, comprising: judge institute
State whether percentage error is positive value；If it is positive value, the target range after error correction is obtained according to formula D2* (1+ β)；
If it is negative value, the target range after error correction is obtained according to formula D2* (1- β).
According to one embodiment of present invention, it is demarcated when being handled the image of preservation with according to the vehicle release
Outer parameter obtains the distance between two lamp posts D2, comprising: carries out Hough transformation and edge detection to the image of preservation
It handles to obtain the position of two lamp posts；That demarcates when according to the position of first lamp post and the vehicle release is outer
Parameter obtains the longitudinal axis distance L1 of first lamp post, and is gone out according to the position and the vehicle of second lamp post
The outer parameter demarcated when factory obtains the longitudinal axis distance L2 of second lamp post；L2 and L1 are made the difference to obtain two street lamps
The distance between lamppost D2.
According to one embodiment of present invention, the longitudinal axis distance of lamp post is calculated according to the following formula:
Wherein, h is height of the camera to ground, and f is the focal length of the camera, and V is target point as plane
Subpoint, V0 is the center as plane, and α is the optical axis and horizontal angle of the camera.
In order to achieve the above objectives, second aspect of the present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, which realizes when being executed by processor above-mentioned carries out automatically correcting survey based on street lamp
Method away from error.
The non-transitorycomputer readable storage medium of the embodiment of the present invention is carried out certainly by the way that execution is above-mentioned based on street lamp
The method of dynamic correction range error, can carry out error correction, improve the range accuracy of camera, automatically in real time to improve
Driving judges the accurate distance of barrier, provides more accurate data for the ADAS function such as barrier anticollision and sentences
It is disconnected, improve travel safety.
In order to achieve the above objectives, third aspect present invention embodiment proposes that a kind of street lamp that is based on carries out automatically correcting ranging mistake
The device of difference, comprising: street lamp detection module, for expiring by camera real-time image acquisition, and in the steering wheel angle of vehicle
When sufficient predetermined angle range obtain described image in area-of-interest, and to the area-of-interest carry out street lamp detection with
Judge in the area-of-interest in present image with the presence or absence of lamp post；Processing module, it is emerging for the sense in present image
There are saving present image when lamp post in interesting region, and control timer and start timing, when in the area-of-interest again
It is secondary that there are when lamp post, stop timing to obtain timing time, and according to two roads of speed and timing time acquisition
The distance between lamp lamppost D1；The processing module is also used to, and is handled the image of preservation according to the vehicle release
When the outer parameter demarcated obtain the distance between two lamp posts D2, and percentage error is obtained according to the D2 and D1, with
And error correction is carried out to the distance between two lamp posts D2 according to the percentage error.
The device according to an embodiment of the present invention for automatically correct based on street lamp range error, street lamp detection module are used
In the sense by camera real-time image acquisition, and when the steering wheel angle of vehicle meets predetermined angle range in acquisition image
Interest region, and street lamp detection is carried out to judge in the area-of-interest in present image with the presence or absence of road to area-of-interest
Lamp lamppost, processing module, for there are saving present image when lamp post, and being controlled in the area-of-interest in present image
Timer processed starts timing, when there is lamp post again in area-of-interest, stops timing to obtain timing time, and
The distance between two lamp posts D1, processing module is obtained according to speed and timing time to be also used to, to the image of preservation into
The outer parameter demarcated when row processing is with according to vehicle release obtains the distance between two lamp posts D2, and is obtained according to D2 and D1
Percentage error is taken, and error correction is carried out to the distance between two lamp posts D2 according to percentage error.As a result, should
Device can carry out error correction automatically in real time, improve the range accuracy of camera, to improve driving to barrier
Accurate distance judgement provides more accurate data judgement for the ADAS function such as barrier anticollision, improves traffic safety
Property.
In addition, the device for automatically correct range error based on street lamp proposed according to that above embodiment of the present invention may be used also
To have following additional technical characteristic:
According to one embodiment of present invention, the processing module obtains the percentage error according to the following formula:
β=(D1-D2)/D2
Wherein, β is the percentage error.
According to one embodiment of present invention, the processing module carries out error correction to D2 according to the percentage error
When, it is further used for, judges whether the percentage error is positive value；If it is positive value, obtained according to formula D2* (1+ β)
Target range after error correction；If it is negative value, the target range after error correction is obtained according to formula D2* (1- β).
According to one embodiment of present invention, the processing module handles according to the vehicle image of preservation
When the outer parameter demarcated when factory obtains the distance between two lamp posts D2, it is further used for, the image of preservation is carried out
Hough transformation and edge detection process are to obtain the positions of two lamp posts；According to the position of first lamp post and institute
The outer parameter demarcated when stating vehicle release obtains the longitudinal axis distance L1 of first lamp post, and according to second street lamp lamp
The outer parameter demarcated when the position of column and the vehicle release obtains the longitudinal axis distance L2 of second lamp post；By L2 with
L1 makes the difference to obtain the distance between two lamp posts D2.
According to one embodiment of present invention, the processing module calculate according to the following formula the longitudinal axis of lamp post away from
From:
Wherein, h is height of the camera to ground, and f is the focal length of the camera, and V is target point as plane
Subpoint, V0 is the center as plane, and α is the optical axis and horizontal angle of the camera.
In order to achieve the above objectives, fourth aspect present invention embodiment proposes a kind of vehicle, including above-mentioned based on street lamp
Automatically correct the device of range error.
The vehicle of the embodiment of the present invention can by the above-mentioned device for automatically correct based on street lamp range error
It is automatic in real time to carry out error correction, the range accuracy of camera is improved, to improve driving to the accurate distance of barrier
Judgement provides more accurate data judgement for the ADAS function such as barrier anticollision, improves travel safety.
Detailed description of the invention
Fig. 1 is the flow chart of the method according to an embodiment of the present invention for automatically correct based on street lamp range error；
Fig. 2 is the schematic view of the mounting position of camera according to an embodiment of the invention；
Fig. 3 is the gridiron pattern calibrating template schematic diagram of the outer parameter of acquisition camera according to an embodiment of the invention；
Fig. 4 is the range measurement principle schematic diagram of camera according to an embodiment of the invention；
Fig. 5 is the lamp post schematic diagram according to an embodiment of the invention for correction；
Fig. 6 is the box signal of the device according to an embodiment of the present invention for automatically correct based on street lamp range error
Figure；
Fig. 7 is the block diagram of vehicle according to an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Range error is automatically corrected with reference to the accompanying drawing come carrying out based on street lamp of describing to propose according to embodiments of the present invention
Method, based on street lamp automatically correct the device of range error and with the vehicle of the device.
Fig. 1 is the flow chart of the method according to an embodiment of the present invention for automatically correct based on street lamp range error.
As shown in Figure 1, the method for carrying out automatically correcting range error based on street lamp of the embodiment of the present invention may include following
Step:
S1 passes through camera real-time image acquisition.
It in one embodiment of the invention, as shown in Fig. 2, can be by the way that the camera shooting on the inside of front windshield of vehicle be arranged in
Head (such as monocular cam) acquires the image information or video information of current road in real time.
S2 obtains the area-of-interest in image, and to sense when the steering wheel angle of vehicle meets predetermined angle range
Interest region carries out street lamp detection to judge in the area-of-interest in present image with the presence or absence of lamp post.Wherein, it presets
Angular range can be demarcated according to the actual situation, for example, predetermined angle range is ± 2 °.
S3 if it is present saving present image, and starts timing.
S4 stops timing to obtain timing time, and according to vehicle when there is lamp post again in area-of-interest
Speed and timing time obtain the distance between two lamp posts D1.
Specifically, the corner that the steering wheel of vehicle can be obtained in real time by the rotary angle transmitter being arranged in steering wheel becomes
Change, when steering wheel angle is in the range of ± 2 °, the area-of-interest (as shown in Figure 5) in image is obtained, to reduce operation
Amount and unnecessary identification.And specific ROI in current image is detected by algorithm (Region Of Interest feels emerging
Interesting region) whether there is street lamp in region, when there are lamp post, current image is saved, and triggering timing device starts to carry out
Time counting.Control vehicle continues traveling (vehicle can be to drive at a constant speed, or speed change traveling), and at regular intervals
(such as 500ms) record a vehicle speed, when detect in area-of-interest exist when second lamp post, timer stopping
Timing, to obtain timing time.Then the distance between two lamp posts are obtained according to the relationship of speed v and timing time t
D1, and it is effective for saving the numerical value mark, for example, formula can be passed throughIt calculates and obtains D1, wherein k indicates note
Number is recorded, Tk indicates the record time every time.
It should be noted that the position of street lamp may be arranged on the left of the road of vehicle heading, it is also possible to which setting exists
On the right side of road, so area-of-interest is two, time and current vehicle speed in the lamp post that basis detects twice in succession
When carrying out calculating the distance between two lamp posts, the distance of calculating is the distance of continuous two lamp posts in the same side, example
Such as, for street lamp shown in fig. 5 in the left side of vehicle heading, the distance between two lampposts are first lamppost and second
The distance between lamppost.
S5, the outer parameter demarcated when being handled the image of preservation with according to vehicle release obtain two lamp posts it
Between distance D2.
According to one embodiment of present invention, the outer ginseng demarcated when being handled the image of preservation with according to vehicle release
Number obtains the distance between two lamp posts D2, comprising: carries out Hough transformation and edge detection process to the image of preservation
To obtain the position of two lamp posts, the outer parameter demarcated when according to the position of first lamp post and vehicle release is obtained
The longitudinal axis distance L1 of first lamp post, and the outer parameter that according to the position of second lamp post and vehicle release when is demarcated
The longitudinal axis distance L2 for obtaining second lamp post makes the difference L2 and L1 to obtain the distance between two lamp posts D2.
In one embodiment of the invention, the longitudinal axis distance of lamp post can be calculated according to following formula (1):
Wherein, h is the height that camera arrives ground, and f is the focal length of camera, and V is target point in the subpoint as plane,
V0 is the center as plane, and α is the optical axis and horizontal angle of camera.It should be noted that before target point is
The barrier of Fang Suoxu detection.
Specifically, when the distance between two lamp posts being calculated D1 is effective, to what is detected for the first time
The image of lamp post carries out algorithm process, obtains the position of two lamp posts by Hough transformation and edge detection scheduling algorithm
It sets, and according to the longitudinal axis distance L1 of first lamp post of the outer gain of parameter of calibration and the longitudinal axis of second lamp post
The difference of the fore-and-aft distance of distance L2, second lamp post and first lamp post is the distance between two lamp posts
D2, i.e. D2=L2-L1.
Specifically, the calibration of primary outer parameter, scaling method generally be will do it before camera factory are as follows: as shown in figure 3,
Fixed gridiron pattern is placed in front of the car, and tessellated angle point is detected by camera, obtains multiple angular coordinates
Outer parameter (h, α) is obtained to equations afterwards, and outer parameter is stored in the memory of camera, specific acquisition modes can
It is sought using the prior art, I will not elaborate.
The range measurement principle of camera as shown in figure 4, by triangle correspondence theorem it is found that Δ MHV ' ∽ Δ MV " V, so, L/
H=VV "/MV ", as seen from the figure, VV "=V0V0 '-V0N, MV "=MV0 '+V0 ' V ", V0 ' V "=VN.In right angle Δ V0MV0 '
In, V0V0 '=f*cos α, MV0 '=f*sin α, in right angle Δ VONV, V0N=(V-V0) * sin α, VN=(V-V0) * cos
VV "=f*cos α-(V-V0) * sin α, MV "=f*sin α+(V-V0) * cos α can be obtained as a result, can further be imaged by α
Head obtains the distance of target pointObtain above-mentioned formula (1).
During vehicle driving, after camera detection to front obstacle, according to the intrinsic parameter (coke of such as camera
Away from), the position of outer parameter and first lamp post can be calculated the distance of barrier (longitudinal axis of first lamp post away from
From L1), for example, according to formulaIt calculates and obtains L1, wherein the V table in formula (1)
Show the position (target of first lamp post by carrying out Hough transformation and edge detection process acquisition to the image of preservation
Point) as the subpoint in plane.And according to second street lamp of the position acquisition of intrinsic parameter, outer parameter and second lamp post
The longitudinal axis distance L2 of lamppost obtains L2 for example, calculating according to above-mentioned formula (1), wherein the V in formula (1) is indicated by guarantor
The image deposited carries out the position (target point) of second lamp post of Hough transformation and edge detection process acquisition as flat
Subpoint in face.The longitudinal axis distance for two lamp posts that will acquire makes the difference the distance between available two lamp posts
D2, i.e. D2=L2-L1.
S6 obtains percentage error according to D2 and D1, and according to percentage error to the distance between two lamp posts
D2 carries out error correction.
According to one embodiment of present invention, percentage error can be obtained according to following formula (2):
β=(D1-D2)/D2 (2)
Wherein, β is percentage error.
Further, according to one embodiment of present invention, error correction is carried out to D2 according to percentage error, comprising:
Whether error in judgement percentage is positive value, if it is positive value, according to formula D2* (1+ β) obtain the target after error correction away from
From if it is negative value, according to the target range after formula D2* (1- β) acquisition error correction.
Specifically, after obtaining D2 and D1, percentage error β can be obtained, for example, above-mentioned formula β=(D1- can be passed through
D2)/D2, which is calculated, obtains percentage error β, and judges percentage error β, to the distance between two lamp posts
D2 carries out error correction.For example, the target range after correction is L=D2* (1+ β) when percentage error β is positive value；When accidentally
When poor percentage is negative value, the target range after correction is L=D2* (1- β).
Therefore, the embodiment of the present invention based on street lamp carries out the method for automatically correcting range error, and vehicle is adopted after factory
With the method for image procossing, the calibration of range error is carried out automatically by detecting the position of street lamp, without fixed
Scene carries out the detection of barrier, improves driving and judges the accurate distance of barrier, is the ADAS function such as barrier anticollision
More accurate data judgement can be provided, travel safety is improved.
In conclusion the method according to an embodiment of the present invention for carrying out automatically correcting range error based on street lamp, by taking the photograph
As head real-time image acquisition, when the steering wheel angle of vehicle meets predetermined angle range, the area-of-interest in image is obtained,
And street lamp detection is carried out to judge with the presence or absence of lamp post in the area-of-interest in present image to area-of-interest, if
In the presence of, then save present image, and start timing, when there is lamp post again in area-of-interest, stop timing to obtain
Take timing time, and the distance between two lamp posts D1 obtained according to speed and timing time, to the image of preservation into
The outer parameter demarcated when row processing is with according to vehicle release obtains the distance between two lamp posts D2, is obtained according to D2 and D1
Percentage error, and error correction is carried out to the distance between two lamp posts D2 according to percentage error.This method as a result,
It can carry out error correction automatically in real time, improve the range accuracy of camera, to improve driving to the accurate of barrier
Distance Judgment provides more accurate data judgement for the ADAS function such as barrier anticollision, improves travel safety.
In addition, the embodiment of the present invention also proposed a kind of non-transitorycomputer readable storage medium, it is stored thereon with
Computer program, the program realize the above-mentioned method for carrying out automatically correcting range error based on street lamp when being executed by processor.
The non-transitorycomputer readable storage medium of the embodiment of the present invention is carried out certainly by the way that execution is above-mentioned based on street lamp
The method of dynamic correction range error, can carry out error correction, improve the range accuracy of camera, automatically in real time to improve
Driving judges the accurate distance of barrier, provides more accurate data for the ADAS function such as barrier anticollision and sentences
It is disconnected, improve travel safety.
Fig. 6 is the box signal of the device according to an embodiment of the present invention for automatically correct based on street lamp range error
Figure.As shown in fig. 6, the device for automatically correct based on street lamp range error of the embodiment of the present invention can include: street lamp detection
Module 10 and processing module 20.
Wherein, street lamp detection module 10 is used for through camera real-time image acquisition, and full in the steering wheel angle of vehicle
The area-of-interest in image is obtained when sufficient predetermined angle range, and street lamp detection is carried out to judge currently to area-of-interest
It whether there is lamp post in area-of-interest in image.Processing module 20 is in the area-of-interest in present image
It there are saving present image when lamp post, and controls timer and starts timing, when there is street lamp lamp in area-of-interest again
When column, stop timing to obtain timing time, and the distance between two lamp posts are obtained according to speed and timing time
D1.Processing module 20 is also used to, and the outer parameter demarcated when being handled the image of preservation with according to vehicle release obtains two
The distance between lamp post D2, and percentage error is obtained according to D2 and D1, and according to percentage error to two street lamps
The distance between lamppost D2 carries out error correction.
According to one embodiment of present invention, processing module 20 can obtain percentage error according to above-mentioned formula (2).
According to one embodiment of present invention, when processing module 20 carries out error correction to D2 according to percentage error, into
One step is used for, and whether error in judgement percentage is positive value, if it is positive value, after obtaining error correction according to formula D2* (1+ β)
Target range；If it is negative value, the target range after error correction is obtained according to formula D2* (1- β).
According to one embodiment of present invention, when the image of 20 pairs of processing module preservations is handled with according to vehicle release
When the outer parameter of calibration obtains the distance between two lamp posts D2, it is further used for, Hough change is carried out to the image of preservation
It changes and edge detection process is to obtain the positions of two lamp posts, according to the position of first lamp post and vehicle release
When the outer parameter demarcated obtain the longitudinal axis distance L1 of first lamp post, and according to the position of second lamp post and vehicle
The outer parameter demarcated when factory obtains the longitudinal axis distance L2 of second lamp post, and L2 and L1 are made the difference to obtain two street lamp lamps
The distance between column D2.
According to one embodiment of present invention, processing module 20 can calculate the longitudinal axis of lamp post according to above-mentioned formula (1)
Distance.
It should be noted that the embodiment of the present invention automatically correct in the device of range error based on street lamp and is not disclosed
Details, please refer to the embodiment of the present invention carried out based on street lamp automatically correct details disclosed in the method for range error,
It is specific which is not described herein again.
The device according to an embodiment of the present invention for automatically correct based on street lamp range error, street lamp detection module are used
In the sense by camera real-time image acquisition, and when the steering wheel angle of vehicle meets predetermined angle range in acquisition image
Interest region, and street lamp detection is carried out to judge in the area-of-interest in present image with the presence or absence of road to area-of-interest
Lamp lamppost, processing module, for there are saving present image when lamp post, and being controlled in the area-of-interest in present image
Timer processed starts timing, when there is lamp post again in area-of-interest, stops timing to obtain timing time, and
The distance between two lamp posts D1, processing module is obtained according to speed and timing time to be also used to, to the image of preservation into
The outer parameter demarcated when row processing is with according to vehicle release obtains the distance between two lamp posts D2, and is obtained according to D2 and D1
Percentage error is taken, and error correction is carried out to the distance between two lamp posts D2 according to percentage error.As a result, should
Device can carry out error correction automatically in real time, improve the range accuracy of camera, to improve driving to barrier
Accurate distance judgement provides more accurate data judgement for the ADAS function such as barrier anticollision, improves traffic safety
Property.
Fig. 7 is the block diagram of vehicle according to an embodiment of the present invention.As shown in fig. 7, the vehicle of the embodiment of the present invention
100 may include the above-mentioned device 110 for automatically correct based on street lamp range error.
The vehicle of the embodiment of the present invention can by the above-mentioned device for automatically correct based on street lamp range error
It is automatic in real time to carry out error correction, the range accuracy of camera is improved, to improve driving to the accurate distance of barrier
Judgement provides more accurate data judgement for the ADAS function such as barrier anticollision, improves travel safety.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (12)
1. a kind of method for carrying out automatically correcting range error based on street lamp, which comprises the following steps:
Pass through camera real-time image acquisition；
When the steering wheel angle of vehicle meets predetermined angle range, the area-of-interest in described image is obtained, and to described
Area-of-interest carries out street lamp detection to judge in the area-of-interest in present image with the presence or absence of lamp post；
If it is present saving present image, and start timing；
When there is lamp post again in the area-of-interest, stop timing to obtain timing time, and according to speed
The distance between two lamp posts D1 is obtained with the timing time；
The outer parameter demarcated when being handled the image of preservation with according to the vehicle release obtains between two lamp posts
Distance D2；
Percentage error is obtained according to the D2 and D1, and according to the percentage error to the distance between two lamp posts
D2 carries out error correction.
2. carrying out the method for automatically correcting range error based on street lamp as described in claim 1, which is characterized in that according to following
Formula obtains the percentage error:
β=(D1-D2)/D2
Wherein, β is the percentage error.
3. carrying out the method for automatically correcting range error based on street lamp as claimed in claim 1 or 2, which is characterized in that according to
The percentage error carries out error correction to D2, comprising:
Judge whether the percentage error is positive value；
If it is positive value, the target range after error correction is obtained according to formula D2* (1+ β)；
If it is negative value, the target range after error correction is obtained according to formula D2* (1- β).
4. carrying out the method for automatically correcting range error based on street lamp as claimed in claim 1 or 2, which is characterized in that guarantor
The outer parameter that the image deposited is demarcated when being handled with according to the vehicle release obtains the distance between two lamp posts D2,
Include:
Hough transformation and edge detection process are carried out to obtain the position of two lamp posts to the image of preservation；
The outer parameter demarcated when according to the position of first lamp post and the vehicle release obtains first street lamp lamp
The longitudinal axis distance L1 of column, and described in being obtained according to the outer parameter demarcated when the position of second lamp post and the vehicle release
The longitudinal axis distance L2 of second lamp post；
L2 and L1 are made the difference to obtain the distance between two lamp posts D2.
5. carrying out the method for automatically correcting range error based on street lamp as claimed in claim 4, which is characterized in that according to following
The longitudinal axis distance of formula calculating lamp post:
Wherein, h is height of the camera to ground, and f is the focal length of the camera, and V is target point in the throwing as plane
Shadow point, V0 are the center as plane, and α is the optical axis and horizontal angle of the camera.
6. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program quilt
Processor realizes the side according to any one of claims 1 to 5 for automatically correct based on street lamp range error when executing
Method.
7. a kind of device for automatically correct based on street lamp range error characterized by comprising
Street lamp detection module for passing through camera real-time image acquisition, and meets predetermined angle in the steering wheel angle of vehicle
The area-of-interest in described image is obtained when range, and street lamp detection is carried out to judge currently to scheme to the area-of-interest
It whether there is lamp post in area-of-interest as in；
Processing module, for there are saving present image when lamp post, and being controlled in the area-of-interest in present image
Timer starts timing, when there is lamp post again in the area-of-interest, stop timing to obtain timing time, with
And the distance between two lamp posts D1 is obtained according to speed and the timing time；
The processing module is also used to, and the outer parameter demarcated when being handled the image of preservation with according to the vehicle release obtains
The distance between two lamp posts D2 is taken, and percentage error is obtained according to the D2 and D1, and according to the error hundred
It is divided to and compares the D2 progress error correction of the distance between two lamp posts.
8. automatically correct based on street lamp the device of range error as claimed in claim 7, which is characterized in that the processing
Module obtains the percentage error according to the following formula:
β=(D1-D2)/D2
Wherein, β is the percentage error.
9. automatically correct based on street lamp the device of range error as claimed in claim 7 or 8, which is characterized in that described
When processing module carries out error correction to D2 according to the percentage error, it is further used for,
Judge whether the percentage error is positive value；
If it is positive value, the target range after error correction is obtained according to formula D2* (1+ β)；
If it is negative value, the target range after error correction is obtained according to formula D2* (1- β).
10. the device for automatically correct based on street lamp range error as claimed in claims 6 or 7, which is characterized in that described
The outer parameter that processing module is demarcated when being handled the image of preservation with according to the vehicle release obtains two lamp posts
The distance between D2 when, be further used for,
Hough transformation and edge detection process are carried out to obtain the position of two lamp posts to the image of preservation；
The outer parameter demarcated when according to the position of first lamp post and the vehicle release obtains the first street lamp
The longitudinal axis distance L1 of lamppost, and the outer parameter that according to the position of second lamp post and vehicle release when is demarcated obtains institute
State the longitudinal axis distance L2 of second lamp post；
L2 and L1 are made the difference to obtain the distance between two lamp posts D2.
11. automatically correct based on street lamp the device of range error as claimed in claim 10, which is characterized in that the place
Reason module calculates the longitudinal axis distance of lamp post according to the following formula:
Wherein, h is height of the camera to ground, and f is the focal length of the camera, and V is target point in the throwing as plane
Shadow point, V0 are the center as plane, and α is the optical axis and horizontal angle of the camera.
12. a kind of vehicle, which is characterized in that including as claim in claims 7-11 described in any item based on the automatic school of street lamp progress
The device of positive range error.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711424678.2A CN109959920B (en) | 2017-12-25 | 2017-12-25 | Vehicle, method and device for automatically correcting distance measurement error based on street lamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711424678.2A CN109959920B (en) | 2017-12-25 | 2017-12-25 | Vehicle, method and device for automatically correcting distance measurement error based on street lamp |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109959920A true CN109959920A (en) | 2019-07-02 |
| CN109959920B CN109959920B (en) | 2021-11-12 |
Family
ID=67021274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711424678.2A Active CN109959920B (en) | 2017-12-25 | 2017-12-25 | Vehicle, method and device for automatically correcting distance measurement error based on street lamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109959920B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112666819A (en) * | 2020-12-29 | 2021-04-16 | 重庆贵飞科技有限公司 | Clock guarantee method and system for intelligent lighting system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101281022A (en) * | 2008-04-08 | 2008-10-08 | 上海世科嘉车辆技术研发有限公司 | Method for measuring vehicle distance based on single eye machine vision |
| CN103322983A (en) * | 2012-03-21 | 2013-09-25 | 株式会社理光 | Calibration device, range-finding system including the calibration device and stereo camera, and vehicle mounting the range-finding system |
| CN106546257A (en) * | 2013-04-16 | 2017-03-29 | 杰发科技（合肥）有限公司 | Vehicle distance measurement method and device, vehicle relative velocity measuring method and device |
| CN107390205A (en) * | 2017-07-20 | 2017-11-24 | 清华大学 | A kind of monocular vision vehicle odometry method that front truck feature is obtained using car networking |
-
2017
- 2017-12-25 CN CN201711424678.2A patent/CN109959920B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101281022A (en) * | 2008-04-08 | 2008-10-08 | 上海世科嘉车辆技术研发有限公司 | Method for measuring vehicle distance based on single eye machine vision |
| CN103322983A (en) * | 2012-03-21 | 2013-09-25 | 株式会社理光 | Calibration device, range-finding system including the calibration device and stereo camera, and vehicle mounting the range-finding system |
| CN106546257A (en) * | 2013-04-16 | 2017-03-29 | 杰发科技（合肥）有限公司 | Vehicle distance measurement method and device, vehicle relative velocity measuring method and device |
| CN107390205A (en) * | 2017-07-20 | 2017-11-24 | 清华大学 | A kind of monocular vision vehicle odometry method that front truck feature is obtained using car networking |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112666819A (en) * | 2020-12-29 | 2021-04-16 | 重庆贵飞科技有限公司 | Clock guarantee method and system for intelligent lighting system |
| CN112666819B (en) * | 2020-12-29 | 2021-10-29 | 重庆贵飞科技有限公司 | Clock guarantee method and system for intelligent lighting system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109959920B (en) | 2021-11-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109959364A (en) | Vehicle carries out the method and apparatus for automatically correcting range error based on lane line | |
| CN101910781B (en) | Moving state estimation device | |
| US20220019815A1 (en) | Generating an image of the surroundings of an articulated vehicle | |
| JP6246867B2 (en) | Driving correction from stationary target | |
| US10124730B2 (en) | Vehicle lane boundary position | |
| AU2015306477B2 (en) | Method and axle-counting device for contact-free axle counting of a vehicle and axle-counting system for road traffic | |
| US9784829B2 (en) | Wheel detection and its application in object tracking and sensor registration | |
| US10565867B2 (en) | Detection and documentation of tailgating and speeding violations | |
| US8520954B2 (en) | Apparatus for detecting lane-marking on road | |
| US20080291276A1 (en) | Method for Driver Assistance and Driver Assistance Device on the Basis of Lane Information | |
| CN111507130B (en) | Lane-level positioning method and system, computer equipment, vehicle and storage medium | |
| CN109074069A (en) | Autonomous vehicle with improved vision-based detection ability | |
| EP1890264B1 (en) | Vehicle, image processing system, image processing method, image processing program, image processing system configuration method, and server | |
| CN103797788B (en) | The optical axis of vehicle-mounted camera grasps device | |
| EP2858055A1 (en) | Method for calibration of a road surveillance system | |
| CN109795477A (en) | Eliminate the method, apparatus and storage medium of stable state lateral deviation | |
| CN116101325A (en) | Narrow road traffic processing method and narrow road traffic processing device | |
| CN109959920A (en) | Vehicle carries out the method and apparatus for automatically correcting range error based on street lamp | |
| JP7020353B2 (en) | Object detector | |
| CN114705121A (en) | Vehicle pose measuring method and device, electronic equipment and storage medium | |
| CN103381825A (en) | Full-speed lane sensing using a plurality of cameras | |
| CN113496528A (en) | Method and device for calibrating position of visual detection target in fixed traffic roadside scene | |
| CN108394416A (en) | A kind of parking stall shows householder method and system | |
| CN108099783A (en) | A kind of driving assistance system and its operating method for vehicle | |
| CN112184827A (en) | Method and apparatus for calibrating multiple cameras |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |