CN113538571A - Following distance measuring system, vehicle comprising same and corresponding method - Google Patents
Following distance measuring system, vehicle comprising same and corresponding method Download PDFInfo
- Publication number
- CN113538571A CN113538571A CN202010293649.2A CN202010293649A CN113538571A CN 113538571 A CN113538571 A CN 113538571A CN 202010293649 A CN202010293649 A CN 202010293649A CN 113538571 A CN113538571 A CN 113538571A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- following distance
- traffic
- image
- type
- 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.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 239000003550 marker Substances 0.000 claims abstract description 66
- 238000005259 measurement Methods 0.000 claims abstract description 20
- 238000004364 calculation method Methods 0.000 claims abstract description 14
- 238000004590 computer program Methods 0.000 claims description 14
- 238000000691 measurement method Methods 0.000 claims description 8
- 238000000926 separation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
Provided are a following distance measurement system, a vehicle including the same, and a corresponding method and storage medium. The system comprises: an image acquisition unit for acquiring an image from a host vehicle to a preceding vehicle, the image comprising one or more traffic markers and/or one or more spaces between traffic markers located on or on both sides of a road surface between the host vehicle and the preceding vehicle; an image processing unit for processing the acquired images to identify the number of traffic markers and/or spaces present between the own vehicle and the preceding vehicle; the following distance calculation unit is used for determining the type of the traffic marker at least according to the acquired image so as to obtain the preset length of the traffic marker and/or the interval per se according to the type of the traffic marker; and calculating the following distance based on the predetermined length and number of traffic markers and/or intervals. By using the scheme of the invention, the cost can be reduced, the measurement accuracy can be improved, and the driving safety can be improved.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a following distance measurement system for a vehicle, a vehicle including the same, a corresponding following distance measurement method, and a computer-readable storage medium.
Background
In the driving process of the vehicle, the driver needs to judge the following distance between the vehicle and the front vehicle so as to avoid the following distance being too close. Some current schemes adopt radar sensors such as laser radar or ultrasonic radar to measure the following distance. However, since the angle range of the radar sensor in the vertical direction that can be measured is small (usually about 4 degrees), if the chassis of the large vehicle in front is high, the position of the tail of the large vehicle may not be accurately measured, and thus the distance between the vehicle and the large vehicle may not be accurately measured, and a rear-end collision accident may easily occur. In addition, the cost of the radar sensor is also high.
Accordingly, there is a need for an improved following distance measurement system and method.
Disclosure of Invention
In order to solve the technical problem, the invention provides a scheme for measuring the following distance from the self vehicle to the front vehicle by using an image acquisition unit.
According to an aspect of the present invention, there is provided a following distance measuring system, characterized by comprising:
an image acquisition unit configured to acquire an image from a host vehicle to a front vehicle in front of the host vehicle, the image including one or more traffic markers and/or one or more spaces between the traffic markers located on or on both sides of a road surface between the host vehicle and the front vehicle;
an image processing unit configured to process the acquired image to identify the number of the traffic markers and/or the number of the spaces existing between the own vehicle and the preceding vehicle;
a following distance calculation unit configured to determine a type of the traffic marker at least from the acquired image, to obtain a predetermined length of the traffic marker itself and/or a predetermined length of the interval itself from the type of the traffic marker; and calculating a following distance between the own vehicle and a preceding vehicle based on a predetermined length of the traffic marker and/or the space and the number of the identified traffic markers and/or the spaces.
In one embodiment, the determining the type of the traffic marker from at least the acquired image further comprises: the type of the road is determined based on the location of the own vehicle, and the type of the traffic marker is determined from the type of the road and the acquired image.
In one embodiment, the image acquisition unit is realized by a camera device installed on a self vehicle, a surrounding vehicle and/or a road; preferably, the image acquisition unit, the image processing unit, and the following distance calculation unit are integrated in a camera device mounted on the own vehicle.
In one embodiment, the following distance measurement system further comprises an output unit configured to provide the calculated following distance to a user of the own vehicle via a display of an onboard computer, a windshield, a camera of the own vehicle or a mobile terminal device of the user of the vehicle.
In one embodiment, the image processing unit is further configured to: processing the acquired images to detect whether the actual lengths of the plurality of traffic markers between the host vehicle and the lead vehicle are equal and/or whether the actual lengths of the plurality of intervals are equal.
In one embodiment, the following distance calculation unit is further configured to: detecting whether the actual length of a traffic marker between the host vehicle and the lead vehicle is equal to the predetermined length of the traffic marker itself, and/or detecting whether the actual length of a space is equal to the predetermined length of the space.
According to another aspect of the present invention, there is provided a vehicle characterized by comprising the following distance measurement system according to any one of the above.
According to still another aspect of the present invention, there is provided a following distance measuring method, characterized in that the method includes:
acquiring an image from a host vehicle to a front vehicle in front of the host vehicle, the image comprising one or more traffic markers and/or one or more spaces between the traffic markers located on or on both sides of a road surface between the host vehicle and the front vehicle;
processing the acquired images to identify the number of traffic markers and/or the number of spaces present between the own vehicle and the preceding vehicle;
determining the type of the traffic marker at least according to the acquired image, so as to obtain the preset length of the traffic marker and/or the preset length of the interval according to the type of the traffic marker; and calculating a following distance between the own vehicle and a preceding vehicle based on a predetermined length of the traffic marker and/or the space and the number of the identified traffic markers and/or the spaces.
In one embodiment, the determining the type of the traffic marker from at least the acquired image further comprises: the type of the road is determined based on the location of the own vehicle, and the type of the traffic marker is determined from the type of the road and the acquired image.
In one embodiment, the capturing of the image from the own vehicle to the preceding vehicle ahead of the own vehicle is realized by a camera device installed on the own vehicle, the surrounding vehicles and/or the road; preferably, the following distance measuring method is realized by a camera device installed on the self-vehicle.
In one embodiment, the method further comprises: the calculated following distance is provided to the user of the own vehicle through the on-board computer of the own vehicle, the windshield, the display of the camera device, or the mobile terminal device of the user of the vehicle.
In one embodiment, the method further comprises: processing the acquired images to detect whether the actual lengths of the plurality of traffic markers between the host vehicle and the lead vehicle are equal and/or whether the actual lengths of the plurality of intervals are equal.
In one embodiment, the method further comprises: detecting whether the actual length of a traffic marker between the host vehicle and the lead vehicle is equal to the predetermined length of the traffic marker itself, and/or detecting whether the actual length of a space is equal to the predetermined length of the space.
According to a further aspect of the present invention, there is provided a computer device comprising a memory storing a computer program and a processor implementing the steps of the method of any one of the above when the computer program is executed.
According to yet another aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that the computer program realizes the steps of the method of any of the above when executed by a processor.
By utilizing the scheme of the invention, the following distance between the self vehicle and the front vehicle can be more accurately calculated according to the image acquired by the image acquisition unit, so that the cost is greatly reduced, the measurement accuracy is improved, and the driving safety is obviously improved.
Drawings
Non-limiting and non-exhaustive embodiments of the present invention are described, by way of example, with reference to the following drawings, in which:
FIG. 1 shows a schematic view of a following distance measurement system according to an embodiment of the present invention;
FIG. 2 shows a flow chart of a following distance measurement method according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an application of the following distance measuring system and method according to an embodiment of the present invention.
Detailed Description
In order to make the above and other features and advantages of the present invention more apparent, the present invention is further described below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting, for those of ordinary skill in the art.
Fig. 1 shows a schematic view of a following distance measuring system according to an embodiment of the present invention.
As shown in fig. 1, the following distance measurement system 100 may include an image acquisition unit 101, an image processing unit 102, and a following distance calculation unit 103.
The image capturing unit 101 may be configured to capture an image from a host vehicle to a front vehicle in front of the host vehicle, the image including at least one traffic marker located on or on both sides of a road surface between the host vehicle and the front vehicle. For example, as can be seen from the example of fig. 3, the image capturing unit may capture a complete image of a marking line on the road surface and/or fences on both sides of the road between the host vehicle a100 and the preceding vehicle a 200.
With regard to the term "traffic marker" herein, it is to be understood that the term may refer not only to the marker line (white or yellow) in the road surface and/or the equally spaced fences or pillars at both sides (left or right) of the road as shown in fig. 3, but also to other types of regularly disposed traffic markers (e.g., street lamps, blinds, isolation belts, etc.) in the road surface and/or at both sides of the road, as long as the following distance can be determined using the image between the own vehicle and the preceding vehicle acquired by the image acquisition unit with reference to the distance between the traffic markers and/or the distance of the spacing between the adjacent traffic markers.
In one embodiment, the image capturing unit 101 may capture an image from the own vehicle to a preceding vehicle ahead of the own vehicle by a camera device installed on the own vehicle, a surrounding vehicle, and/or a road. Preferably, the image pickup unit is implemented using an image pickup device (such as a monocular camera or a binocular camera) mounted on the own vehicle. For example, the camera device may be provided at, for example, the roof of the body of the own vehicle or at the position of a front windshield to facilitate clear detection of a complete image of the traffic marker between the own vehicle and the preceding vehicle. Preferably, the image acquisition unit, the image processing unit, and the following distance calculation unit are integrated in a camera device mounted on the own vehicle. The highly integrated camera device can improve the use convenience, so that the following distance between the self vehicle and the front vehicle can be detected in time by only installing one camera device on the self vehicle through the scheme of the invention. Of course, one or more units of the image acquisition unit, the image processing unit and the following distance calculation unit can also be arranged on a remote server, and other one or more units can also be arranged in a vehicle-mounted computer of the self-vehicle.
The image processing unit 102 is configured to process the acquired images to identify the number of traffic markers N1 and/or the number of intervals N2 present between the own vehicle and the preceding vehicle. The number N1 or N2 may be a natural number (e.g., 1, 2, 3, or greater) or a fraction (e.g., a fraction of 1/2, 1/3, 1/4, 1/5, 3/2, 4/3, 5/4, 6/5, or greater).
The following distance calculation unit 103 is configured for determining the type of the traffic marker at least from the acquired images, to obtain the predetermined length D1 of the traffic marker itself and/or the predetermined length D2 of the interval itself from the type of the traffic marker; and calculating a following distance D100 between the own vehicle and a preceding vehicle based on a predetermined length of the traffic marker and/or the space and the number of the identified traffic markers and/or the spaces. For example, the following distance may be calculated by the following formula: d100 ═ N1 ═ D1+ N2 ═ D2.
Since the types and sizes of traffic markers themselves installed on different types of roads (e.g., national expressway, city arterial road, city side road) may be different, in order to facilitate more accurate determination of the types of traffic markers, the following distance calculation unit 103 may also determine the types of roads based on the positions of own vehicles and determine the types of traffic markers from both the types of roads and the captured images. The position of the host vehicle may be obtained by a positioning device (e.g., a global navigation satellite system GNSS) or navigation software on the host vehicle.
Advantageously, the following distance measuring system further comprises an output unit configured to provide the calculated following distance to a user of the own vehicle via a vehicle-mounted computer of the own vehicle, a windshield, a display of a camera device or a mobile terminal device of the user of the vehicle. For example, the output unit may visually provide the calculated following distance to a host vehicle user (e.g., a driver or other occupant). For example, in a highlighted color or shape, directly on the screen of an in-vehicle computer, projected onto a front windshield, displayed on the display of an imaging device, or on the mobile terminal device of a vehicle user. Advantageously, the output unit may further send a warning message to the vehicle through a vehicle-mounted computer of the vehicle, a windshield, a display of a camera device or a mobile terminal device of a vehicle user to remind the vehicle user when the following distance is less than a set threshold.
Additionally, to ensure that the selected traffic markers and/or the spacing between the traffic markers are equal, thereby minimizing the error in determining the following distance in dependence of the number and length of traffic markers and/or the spacing, the image processing unit is further configured for: processing the acquired images to detect whether the actual lengths of the plurality of traffic markers between the host vehicle and the lead vehicle are equal and/or whether the actual lengths of the plurality of intervals are equal. Similarly, to ensure that the actual length of the selected traffic markers and/or the intervals between the traffic markers is equal to its corresponding predetermined length, such that the error in determining the following distance from the number and length of traffic markers and/or intervals is minimized, the following distance calculation unit is further configured for: detecting whether the actual length of a traffic marker between the host vehicle and the lead vehicle is equal to the predetermined length of the traffic marker itself, and/or detecting whether the actual length of a space is equal to the predetermined length of the space. If the results of the comparison are equal, the calculated following distance is ensured to have no error; if the results of any comparison are not equal, the fact that the traffic marker of the type has an error and is not suitable for calculating the following distance is indicated, and the vehicle user can be advised to select other types of traffic markers.
Fig. 2 shows a flowchart of a following distance measuring method according to an embodiment of the present invention.
As shown in fig. 2, the following distance measuring method S100 includes:
s200: acquiring an image from a host vehicle to a front vehicle in front of the host vehicle, the image comprising one or more traffic markers and/or one or more spaces between the traffic markers located on or on both sides of a road surface between the host vehicle and the front vehicle;
s300: processing the acquired images to identify the number of traffic markers and/or the number of spaces present between the own vehicle and the preceding vehicle;
s400: determining the type of the traffic marker at least according to the acquired image, so as to obtain the preset length of the traffic marker and/or the preset length of the interval according to the type of the traffic marker; and calculating a following distance between the own vehicle and a preceding vehicle based on a predetermined length of the traffic marker and/or the space and the number of the identified traffic markers and/or the spaces.
In one embodiment, the determining the type of the traffic marker from at least the acquired image further comprises: the type of the road is determined based on the location of the own vehicle, and the type of the traffic marker is determined from the type of the road and the acquired image.
In one embodiment, the capturing of the image from the host vehicle to the front vehicle in front of the host vehicle is performed by an image sensor installed on the host vehicle, the surrounding vehicles, and/or the road. Preferably, the following distance measuring method is implemented by a camera device mounted on the own vehicle.
In addition, as described above, the calculated following distance may also be provided to the user of the own vehicle through the in-vehicle computer of the own vehicle, the windshield, the camera device, or the mobile terminal device of the vehicle user.
Advantageously, in order to minimize the measured following distance error, the method further comprises: processing the acquired images to detect whether the actual lengths of the plurality of traffic markers between the host vehicle and the lead vehicle are equal and/or whether the actual lengths of the plurality of intervals are equal. Similarly, the method further comprises the following steps: detecting whether the actual length of a traffic marker between the host vehicle and the lead vehicle is equal to the predetermined length of the traffic marker itself, and/or detecting whether the actual length of a space is equal to the predetermined length of the space.
For a more specific aspect of the following distance measuring method according to the present invention, reference may be made to the above description of the following distance measuring system according to the present invention and the following description of an application example, which are not repeated herein. Additionally, the actual order of execution of the steps of the following distance measurement method described herein is not limited by the specific examples or embodiments described herein.
An application example of the following distance measuring system and method of the present invention is described below with reference to fig. 3.
For example, after the image acquisition unit 101 acquires an image as shown in fig. 3, at least one type of traffic marker included in the image can be identified through the processing of the acquired image by the image processing unit 102. In the case where one type of available traffic marker is included in the image, the type of the available traffic marker may be determined directly from the image processing. In the case where a plurality of types of traffic markers are included in the image, any one type of traffic marker to be used for determining the following distance may be selected from the plurality of types of traffic markers according to a default option, a preset by the user, or according to the acquired image.
For the captured image shown in fig. 3, the road type may be determined based on the captured image and/or the position of the own vehicle, and, for example, a white marking line or a fence or a barrier on the left side on the road surface may be selected as a traffic marker. After identifying or selecting the type of the traffic marker, the following distance calculation unit may acquire the predetermined length of the traffic marker itself, the predetermined length of the interval between the traffic markers, or both the predetermined length of the traffic marker itself and the predetermined length of the interval between the traffic markers according to the type of the traffic marker through a remote server or a local database. The remote server or local database may have pre-stored predetermined lengths of various different types of traffic markers and/or intervals thereof, such as lengths set by national laws and regulations or other commonly used predetermined lengths. For example, the line length of the white marking on the current expressway is 6 meters, and the interval is 9 meters; the line length of the white marked lines of the second and above roads is 6 meters, and the interval is 9 meters; the line length of the white marking of other grades of roads is 2 meters, and the interval is 4 meters; some yellow markings have a segment length of 4 meters and 6 meters spacing.
In addition, by processing the acquired images, the number of traffic markers and/or the number of spaces present between the own vehicle and the preceding vehicle can be identified. For example, for the image shown in fig. 3, it can be seen that two white reticles (Y1 and Y2) and two spaces (X1 and X2) between the white reticles are contained between the subject vehicle and the lead vehicle. Assuming that the type of the white mark in fig. 3 is a white mark of a second-level or higher road, it can be determined that the following distance between the own vehicle and the preceding vehicle is 2 × 6+2 × 9 — 30 m.
Alternatively, in the case where the separation post as shown in fig. 3 is selected as the traffic marker, if the thickness of the separation post itself in the vehicle traveling direction is relatively small, the thickness dimension of the separation post itself may be negligible, so that the following distance between the host vehicle and the preceding vehicle may be approximately equal to the product of the length value of the interval Z1 between the separation posts shown in fig. 3 and the number of the intervals Z1 between the host vehicle and the preceding vehicle. It should be noted that since the method of the present invention is used to measure the following distance between the own vehicle and the preceding vehicle, the images acquired from the own vehicle to the preceding vehicle require that images of all traffic markers of one or more types included between the head of the own vehicle (e.g., head-most front) and the tail of the preceding vehicle (e.g., tail-most tail) be taken. Of course, when the foremost part of the own vehicle or the rearmost part of the preceding vehicle is at a non-start position of the traffic marker (e.g., the marking) or the space, it is necessary to calculate the relative position of the foremost part of the own vehicle or the rearmost part of the preceding vehicle with respect to the traffic marker (e.g., the marking) or the space, so as to facilitate determination of the number (non-integer) of traffic markers or spaces present between the own vehicle and the preceding vehicle.
Another aspect of the invention provides a vehicle comprising a following distance measurement system according to any one of the above.
In addition, it should be understood that each unit in the following distance measurement system 100 described above may be implemented wholly or partially by software, hardware, and a combination thereof. The units can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the units.
It will be understood by those skilled in the art that the schematic diagram of the following distance measurement system 100 shown in fig. 1 is only a block diagram of a part of the structure related to the present application, and does not constitute a limitation of the computer device to which the present application is applied, and a specific computer device may include more or less components than those shown in the figure, or combine some components, or have a different arrangement of components.
Yet another aspect of the invention provides a computer apparatus comprising a memory storing a computer program and a processor implementing any of the methods described above when the processor executes the computer program. The computer device, which may be installed on the vehicle side or on the server side, includes a processor, memory, network interface, and database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement the following distance measuring method of the present invention.
Another aspect of the invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of the above. It will be understood by those of ordinary skill in the art that all or part of the steps in implementing the methods according to the above embodiments of the present invention may be directed to relevant hardware implementations by a computer program, which may be stored in a non-volatile computer-readable storage medium, that when executed, may include the steps of the above embodiments of the methods. Any reference to memory, storage, database, or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory.
The features of the above embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.
While the invention has been described in connection with the embodiments, it is to be understood by those skilled in the art that the foregoing description and drawings are merely illustrative and not restrictive of the broad invention, and that this invention not be limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the invention.
Claims (15)
1. A following distance measurement system, characterized by comprising:
an image acquisition unit configured to acquire an image from a host vehicle to a front vehicle in front of the host vehicle, the image including one or more traffic markers and/or one or more spaces between the traffic markers located on or on both sides of a road surface between the host vehicle and the front vehicle;
an image processing unit configured to process the acquired image to identify the number of the traffic markers and/or the number of the spaces existing between the own vehicle and the preceding vehicle;
a following distance calculation unit configured to determine a type of the traffic marker at least from the acquired image, to obtain a predetermined length of the traffic marker itself and/or a predetermined length of the interval itself from the type of the traffic marker; and calculating a following distance between the own vehicle and a preceding vehicle based on a predetermined length of the traffic marker and/or the space and the number of the identified traffic markers and/or the spaces.
2. The vehicle following distance measurement system of claim 1, wherein the determining the type of the traffic marker from at least the acquired image further comprises: the type of the road is determined based on the location of the own vehicle, and the type of the traffic marker is determined from the type of the road and the acquired image.
3. The following distance measurement system according to claim 1 or 2, wherein the image acquisition unit is implemented by a camera device installed on a host vehicle, a surrounding vehicle, and/or a road; preferably, the image acquisition unit, the image processing unit, and the following distance calculation unit are integrated in a camera device mounted on the own vehicle.
4. The following distance measurement system according to claim 1 or 2, wherein the following distance measurement system further comprises an output unit configured to provide the calculated following distance to a user of the own vehicle through a vehicle-mounted computer of the own vehicle, a windshield, a display of a camera device, or a mobile terminal device of a vehicle user.
5. The following distance measurement system according to claim 1 or 2, wherein the image processing unit is further configured to: processing the acquired images to detect whether the actual lengths of the plurality of traffic markers between the host vehicle and the lead vehicle are equal and/or whether the actual lengths of the plurality of intervals are equal.
6. The following distance measurement system according to claim 5, wherein the following distance calculation unit is further configured to: detecting whether the actual length of a traffic marker between the host vehicle and the lead vehicle is equal to the predetermined length of the traffic marker itself, and/or detecting whether the actual length of a space is equal to the predetermined length of the space.
7. A vehicle characterized by comprising a following distance measurement system according to any one of claims 1 to 6.
8. A following distance measuring method, characterized by comprising:
acquiring an image from a host vehicle to a front vehicle in front of the host vehicle, the image comprising one or more traffic markers and/or one or more spaces between the traffic markers located on or on both sides of a road surface between the host vehicle and the front vehicle;
processing the acquired images to identify the number of traffic markers and/or the number of spaces present between the own vehicle and the preceding vehicle;
determining the type of the traffic marker at least according to the acquired image, so as to obtain the preset length of the traffic marker and/or the preset length of the interval according to the type of the traffic marker; and calculating a following distance between the own vehicle and a preceding vehicle based on a predetermined length of the traffic marker and/or the space and the number of the identified traffic markers and/or the spaces.
9. The following distance measurement method according to claim 8, wherein the determining the type of the traffic marker from at least the acquired image further comprises: the type of the road is determined based on the location of the own vehicle, and the type of the traffic marker is determined from the type of the road and the acquired image.
10. The following distance measurement method according to claim 8 or 9, wherein the acquiring of the image from the own vehicle to the preceding vehicle ahead of the own vehicle is performed by a camera device installed on the own vehicle, a surrounding vehicle, and/or a road; preferably, the following distance measuring method is realized by a camera device installed on the self-vehicle.
11. The following distance measurement method according to claim 8 or 9, wherein the method further comprises: the calculated following distance is provided to the user of the own vehicle through the on-board computer of the own vehicle, the windshield, the display of the camera device, or the mobile terminal device of the user of the vehicle.
12. The following distance measurement method according to claim 8 or 9, wherein the method further comprises: processing the acquired images to detect whether the actual lengths of the plurality of traffic markers between the host vehicle and the lead vehicle are equal and/or whether the actual lengths of the plurality of intervals are equal.
13. The following distance measurement method according to claim 12, wherein the method further comprises: detecting whether the actual length of a traffic marker between the host vehicle and the lead vehicle is equal to the predetermined length of the traffic marker itself, and/or detecting whether the actual length of a space is equal to the predetermined length of the space.
14. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 8 to 13 when executing the computer program.
15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 8 to 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010293649.2A CN113538571A (en) | 2020-04-13 | 2020-04-13 | Following distance measuring system, vehicle comprising same and corresponding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010293649.2A CN113538571A (en) | 2020-04-13 | 2020-04-13 | Following distance measuring system, vehicle comprising same and corresponding method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113538571A true CN113538571A (en) | 2021-10-22 |
Family
ID=78088126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010293649.2A Withdrawn CN113538571A (en) | 2020-04-13 | 2020-04-13 | Following distance measuring system, vehicle comprising same and corresponding method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113538571A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106461387A (en) * | 2014-05-28 | 2017-02-22 | 京瓷株式会社 | Stereo camera device and vehicle provided with stereo camera device |
| CN110555884A (en) * | 2018-05-31 | 2019-12-10 | 海信集团有限公司 | calibration method and device of vehicle-mounted binocular camera and terminal |
| CN110796852A (en) * | 2019-11-07 | 2020-02-14 | 中南大学 | Vehicle queue map building method and self-adaptive following distance calculation method thereof |
-
2020
- 2020-04-13 CN CN202010293649.2A patent/CN113538571A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106461387A (en) * | 2014-05-28 | 2017-02-22 | 京瓷株式会社 | Stereo camera device and vehicle provided with stereo camera device |
| CN110555884A (en) * | 2018-05-31 | 2019-12-10 | 海信集团有限公司 | calibration method and device of vehicle-mounted binocular camera and terminal |
| CN110796852A (en) * | 2019-11-07 | 2020-02-14 | 中南大学 | Vehicle queue map building method and self-adaptive following distance calculation method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 牛世峰 等: "基于 CCD 摄像技术的公交车跟车 距离监测系统研究", 《科学技术与工程》, pages 199 - 202 * |
| 邹斌 等: "面向智能交通的单目视觉测距方法研究", 《交通运输系统工程与信息》, pages 48 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106871914B (en) | Vehicle and control method of vehicle | |
| US10210406B2 (en) | System and method of simultaneously generating a multiple lane map and localizing a vehicle in the generated map | |
| JP5441549B2 (en) | Road shape recognition device | |
| CN111696160B (en) | Automatic calibration method and equipment for vehicle-mounted camera and readable storage medium | |
| US20210180959A1 (en) | Map generation system, in-vehicle device | |
| US11740093B2 (en) | Lane marking localization and fusion | |
| CN109477728B (en) | Method and device for determining the lateral position of a vehicle relative to a road surface roadway | |
| JP5472163B2 (en) | Speed regulation value notification device and speed regulation value notification system | |
| CN102334147B (en) | Vehicle-mounted information processing apparatus and information processing method | |
| CN112074885A (en) | Lane sign positioning | |
| RU2703440C1 (en) | Method and device for controlling movement | |
| US20140172189A1 (en) | Method and control device for providing a course of a road ahead | |
| JP6398501B2 (en) | In-vehicle camera diagnostic device | |
| US11238731B2 (en) | Method and device for detecting the passage of a motor vehicle through a road sign gantry | |
| CN110858405A (en) | Attitude estimation method, device and system of vehicle-mounted camera and electronic equipment | |
| JPWO2018212292A1 (en) | Information processing apparatus, control method, program, and storage medium | |
| JP2010225075A (en) | Driving support device | |
| JP4876147B2 (en) | Lane judgment device and navigation system | |
| CN112781600A (en) | Vehicle navigation method, device and storage medium | |
| JP2008097279A (en) | Vehicle exterior information display device | |
| CN107111741B (en) | Method, device and system for a motor vehicle with a camera | |
| CN113386738A (en) | Risk early warning system, method and storage medium | |
| CN113538571A (en) | Following distance measuring system, vehicle comprising same and corresponding method | |
| CN111376832A (en) | Image display method, image display device, computer equipment and storage medium | |
| CN112950995B (en) | Parking assistance device, corresponding method, vehicle and server |
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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20211022 |
|
| WW01 | Invention patent application withdrawn after publication |