[1]李旭,张为公.基于视觉的智能车辆横向偏差测量方法[J].东南大学学报(自然科学版),2007,37(1):45-50.[doi:10.3969/j.issn.1001-0505.2007.01.011]
 Li Xu,Zhang Weigong.Measurement method of intelligent vehicle’s lateral deviation error based on vision[J].Journal of Southeast University (Natural Science Edition),2007,37(1):45-50.[doi:10.3969/j.issn.1001-0505.2007.01.011]
点击复制

基于视觉的智能车辆横向偏差测量方法()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
37
期数:
2007年第1期
页码:
45-50
栏目:
交通运输工程
出版日期:
2007-01-20

文章信息/Info

Title:
Measurement method of intelligent vehicle’s lateral deviation error based on vision
作者:
李旭 张为公
东南大学仪器科学与工程学院, 南京 210096
Author(s):
Li Xu Zhang Weigong
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
关键词:
机器视觉 智能车辆 横向偏差 测量
Keywords:
machine vision intelligent vehicle lateral deviation error measurement
分类号:
U471.15
DOI:
10.3969/j.issn.1001-0505.2007.01.011
摘要:
针对横向偏差传统测量手段的不足,提出了一种智能车辆横向偏差的视觉测量方法.该方法是根据摄像机的成像特点和高等级路面的特征,通过重构路面的空间关系来实现的.对其中的关键环节车载摄像机的标定采用了非线性分步优化的过程,该过程不需要知道不同取向的靶标图像的变动情况,能适应室外道路简便、快速的标定要求.试验表明,所提出的横向偏差测量方法在近视野情况下对于坡度不大的一般道路可以取得厘米级的实时测量精度,能够满足多传感器组合导航对横向偏差测量的要求.
Abstract:
To overcome the shortcomings of traditional measurement methods for lateral deviation error, a new measurement method based on machine vision is proposed. This method is realized by reconstructing the highway spatial relationship according to the camera’s imaging characteristic and the highway feature. For the key step of the proposed method, the camera calibration adopts the nonlinear, multi-step and optimized process, which does not need to know the relative positions between different target images and can satisfy simple and feasible calibration demands on the outdoor road. Experimental results demonstrate that the proposed vision measurement method for the lateral deviation error can achieve the cm-level real-time accuracy on the general road with low gradient under the condition of near view, which can satisfy the measurement demands of the multi-sensor integrated navigation system of intelligent vehicles.

参考文献/References:

[1] Nobe S A,Wang Feiyue.An overview of recent developments in automated lateral and longitudinal vehicle controls[C] //IEEE International Conference on SMC. Tucson,AZ,2001:3447-3452.
[2] Yang Y,Farrell J,Tan H-S.GPS-aided INS based control state calculation for AHS[C] //Proceedings of the American Control Conference.Arlington,VA,2001:2321-2326.
[3] Yang Yunchun,Farrell Jay A.Magnetometer and differential carrier phase GPS-aided INS for advanced vehicle control [J].IEEE Transactions on Robotics and Automation,2003,19(2):269-281.
[4] 马颂德,张正友.计算机视觉——计算理论与算法基础[M].北京:科学出版社,1998.
[5] Broggi Alberto,Bertozzi Massimo,Fascioli Alessandra.Self-calibration of a stereo vision system for automotive applications[C] //IEEE International Conference on Robotics & Automation.Seoul,Korea,2001:3698-3703.
[6] Jeong Seung Gweon,Kim Chang Sup,Yoon Kang Sup,et al.Real-time lane detection for autonomous navigation[C] //IEEE Intelligent Transportation Systems Conference Proceedings.Oakland,CA,USA,2001:508-513.
[7] 王荣本,李斌,储江伟,等.公路上基于车载单目机器视觉的前方车距测量方法的研究[J].公路交通科技,2001,18(6):94-98.
  Wang Rongben,Li Bin,Chu Jiangwei,et al.Study on the method of measuring the leading vehicle distance based on the on-board monocular camera [J].Journal of Highway and Transportation Research and Development,2001,18(6):94-98.(in Chinese)
[8] Zhang Zhengyou.A flexible new technique for camera calibration[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2000,22(11):1330-1334.
[9] Harris C G,Stephens M.A combined corner and edge detector[C] //Proc 4th Alvey Vision Conf.Manchester,1988:189-192.
[10] Math Works. Genetic algorithm and direct search toolbox user’s guide[M].Natick,MA:The Math Works Inc,2005.

相似文献/References:

[1]余厚云,张为公.基于摄像机模型的运动车辆车道偏离检测[J].东南大学学报(自然科学版),2009,39(5):933.[doi:10.3969/j.issn.1001-0505.2009.05.013]
 Yu Houyun,Zhang Weigong.Lane departure detection for moving vehicle based on camera model[J].Journal of Southeast University (Natural Science Edition),2009,39(1):933.[doi:10.3969/j.issn.1001-0505.2009.05.013]

备注/Memo

备注/Memo:
基金项目: 江苏省汽车工程重点实验室开放基金资助项目(QC200603)、江苏省交通科学研究计划资助项目(06C04)、东南大学博士科研启动基金资助项目(4022001008).
作者简介: 李旭(1975—),男,博士,讲师,lixu.mail@163.com.
更新日期/Last Update: 2007-01-20