摘要
为了获得护栏清洗车与护栏之间的准确距离信息,避免驾驶员进行观察护栏位置的同时操作车辆而导致分心驾驶和疲劳驾驶,提出一种基于视觉的护栏检测方法并应用在护栏清洗车偏离预警系统。使用双目立体视觉获得护栏的准确距离值;结合摄像头标定和标记分水岭算法分割护栏所在区域,并使用Hough变换直线检测算法提取护栏分割区域内的直线特征;通过约束直线检测参数和直线检测数量实现护栏检测。使用恒定速运模型条件下的Kalman滤波器跟踪护栏位置,结合特征检测信息和位置跟踪信息进行决策和预警。结果表明:偏离预警系统平均预警准确率为89.40%,因此在工程环卫车辆上具有一定的实用价值。
A vision-based guardrail detection method was proposed and used on the cleaning vehicle deviation warning system to obtain the accurate distance information between the guardrail cleaning tanker and the guardrail, and to avoid the distracted driving and fatigue driving which was caused by the driver simultaneously observing the position of the guardrail and operating the tanker. The binocular stereo vision was used to obtain the exact distance value of the guardrail. By combining the camera calibration and marking watershed algorithm to segment the area where the guardrail was located, and by using the Hough transform line detection algorithm,the line features was extracted in the guardrail segmentation area. The guardrail detection was realized by constraining the line detection parameters and the number of line detections. The position of the guardrail was tracked with the Kalman filter under the condition of constant speed model and the feature detection information and position tracking information were combined for decision making and warning. The results show that the average warning accuracy of the system is 89.40%, and this system has certain practical value in engineering sanitation vehicles.
作者
廖家才
曹立波
夏家豪
程小建
彭旭
LIAO Jiacai;CAO Libo;XIA Jiahao;CHENG Xiaojian;PENG Xu(State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Hunan University,Changsha 410082,China;Changsha Foton Motor Technology Co.,Ltd.,Changsha 410000,China)
出处
《汽车安全与节能学报》
CAS
CSCD
2019年第1期46-53,共8页
Journal of Automotive Safety and Energy
基金
长沙市科技重大专项支持项目(kq1703024)
作者简介
第一作者:廖家才(1991—),男(汉),湖北,博士研究生。E-mail:ljc_hnu@hnu.edu.cn;通讯作者:曹立波(1964—),男(汉),湖南,教授。E-mail:hdclb@163.com。
