The invention provides a method for detecting sliding of a preceding vehicle through a vehicle-mounted binocular camera and the vehicle-mounted binocular camera. The method comprises the steps that afirst V disparity map of a shot first front vehicle image of a front vehicle is converted into a first VZ map, the abscissa variation of the front vehicle in the first VZ map and a second VZ map is calculated, and the second VZ map is obtained by converting a second V disparity map of a previously shot second front vehicle image of the front vehicle; if the abscissa variation exceeds a threshold value, determining that the front vehicle slides. Therefore, whether the front vehicle slides or not can be accurately judged by calculating the abscissa variation of the front vehicle in the first VZimage and the second VZ image, so that the vehicle sliding early warning is given in advance, and the accuracy of vehicle sliding detection is greatly improved.
本发明提供一种车载双目相机检测前车溜车的方法及车载双目相机,可以将拍摄的前车的第一前车图像的第一V视差图转换为第一VZ图,计算前车在第一VZ图和第二VZ图中的横坐标变化量,所述第二VZ图由之前已拍摄的所述前车的第二前车图像的第二V视差图转换得到;若所述横坐标变化量超过阈值,则确定前车溜车。因此本发明可以通过计算第一VZ图和第二VZ图中前车的横坐标变化量来准确判断前车是否溜车,从而提前做出溜车预警,并极大提高了溜车检测的准确率。
Method for detecting sliding of preceding vehicle through vehicle-mounted binocular camera and vehicle-mounted binocular camera
车载双目相机检测前车溜车的方法及车载双目相机
16.06.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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