According to a method for estimating the minimum collision time of the vehicle collision early warning system, a camera is calibrated through the Zhang Zhengyou calibration method, and the millimeterwave radar data and the camera data are calibrated to the same time dimension according to the delay difference elimination parameters; inverse perspective transformation is performed on millimeter wave radar data, and the millimeter wave radar data and camera image data are calibrated to the same spatial dimension; the track of the obstacle is corrected according to a lane line type second-orderequation performed on the image data of the camera; the video image data is input into an obstacle model to detect an obstacle, and the millimeter wave radar data and the video image data are fused into the same frame of obstacle image; and obstacle matching is performed on the current frame of obstacle image and the previous array of obstacle image so as to evaluate the position of the obstacle,and the minimum collision time of the vehicle collision early warning system is obtained based on the distance between the position of the obstacle and the vehicle. The method can estimate the futurestate of the obstacle, and is suitable for vehicles with higher safety requirements and relatively complex traffic environments.
本公开的车辆碰撞预警系统最小碰撞时间估算的方法,通过张正友标定法对摄像机进行标定,根据延迟差消弭参数将毫米波雷达数据和摄像机数据标定到同一时间维度下,对毫米波雷达数据经反透视变换与摄像机图像数据标定到同一空间维度下;根据对摄像机图像数据进行的车道线型二阶方程对障碍物轨迹修正;将视频图像数据输入到障碍物模型中对障碍物检测,融合毫米波雷达数据和视频图像数据到同一帧障碍物图像中;将当前帧障碍物图像与前一阵障碍物图像进行障碍物匹配以评估障碍物的位置,基于所述障碍物的位置与车辆之间的距离得到车辆碰撞预警系统的最小碰撞时间。能够对障碍物的未来状态进行估计,适合于对安全性要求更高的车辆以及相对复杂的交通环境。
Method for estimating minimum collision time of vehicle collision early warning system
一种用于车辆碰撞预警系统最小碰撞时间估算的方法
2021-01-12
Patent
Electronic Resource
Chinese
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 |
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