The invention relates to the technical field of auxiliary driving, and discloses a vehicle automatic emergency braking system and method based on a depth image, and the vehicle automatic emergency braking system based on the depth image comprises a depth camera, a steering torque sensor, a vehicle-mounted controller and a robot operating system. The invention further discloses an implementation method of the vehicle automatic emergency braking system based on the depth image. The implementation method comprises the following steps that S1, the color image and the depth image are received and aligned; s2, generating a depth mask according to the vehicle state; s3, carrying out image processing on the depth image; and S4, determining a target distance according to the processed depth image. According to the invention, non-linear change and multi-scene adaptation of the depth threshold line can be realized; defects of a common camera imaging principle are overcome, and accurate target object detection is realized; the method has good robustness on target distance detection; and therefore, accurate emergency braking is realized.
本发明涉及辅助驾驶技术领域,公开了一种基于深度图像的车辆自动紧急刹车系统及方法,一种基于深度图像的车辆自动紧急刹车系统,包括深度相机、转向扭矩传感器、车载控制器、机器人操作系统。还公开了一种基于深度图像的车辆自动紧急刹车系统的实现方法,包括以下步骤:S1:接收彩色图像和深度图像并对齐;S2:根据车辆状态生成深度蒙版;S3:对深度图像进行图像处理;S4:根据处理后的深度图像判定目标距离。本发明可以实现深度阈值线的非线性变化以及多场景适配;弥补普通相机成像原理的缺陷,实现准确的目标对象检测;对目标距离的探测具有良好的鲁棒性;进而实现精准紧急刹车。
Vehicle automatic emergency braking system and method based on depth image
一种基于深度图像的车辆自动紧急刹车系统及方法
2023-07-21
Patent
Electronic Resource
Chinese
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