欢迎访问《汽车安全与节能学报》，
汽车安全与节能学报

JASE ›› 2019, Vol. 10 ›› Issue (1): 46-53.DOI: 10.3969/j.issn.1674-8484.2019.01.005

• 汽车安全 • 上一篇    下一篇

基于视觉的护栏清洗车偏离预警系统

廖家才1，曹立波1*，夏家豪1，程小建2，彭 旭2   

  1. （1. 汽车车身先进设计制造国家重点实验室，湖南大学，长沙 410082，中国；2. 长沙福田汽车科技有限公司，长沙 410000，中国）
  • 收稿日期:2018-06-12 出版日期:2019-03-31 发布日期:2019-04-01
  • 通讯作者: 曹立波（1964—），男( 汉)，湖南，教授。E-mail: hdclb@163.com。
  • 作者简介:廖家才(1991—)，男( 汉)，湖北，博士研究生。E-mail: ljc_hnu@hnu.edu.cn。
  • 基金资助:

    长沙市科技重大专项支持项目（kq1703024）。

Deviation warning system for guardrail cleaning tankers based on vision

LIAO Jiacai1, CAO Libo1*,  XIA Jiahao1, CHENG Xiaojian2, PENG Xu2   

  1. (1. State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082, China; 2. Changsha Foton Motor Technology Co., Ltd., Changsha 410000, China)
  • Received:2018-06-12 Online:2019-03-31 Published:2019-04-01

PDF

368

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。

关键词: 主动安全 , 护栏清洗车 , 偏 离预警系统 , 立体视觉 , 分水岭算法 , Hough 变换直线检测 , Kalman 滤波

Abstract:

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.

Key words: active safety , guardrail cleaning vehicle , deviation warning system ,  stereo vision ,  watershed ,  Hough transform linear detection ,  Kalman filter