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在研究多种车辆检测和测距传感器特性的基础上,文章提出了基于激光雷达和机器视觉的车辆检测和测距融合算法,该算法主要通过对视觉图像的处理检测前方车辆,辅助以激光雷达对前方障碍物进行确认。在检测到前方车辆的基础上,从视频信号中提取前方车距信息,与雷达测得的车距信息进行融合滤波。实验结果表明,所提算法能够较好地检测到本车道前方车辆,并能准确地测得主车和前方车辆之间的距离,提高测距精度。
On the basis of studying the characteristics of many kinds of vehicle detection and ranging sensors, this paper proposes a vehicle detection and ranging fusion algorithm based on lidar and machine vision. The algorithm mainly detects the vehicles in front of the vision image and assists the laser radar Confirm the front obstacle. On the basis of detecting the vehicle in front, the information of the distance in front of the vehicle is extracted from the video signal and the information of distance to the vehicle measured by the radar is fused and filtered. The experimental results show that the proposed algorithm can detect the vehicle in front of the lane well, and can accurately measure the distance between the host vehicle and the vehicle ahead and improve the accuracy of ranging.