Citation

Guan C, Feng H, Zhang Z, Jiang Z, Zhang Z. China Saf. Sci. J. 2021; 31(6): 128-135.

Copyright

(Copyright © 2021, China Occupational Safety and Health Association, Publisher Gai Xue bao)

DOI

10.16265/j.cnki.issn1003-3033.2021.06.017

PMID

unavailable

Abstract

In order to overcome impact of camera jitter on speed measurement during driving, a general speed measurement method was proposed based on characteristics of driving video's vanishing points and inverse perspective mapping. Firstly, positions of those points and slope information of traffic lanes were obtained by detecting and identifying lane lines. Secondly, a three parameter model of cameras was established, and calculation formulas of pitch angle, yaw angle and height were derived by using perspective imaging principle. Then, velocity of self-driving vehicle and target vehicle were obtained through analyzing feature motion of forward projection image after reverse perspective transformation. Finally, a real vehicle test was carried out under conditions of self-driving speed 20, 25, 30, 35, 40, 50 km/ h and front target vehicle at 10, 20, 30 km/ h respectively. The results show that the average error of self-driving speed is less than 5%, while that of front vehicle is less than 7%, which can meet requirements of traffic accident speed measurement. © 2021 China Safety Science Journal. All rights reserved.

Language: zh