一种基于机器视觉的车辆轨迹测量方法

摘要

A trajectory measurement of combination vehicles is proposed based on machine vision, which can be used to calculate steering characteristics parameters. Firstly, the land marks composed of several horizontal and vertical identification lines are designed and pasted in experimental field. Secondly, the cameras installed on the vehicle capture the driving video streams, and the intersection coordinate can be calculated by the threshold segmentation and the curve fitting of the horizontal and vertical identification lines. Finally, the global coordinates of the cameras can be calculated by the geometrical deduction, and then the trajectory of the point on the vehicle can be calculated. At the end of the paper, we compare our method with GPS trajectory measurement. The experimental results suggest that the trajectory measurement based on machine vision possesses the advantages of high speed, high precision and high validity and provides a new solution for the measurement of curve possibility for combination vehicles.%本文提出一种基于机器视觉的汽车列车弯道行驶轨迹测量方法，用于计算挂车等货运车辆在转弯过程中的转向特性参数。首先，设计了一种由多条横纵标识线构成的路标，该路标形状与汽车列车转弯道路形状一致；其次，由安装在挂车上的摄像机获取汽车列车行驶视频流，通过阈值分割和拟合获得标志线方程，计算出横纵标识线的交叉点坐标；最后，由摄像机所在位置的全局坐标，可推算整个车体关键轮廓的位置坐标。本文对比了基于机器视觉轨迹测量和GPS轨迹测量两种方法，实验结果证实了基于机器视觉轨迹测量法的有效性，且具有精度高和测量快速便捷的优点，为汽车列车弯道通过性参数的测量提供了新的思路。