车辆行驶转向角的图像检测方法

杨隽楠; 史忠科; 舒甜

doi:10.7652/xjtuxb201306013

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车辆行驶转向角的图像检测方法

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- 车辆行驶转向角的图像检测方法
- An Image-Based Method to Detect Steering Angle of Moving Vehicle
- 西安交通大学学报 2013年47卷第6期页码：73-78
- 作者机构：
  
  西北工业大学自动化学院,西安,710072
- 作者简介：
- 基金信息：
  
  : 2012-09-01。作者简介: 杨隽楠(1985—),女,博士生;史忠科(通信作者),男,教授,博士生导师。基金项目: 国家自然科学基金重点资助项目(61134004)
- DOI：10.7652/xjtuxb201306013
  中图分类号： U491;TP751
- 网络首发：2013-06-10，
  
  纸质出版：2013
- 稿件说明：
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杨隽楠, 史忠科, 舒甜. 车辆行驶转向角的图像检测方法[J]. 西安交通大学学报, 2013,47(6):73-78.

An Image-Based Method to Detect Steering Angle of Moving Vehicle[J]. 2013, 47(6): 73-78.
杨隽楠, 史忠科, 舒甜. 车辆行驶转向角的图像检测方法[J]. 西安交通大学学报, 2013,47(6):73-78. DOI： 10.7652/xjtuxb201306013.

An Image-Based Method to Detect Steering Angle of Moving Vehicle[J]. 2013, 47(6): 73-78. DOI： 10.7652/xjtuxb201306013.

摘要

针对车辆建模及安全分析所需转向角数据的简便自动化检测问题

提出了一种新的车辆行驶转向角的图像检测方法。该方法将CCD传感器搭载于车辆上构成视觉检测系统

对CCD采集的转向轮图像进行轮廓边缘点提取

并对边缘点进行了椭圆拟合。根据圆的旋转角度检测法

计算了初步转角值及转向

利用车辆运动的连续性特点对数据进行有效性判断

根据转角增量的统计量对角度增量进行修正

得到了当前车辆的转向角度及转向。实验表明

该方法测得的转角值与方向盘转角检测系统测得的车辆转角值之间的平均误差为0.256 24°

在车辆转角所在的密集区间[-4.15°

4.15°]内

两者的误差均值约为0.1°

并且该方法可在日间有效地实现车辆行驶转向角的检测。

Abstract

A novel image-based method is proposed to automatically detect steering angle for vehicle modeling and safety analysis. A CCD sensor is installed on vehicles to construct a visual detection system

and edge extraction is implemented on the image captured by the CCD sensor. The extracted edge points of the steering wheel are then used in an ellipse fitting

and a preliminary steering angle is calculated using the algorithm for detecting the rotation angle of circle. The continuity of the vehicle movement is used to analyze the effectiveness of the resulting preliminary steering angle. The statistical values of steering angle increments are used to modify the steering angle and to obtain the final steering angle of the vehicle. Experimental results show that the average error between values of angles measured by the proposed method and those measured by the steering wheel-based method is 0.256 24°

while the average error between both of the angles is approximately 0.1° when the steering angles are in the concentrated interval [-4.15°

4.15°]. The results show that the proposed method is able to effectively detect steering angles of moving vehicle during daytime.

关键词

Keywords

references

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