一种基于特征的车辆检测方法_郭磊.pdfVIP

　　　 2006( 28) 11 Automotive Engineering 2006(Vol. 28)No. 11 2006234 郭　磊, 李克强,王建强,连小珉 (清华大学, 汽车安全与节能国家重点实验室, 北京　100084 ) []　。。 ; ;, 。 , 。, , 。 :,,, A Feature-based Vehi le Dete tionM ethod Guo Le,i L iK eqiang, W ang J ianqiang Lian X iaom in Tsinghua University, StateK ey Laboratory of AutomotiveSafety and Energy, Beijing　100084 [Abstract]　A veh i le dete tion method using mono u lar vision is proposed. The shadow under vehi le and the edges of vehi les are hosen as the m ain features for dete tion. The adaptive doub le threshold ing is used for shadow dete tion. The energy density validation is adopted to improve the a ura y of veh i le verti al edge dete- tion. The deformab lemodel is in trodu ed to p lan the vehi le dete tion range for meeting the dete tion requ irements of vehi les at different d istan es. Radar dete tion data is also fused into the algorithm to improve the a ura y and speed of vehi le dete tion. Expermi en ts show that themethod has high a ura y rate of veh i le dete tion and the a-l gorithm an meet the rea-l time requirements for its appli ation to intelligent vehi les. K eywords:V ehicle detection, M achine vision, Radar, Feature-based [3] (2) 。 1　 , , ,。 (3) , FCW (fo-r [4 - 6] 。 w ard ollision w arn ing )、ACC (adap tive ru ise on- , trol)、S top Go Cru ise Con trol 。 。 , , 。