Vehicle speed measurement based on vanishing points of driving videos and inverse perspective mapping

doi:10.16265/j.cnki.issn 1003-3033.2021.06.017

Abstract

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.

Key words: driving video, vanishing point, inverse perspective mapping, speed measurement, traffic accident

CLC Number:

GUAN Chuang, FENG Hao, ZHANG Zhiyong, JIANG Zhenfei, ZHANG Zefeng. Vehicle speed measurement based on vanishing points of driving videos and inverse perspective mapping[J]. China Safety Science Journal, 2021, 31(6): 128-135.

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