Research On Reversing Environment Perception And Speed Control For Heavy-duty Trucks Based On Fisheye Vision

As trucks have become the main transportation for Chinese road transport and logistics industry,the problem of traffic accidents has become prominent.Because of the large truck,the high position of the cab and the limited view of the rear mirror,the driver can not observe and grasp the road environment information around the truck fully.And there is a blind area when driver reverse in the straight line and right turn,it is easy to have a tragic reversing accident.In this context,this paper focusing on the reversing vehicle environment perception and the speed contro,a reversing active safety control method for trucks based on fisheye vision is proposed.The main works can be described as follows:First of all,a fisheye lens with a 180° field of view is used to obtain the reversing environment information.In this paper,the pretreatment process of fisheye vision is proposed in detail,and an ellipse-based calibration method is proposed to calibrate the fisheye lens parameters.The longitude coordinate correction algorithm is used to correct the distorted fisheye image,and the effective area of fisheye image is extracted to improve the correction effect.Secondly,HOG and SVM are used to detect and identify the pedestrians in the corrected fisheye images.The CMT tracking algorithm is optimized by selecting the optimal feature extraction operator and binary descriptor.The results prove that the speed of algorithm tracking is improved.The algorithm can track obstacles in the reversing blind zone of a truck in real-time.Thirdly,an obstacle detection and collision warning method in a blind turn right area of a heavy-duty truck is proposed.The hazardous area is determined according to the internal wheel difference caused by the right turn of the truck.The particle filter algorithm is used to track the obstacles in the dangerous area,and the low rank fusion is used to increase the tracking speed.The target tracking information and obstacle distance are used to alert the driver and pedestrians to keep safety distance.Finally,a safety control model for reversing speed of trucks is proposed.Combining the results of obstacle tracking and distance,simulation analysis is performed on the reversing speed of truck.By analyzing the speed-distance characteristic curves under different conditions,it is concluded that the safety speed control method of heavy truck reversing is feasible.