Patent ID: 11900619
Assignee: nan
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H | IPC G  H

Claim 11:
12. The method for intelligently measuring vehicle trajectory based on a binocular stereo vision system according to claim 10, wherein in step 6, stereo measurement is performed on the screened matching points by the binocular stereo vision system to get the positions P1=(x1,y1,z1), P2=(x2,y2,z2), P3=(x3,y3,z3) of the target vehicle at the time t1, t2, t3, and so on; the moving trajectory and steering information of the vehicle can be obtained in time sequence, the moving direction vector of the vehicle between two points can be calculated according to the difference between the coordinates of the two points:

α1=((x2−x1),(y2−y1),(z2−z1)),

β1=((x3−x2),(y3−y2),(z3z2))

wherein the 3D moving trajectory of the vehicle is projected onto an XOY plane to obtain a vector relationship:, x
      1
     
     ·
     
      y
      2
     
    
    -
    
     
      x
      2
     
     ·
     
      y
      1
     
    
   
   =
   
    
     
      
       
        x
        1
        2
       
       +
       
        y
        1
        2
       
      
     
     ·
     
      
       
        x
        2
        2
       
       +
       
        y
        2
        2
       
      
     
    
    *
    sin
    ⁢
    ε
    ⁢
    1
   
  
  ,
  

  
   ε1
   =
   
    arcsin
    ⁢
    
     
      
       
        x
        1
       
       ⁢
       
        gy
        2
       
      
      -
      
       
        x
        2
       
       ⁢
       
        gy
        1
       
      
     
     
      
       
        
         x
         1
         2
        
        +
        
         y
         1
         2
        
       
      
      ⁢
      g
      ⁢
      
       
        
         x
         2
         2
        
        +
        
         y
         2
         2
        
       
      
     
    
   
  
  ,
 

wherein ε1 is the steering angle of the vehicle; ε1=0 indicates that the vehicle does not turn; ε1>0 indicates that the vehicle turns left; and ε1<0 indicates that the vehicle turns right.