METHOD FOR RANGE ESTIMATION WITH MONOCULAR CAMERA FOR VISION-BASED FORWARD COLLISION WARNING SYSTEM

摘要

A distance estimation method of a frontal collision warning system based on an image using a monocular camera is disclosed. The present invention comprises the processes of: obtaining a virtual horizon value from a vehicle position where an average width of an actual fixed vehicle and vehicle width information using the following equation (4) wherein yh is yb - Hc · (ωa / Wa); and estimating a distance from the vehicle position using the following equation (2) wherein d is Fc · Hc / (yb - yh).