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This paper presents new approaches for the estimation of range between the preceding vehicle and the experimental vehicle, estimation of vehicle size and its projective size, and dynamic camera calibration. First, our proposed approaches adopt a camera model to transform coordinates from the ground plane onto the image plane to estimate the relative position between the detected vehicle and the camera. Then, to estimate the actual and projective size of the preceding vehicle, we propose a new estimation method. This method can estimate the range from a preceding vehicle to the camera based on contact points between its tires and the ground and then estimate the actual size of the vehicle according to the positions of its vertexes in the image. Because the projective size of a vehicle varies with respect to its distance to the camera, we also present a simple and rapid method of estimating a vehicle's projective height, which allows a reduction in computational time for size estimation in real-time systems. Errors caused by the application of different camera parameters are also estimated and analyzed in this study. The estimation results are used to determine suitable parameters during camera installation to suppress estimation errors. Finally, to guarantee robustness of the detection system, a new efficient approach to dynamic calibration is presented to obtain accurate camera parameters, even when they are changed by camera vibration owing to on-road driving. Experimental results demonstrate that our approaches can provide accurate and robust estimation results of range and size of target vehicles.

Range and Size Estimation Based on a Coordinate Transformation Model for Driving Assistance Systems