一种基于边缘点投影的车道线快速识别算法
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摘要
提出一种基于边缘点投影的车道线快速识别算法,可用于车道线检测和车道跟踪。首先在感兴趣区域内基于投票机制检测消失点,定义目标搜索区域,利用边缘检测信息提取车道特征点。然后沿其梯度方向投影计数,获取车道线上的两个点,再通过置信度判断检测出车道线。最后定义带状区域,实现车道跟踪。采用TMS320DM6437为硬件开发平台,并在集成开发环境CCS下实时仿真调试程序。实车试验结果表明,该算法在DSP硬件平台上运行具有很好的实时性、鲁棒性及准确性,在有阴影、车辆遮挡或雨雾天气等复杂行驶环境下的车道识别和跟踪效果令人满意。
A fast lane marking recognition algorithm based on edge projection is proposed,which can be used in lane marking recognition and lane tracking. Firstly,the vanishing point in the region of interest is detected based on voting mechanism,object search area is defined and lane feature points are extracted from edge detection information. Then these feature points are projected along gradient direction and counted,with two points on the lane acquired and lane markings detected by confidence judgment. Finally,strip-shaped region is defined and lane tracking is achieved. With TMS320DM6437 as hardware platform,and real-time simulation and debugging program under CCS integrated environment,a real vehicle test is conducted. The results show that the proposed algorithm running on DSP platform has good real-time performance,robustness and accuracy,with satisfactory lane marking recognition and lane tracking effects under complicated environments with shadows,vehicle occlusion,rain and fog.
A fast lane marking recognition algorithm based on edge projection is proposed,which can be used in lane marking recognition and lane tracking. Firstly,the vanishing point in the region of interest is detected based on voting mechanism,object search area is defined and lane feature points are extracted from edge detection information. Then these feature points are projected along gradient direction and counted,with two points on the lane acquired and lane markings detected by confidence judgment. Finally,strip-shaped region is defined and lane tracking is achieved. With TMS320DM6437 as hardware platform,and real-time simulation and debugging program under CCS integrated environment,a real vehicle test is conducted. The results show that the proposed algorithm running on DSP platform has good real-time performance,robustness and accuracy,with satisfactory lane marking recognition and lane tracking effects under complicated environments with shadows,vehicle occlusion,rain and fog.
引文
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[2]许华荣,王晓栋,方遒.基于B样条曲线模型的结构化道路检测算法[J].自动化学报,2011,37(3):270-275.
[3]PARK J W,LEE J W,JHANG K Y.A lane-curve detection based on an LCF[J].Pattern Recognition Letters,2003,24(14):2301-2313.
[4]CHEN Q,WANG H.A real-time lane detection algorithm based on a hyperbola-pair model[C].Intelligent Vehicles Symposium,2006IEEE.IEEE,2006:510-515.
[5]SOTELO M A,RODRIGUEZ F J,MAGDALENA L,et al.A color vision-based lane trackinging system for autonomous driving on unmarked roads[J].Autonomous Robots,2004,16(1):95-116.
[6]余厚云,张为公.直线模型下的车道线跟踪与车道偏离检测[J].自动化仪表,2009(11):1-3.
[7]APOSTOLOFF N,ZELINSKY A.Robust vision based lane tracking using multiple cues and particle filtering[C].Intelligent Vehicles Symposium,2003.Proceedings.IEEE.IEEE,2003:558-563.
[8]王家恩,陈无畏,汪明磊,等.车辆辅助驾驶系统中的三车道检测算法[J].汽车工程,2014,36(11):1378-1385.
[9]JU Q,FORSTHOEFEL D,AZMAT S,et al.Path Mark:a novel fast lane detection algorithm for embedded systems[C].Information Science and Engineering(ISISE),2012 International Symposium on.IEEE,2012:68-73.
[10]RASMUSSEN C.Texture-based vanishing point voting for road shape estimation[C].BMVC.2004:1-10.
[11]ZHOU S,JIANG Y,XI J,et al.A novel lane detection based on geometrical model and gabor filter[C].Intelligent Vehicles Symposium(IV),2010 IEEE.IEEE,2010:59-64.
[12]SHIEH J Y,LIAO Y L,HUANG W C,et al.Applying FPGA to implement real-time infrared tracking of moving objects[J].Journal of Selected Areas in Microelectronics,2012(11):12-18.
[13]WU Q,ZHANG W,CHEN T,et al.Prior-based vanishing point estimation through global perspective structure matching[C].Acoustics Speech and Signal Processing(ICASSP),010 IEEE International Conference on.IEEE,2010:2110-2113.
[14]SON J,YOO H,KIM S,et al.Real-time illumination invariant lane detection for lane departure warning system[J].Expert Systems with Applications,2015,42(4):1816-1824.
[15]LIN Q,HAN Y,HAHN H.Real-time lane departure detection based on extended edge-linking algorithm[C].Second International Conference on Computer Research and Development.IEEE,2010:725-730.