基于计算机视觉的车道跑偏告警系统方法研究
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摘要
论文研究了基于计算机视觉的车道跑偏告警系统，提出了一种新的车道跑偏检测方法，并在红旗自主驾驶系统中进行了实验验证。
论文对驾驶员—汽车—道路闭环系统进行了研究，分析了驾驶员的行为如何影响汽车的运动，进而影响车路关系。由这一分析得出通过监测车路关系的变化可以反推驾驶员状态变化的结论，并通过仿真验证了这一结论。
论文系统的介绍了车道跑偏告警系统，包括其性能要求、系统组成模块以及系统评价标准。论文还分析和研究了应用广泛的TLC方法，仿真了由驾驶员状态改变对TLC曲线产生的影响。
论文提出了用于车道跑偏检测的车道线夹角法，不同于TLC方法的是，该方法能够完全基于前视摄像机获得的具有强烈透视效果的图像工作，论文通过数学推导，给出了车道线夹角的表达式及其与普遍使用的TLC方法的关系，说明了车道线夹角法在车道跑偏判定上的可行性。
论文以红旗车自主驾驶系统为实验环境验证了车道线夹角法，给出了包括直道、弯道以及驾驶员不同驾驶习惯下的实验结果及结论。
This dissertation has researched on vision-based lane departure warning system. A new lane departure detection approach is proposed, and proved in the HONGQI prototype.
A driver-vehicle-road closed loop system is researched. The simulation turned out that the driver's state can be deduced reversely from the road-vehicle relationship.
Lane departure warning system is introduced systematically in the dissertation, including performance demand, system component module, and system evaluate standard. A widely used lane departure detection approach TLC is also analyzed. How the TLC curve varies according to different driver states is simulated.
A new criterion, angle between lane markings (ALM), is proposed to detect lane departure. The ALM method can work based on the perspective image. The expression of ALM and its relation to TLC is also presented to prove the feasibility of ALM method.
The ALM method has been verified in HONGQI Autonomous Land Vehicle. Results under different conditions are introduced, including straight road, curved road, and different driving customs.
论文对驾驶员—汽车—道路闭环系统进行了研究，分析了驾驶员的行为如何影响汽车的运动，进而影响车路关系。由这一分析得出通过监测车路关系的变化可以反推驾驶员状态变化的结论，并通过仿真验证了这一结论。
论文系统的介绍了车道跑偏告警系统，包括其性能要求、系统组成模块以及系统评价标准。论文还分析和研究了应用广泛的TLC方法，仿真了由驾驶员状态改变对TLC曲线产生的影响。
论文提出了用于车道跑偏检测的车道线夹角法，不同于TLC方法的是，该方法能够完全基于前视摄像机获得的具有强烈透视效果的图像工作，论文通过数学推导，给出了车道线夹角的表达式及其与普遍使用的TLC方法的关系，说明了车道线夹角法在车道跑偏判定上的可行性。
论文以红旗车自主驾驶系统为实验环境验证了车道线夹角法，给出了包括直道、弯道以及驾驶员不同驾驶习惯下的实验结果及结论。
This dissertation has researched on vision-based lane departure warning system. A new lane departure detection approach is proposed, and proved in the HONGQI prototype.
A driver-vehicle-road closed loop system is researched. The simulation turned out that the driver's state can be deduced reversely from the road-vehicle relationship.
Lane departure warning system is introduced systematically in the dissertation, including performance demand, system component module, and system evaluate standard. A widely used lane departure detection approach TLC is also analyzed. How the TLC curve varies according to different driver states is simulated.
A new criterion, angle between lane markings (ALM), is proposed to detect lane departure. The ALM method can work based on the perspective image. The expression of ALM and its relation to TLC is also presented to prove the feasibility of ALM method.
The ALM method has been verified in HONGQI Autonomous Land Vehicle. Results under different conditions are introduced, including straight road, curved road, and different driving customs.
引文
[1] Michael Toscano, "Department of Defense Joint Robotics Program"[J], Proc. of SPIE, Unmanned Ground Vehicle Technology, vol. Orlando, Florida, Apr. 1999
[2] James H. Rillings, "Automated Highways"[J], Scientific American, Oct. 1997
[3] E. D. Dickmanns and Muller, "Scene Recognition and Navigation Capabilities for Lane Changes and Turns in Vision-Based Vehicle Guidance", Control Engineering Practice, Vol. 4,No.5
[4] Dean Pomerleau, Todd Jochem, "Rapidly Adapting Machine Vision for Automated Vehicle Steering", IEEE Expert: Special issue on intelligent system and their applications, Apr. 1996
[5] Alberto Broggi, "The ARGO Autonomous Vehicle's Vision and Control Systems", International Journal of Intelligent Control and Systems, Vol. 3, 4, 1999
[6] P. Venhovens, K. Naab, B. Adiprasito, "Stop and Go Cruise Control", International Journal of Automotive Technology, Vol. 1, 2000
[7] National Highway Traffic Safety Admission (NHTSA), National Center for Statistics and Analysis, U.S. Department of Transportation , "A Compilation of Motor Vehicle Crash Data from the Fatality Analysis Reporting System and the General Estimates System", Traffic Safety Facts 1998, Oct. 1999
[8] http://www.iteris.com
[9] G. P. Stein, O. Mano and A. Shashua, "Vision-based ACC with a Single Camera: Bounds on Range and Range Rate Accuracy", IEEE Intelligent Vehicles Symposium (IV2003),Columbus, OH, Jun. 2003,
[10]Mei Chen, Todd Jochem, Dean Pomerleau, "AURORA: A Vision-Based Roadway Departure Warning System", CMU-RI-TR-97-21, Robotics Institute, Carnegie Mellon University, 1997
[11] David J. LeBlanc, Gregory E. Johnson, Paul J. Th. Venhovens, Garth Gerber, Robert DeSonia, Robert D. Ervin, Chiu-Feng Lin, A. Galip Ulsoy, Thomas E. Pilutti, "CAPC: A??Road Departure Prevention System"[C], the Fifth IEEE Intemational Conference on Control Applications, Dearborn, MI, Sept. 18, 1996
[12] Parag H. Batavia, "Driver-Adaptive Lane Departure Warning Systems"[D], PhD thesis, Robotics Institute, Carnegie Mellon University, Sept. 1999
[13] Sukhan Lee, Woong Kwon, Jae-Won Lee, "A Vision Based Lane Departure Warning System", Proceedings of the1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1999
[14] Massimo Bertozzi, Alberto Broggi, Alessandra Fascioli, "Vision-based intelligent vehicles: State of the art and perspectives"[J], Robotics and Autonomous Systems 32 (2000) 1-16
[15] Dean Pomerleau, Todd Jochem, Charles Thorpe, Parag Batavia, Doug Pape, Jeff Hadden, Nancy McMillan, Nathan Brown, Jeff Everson, "Run-Off-Road Collision Avoidance Using IVHS Countermeasures", U.S. Department of Transportation NHTSA Final Report, Dec. 1999
[16] Hans Godthelp, Paul Milgram, Gerard J. Blaauw, "The Development of a Time-Related Measure to Describe Driver Strategy", Human Factors, 26(3), 1984
[17] Parag H. Batavia, Dean A. Pomerleau, Charles E. Thorpe, "Predicting Lane Position for Roadway Departure Prevention", Proceedings of the IEEE Intelligent Vehicles Symposium, IEEE, Oct. 1998
[18] A. Galip Ulsoy, William Clay, "Vehicle Active Safety Systems for Preventing Road Departure Accidents", Proceedings of ESDA2002: 6th Biennial Conference on Engineering Systems Design and Analysis, Istanbul, Turkey, Jul. 8-11, 2002
[19] Chiu-Feng Lin, A. Galip Ulsoy, "Calculation of the Time to Lane Crossing and Analysis of its Frequency Distribution", Proceeding of the American Control Conference, Washington, Jun. 1995
[20] 安向京，“自动驾驶汽车视觉导航系统研究——理论、方法与实现”[D]，国防科学技术大学博士学位论文，2001．4
[21] 孙振平，“自主驾驶汽车智能控制系统”[D]，国防科学技术大学工学博士学位论文，??2004．3
[22] 李果，“汽车自动控制系统设计与研究”[D]，国防科学技术大学工学博士学位论文，1994．3
[23] 邓剑文，“高速公路自主驾驶汽车道路检测技术研究”[D]，国防科学技术大学硕士学位论文，2004．11
[24] 王荣本，李斌，储江伟，郭克友，“世界智能车辆行驶安全保障技术的研究进展”[J]，公路交通科技，Vol．19，No．2，2002．4
[25] 王荣本，郭克友，储江伟，初秀民，“适用驾驶员疲劳状态监测的人眼定位方法研究”[J]，公路交通科技，Vol．20，No．5，2003．10
[26] 郭孔辉，“汽车操纵动力学”，吉林科学技术出版社，1991．12
[27] 交通部第一公路勘察设计院，“公路路线设计规范(JTJ011—94)”，人民交通出版社，1994．7
[28] 孙振平，安向京，贺汉根，“CITAVT-IV——视觉导航的自主车”，机器人，2002年，第二期
[29] 杨欣欣，“智能移动机器人导航与控制技术的研究”[D]，清华大学工学博士学位论文，1999．5
[30] 董因平，“高速汽车车道偏离预警系统研究”，长春理工大学学报，第27卷，第1期，2004．3
[31] 章毓晋 编著，图像处理和分析，清华大学出版社，1999．3
[32] 张志涌等编著，精通MATLAB 6.5版，北京航空航天大学出版社，2003．3
[33] 何斌，马天予，王运坚，朱红莲编著，Visual C++数字图像处理(第二版)，人民邮电出版社，2002．12
[2] James H. Rillings, "Automated Highways"[J], Scientific American, Oct. 1997
[3] E. D. Dickmanns and Muller, "Scene Recognition and Navigation Capabilities for Lane Changes and Turns in Vision-Based Vehicle Guidance", Control Engineering Practice, Vol. 4,No.5
[4] Dean Pomerleau, Todd Jochem, "Rapidly Adapting Machine Vision for Automated Vehicle Steering", IEEE Expert: Special issue on intelligent system and their applications, Apr. 1996
[5] Alberto Broggi, "The ARGO Autonomous Vehicle's Vision and Control Systems", International Journal of Intelligent Control and Systems, Vol. 3, 4, 1999
[6] P. Venhovens, K. Naab, B. Adiprasito, "Stop and Go Cruise Control", International Journal of Automotive Technology, Vol. 1, 2000
[7] National Highway Traffic Safety Admission (NHTSA), National Center for Statistics and Analysis, U.S. Department of Transportation , "A Compilation of Motor Vehicle Crash Data from the Fatality Analysis Reporting System and the General Estimates System", Traffic Safety Facts 1998, Oct. 1999
[8] http://www.iteris.com
[9] G. P. Stein, O. Mano and A. Shashua, "Vision-based ACC with a Single Camera: Bounds on Range and Range Rate Accuracy", IEEE Intelligent Vehicles Symposium (IV2003),Columbus, OH, Jun. 2003,
[10]Mei Chen, Todd Jochem, Dean Pomerleau, "AURORA: A Vision-Based Roadway Departure Warning System", CMU-RI-TR-97-21, Robotics Institute, Carnegie Mellon University, 1997
[11] David J. LeBlanc, Gregory E. Johnson, Paul J. Th. Venhovens, Garth Gerber, Robert DeSonia, Robert D. Ervin, Chiu-Feng Lin, A. Galip Ulsoy, Thomas E. Pilutti, "CAPC: A??Road Departure Prevention System"[C], the Fifth IEEE Intemational Conference on Control Applications, Dearborn, MI, Sept. 18, 1996
[12] Parag H. Batavia, "Driver-Adaptive Lane Departure Warning Systems"[D], PhD thesis, Robotics Institute, Carnegie Mellon University, Sept. 1999
[13] Sukhan Lee, Woong Kwon, Jae-Won Lee, "A Vision Based Lane Departure Warning System", Proceedings of the1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1999
[14] Massimo Bertozzi, Alberto Broggi, Alessandra Fascioli, "Vision-based intelligent vehicles: State of the art and perspectives"[J], Robotics and Autonomous Systems 32 (2000) 1-16
[15] Dean Pomerleau, Todd Jochem, Charles Thorpe, Parag Batavia, Doug Pape, Jeff Hadden, Nancy McMillan, Nathan Brown, Jeff Everson, "Run-Off-Road Collision Avoidance Using IVHS Countermeasures", U.S. Department of Transportation NHTSA Final Report, Dec. 1999
[16] Hans Godthelp, Paul Milgram, Gerard J. Blaauw, "The Development of a Time-Related Measure to Describe Driver Strategy", Human Factors, 26(3), 1984
[17] Parag H. Batavia, Dean A. Pomerleau, Charles E. Thorpe, "Predicting Lane Position for Roadway Departure Prevention", Proceedings of the IEEE Intelligent Vehicles Symposium, IEEE, Oct. 1998
[18] A. Galip Ulsoy, William Clay, "Vehicle Active Safety Systems for Preventing Road Departure Accidents", Proceedings of ESDA2002: 6th Biennial Conference on Engineering Systems Design and Analysis, Istanbul, Turkey, Jul. 8-11, 2002
[19] Chiu-Feng Lin, A. Galip Ulsoy, "Calculation of the Time to Lane Crossing and Analysis of its Frequency Distribution", Proceeding of the American Control Conference, Washington, Jun. 1995
[20] 安向京，“自动驾驶汽车视觉导航系统研究——理论、方法与实现”[D]，国防科学技术大学博士学位论文，2001．4
[21] 孙振平，“自主驾驶汽车智能控制系统”[D]，国防科学技术大学工学博士学位论文，??2004．3
[22] 李果，“汽车自动控制系统设计与研究”[D]，国防科学技术大学工学博士学位论文，1994．3
[23] 邓剑文，“高速公路自主驾驶汽车道路检测技术研究”[D]，国防科学技术大学硕士学位论文，2004．11
[24] 王荣本，李斌，储江伟，郭克友，“世界智能车辆行驶安全保障技术的研究进展”[J]，公路交通科技，Vol．19，No．2，2002．4
[25] 王荣本，郭克友，储江伟，初秀民，“适用驾驶员疲劳状态监测的人眼定位方法研究”[J]，公路交通科技，Vol．20，No．5，2003．10
[26] 郭孔辉，“汽车操纵动力学”，吉林科学技术出版社，1991．12
[27] 交通部第一公路勘察设计院，“公路路线设计规范(JTJ011—94)”，人民交通出版社，1994．7
[28] 孙振平，安向京，贺汉根，“CITAVT-IV——视觉导航的自主车”，机器人，2002年，第二期
[29] 杨欣欣，“智能移动机器人导航与控制技术的研究”[D]，清华大学工学博士学位论文，1999．5
[30] 董因平，“高速汽车车道偏离预警系统研究”，长春理工大学学报，第27卷，第1期，2004．3
[31] 章毓晋 编著，图像处理和分析，清华大学出版社，1999．3
[32] 张志涌等编著，精通MATLAB 6.5版，北京航空航天大学出版社，2003．3
[33] 何斌，马天予，王运坚，朱红莲编著，Visual C++数字图像处理(第二版)，人民邮电出版社，2002．12