高速汽车车道偏离预警系统可行区域感知算法研究
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摘要
基于视觉的高速汽车车道偏离预警系统通过摄像头获得前方道路的信息,实时辨别车道标线和道路标识,一旦判定汽车偏离车道,就会向驾驶员发出警报,帮助驾驶者保持注意力集中,以提高行车安全。
本文详细分析了驾驶员方向和速度综合控制行为模型,分析了现有的基于视觉的车道偏离预警系统所存在的问题和不足,提出了基于驾驶员最优预瞄加速度模型的高速汽车车道偏离预警算法。
针对与目前道路图像预处理算法去除噪声结果不理想、图像分割后道路信息损失大等方面的不足之处,提出了一套道路图像预处理的新算法。该算法在解决消除噪音、准确的阈值分割和保存车道线有效像素点等方面的都取得了很理想的效果。
本文提出了根据车辆的位置建立探照灯式ROI的方法。该方法解决了车道偏离预警系统启动时因车辆前方不存在车道线信息而不能很好的初始化的问题,在搜索车辆前方可行区域的过程中,由于确立可行区域摆脱了对车道线的依赖,因此能够很好地解决了变换车道过程中继续跟踪车道线的问题。
论文的创新之处在于道路图像不理想的情况下,建立了一套道路图像预处理的新算法;并建立了根据车辆位置而确定的左右ROI的汽车前方可行区域视觉感知模型,该模型较现有车道偏离预警算法更适于处理复杂路况。
Traffic security always is the one of problems that people concerned, it directly relate with losing of people’s life and property. The developing history of automobile also is the elevating history of automobile security performance at the same time. Every year on high-way, there are a large number of traffic accidents that due to driver’s inattention or bad-handle. Lane departure is the mainly cause. The definition of lane departure is that regard the automobile as a rectangle, any one of angle contact or excess the lane that the automobile is running, we regard the automobile is in lane departure
本文详细分析了驾驶员方向和速度综合控制行为模型,分析了现有的基于视觉的车道偏离预警系统所存在的问题和不足,提出了基于驾驶员最优预瞄加速度模型的高速汽车车道偏离预警算法。
针对与目前道路图像预处理算法去除噪声结果不理想、图像分割后道路信息损失大等方面的不足之处,提出了一套道路图像预处理的新算法。该算法在解决消除噪音、准确的阈值分割和保存车道线有效像素点等方面的都取得了很理想的效果。
本文提出了根据车辆的位置建立探照灯式ROI的方法。该方法解决了车道偏离预警系统启动时因车辆前方不存在车道线信息而不能很好的初始化的问题,在搜索车辆前方可行区域的过程中,由于确立可行区域摆脱了对车道线的依赖,因此能够很好地解决了变换车道过程中继续跟踪车道线的问题。
论文的创新之处在于道路图像不理想的情况下,建立了一套道路图像预处理的新算法;并建立了根据车辆位置而确定的左右ROI的汽车前方可行区域视觉感知模型,该模型较现有车道偏离预警算法更适于处理复杂路况。
Traffic security always is the one of problems that people concerned, it directly relate with losing of people’s life and property. The developing history of automobile also is the elevating history of automobile security performance at the same time. Every year on high-way, there are a large number of traffic accidents that due to driver’s inattention or bad-handle. Lane departure is the mainly cause. The definition of lane departure is that regard the automobile as a rectangle, any one of angle contact or excess the lane that the automobile is running, we regard the automobile is in lane departure
引文
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