PSO Algorithm Particle Filters for Improving the Performance of Lane Detection and Tracking Systems in Difficult Roads 英文参考文献.docVIP
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PSO Algorithm Particle Filters for Improving the Performance of Lane Detection and Tracking Systems in Difficult Roads 英文参考文献
Sensors 2012, 12, 17168-17185; doi:10.3390/s121217168
OPEN ACCESS
sensors
ISSN 1424-8220
/journal/sensors
Article
PSO Algorithm Particle Filters for Improving the Performance
of Lane Detection and Tracking Systems in Difficult Roads
Wen-Chang Cheng
Department of Computer Science and Information Engineering, Chaoyang University of Technology,
168, Jifong E. Rd., Wufong District, Taichung 41349, Taiwan; E-Mail: wccheng@.tw;
Tel.: +886-4-2332-3000 (ext. 5208); Fax: +886-4-2374-2375
Received: 9 August 2012; in revised form: 7 December 2012 / Accepted: 10 December 2012 /
Published: 12 December 2012
Abstract: In this paper we propose a robust lane detection and tracking method by
combining particle filters with the particle swarm optimization method. This method mainly
uses the particle filters to detect and track the local optimum of the lane model in the input
image and then seeks the global optimal solution of the lane model by a particle swarm
optimization method. The particle filter can effectively complete lane detection and tracking
in complicated or variable lane environments. However, the result obtained is usually a local
optimal system status rather than the global optimal system status. Thus, the particle swarm
optimization method is used to further refine the global optimal system status in all system
statuses. Since the particle swarm optimization method is a global optimization algorithm
based on iterative computing, it can find the global optimal lane model by simulating the
food finding way of fish school or insects under the mutual cooperation of all particles. In
verification testing, the test environments included highways and ordinary roads as well as
straight and curved lanes, uphill and downhill lanes, lane changes, etc. Our proposed
method can complete the lane detection and tracking more accurately and effectively then
existing options.
Keywords: driver assistance system; lane departure
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