基于模型驱动车线偏离警告系统①.PDFVIP

计 算 机 系 统 应 用 2015 年 第24 卷 第 12 期 基于模型驱动的车线偏离警告系统① 朱 峰 (上海城市管理职业技术学院 人文与信息学院, 上海 200438) 摘 要: 车线偏离警告系统(LDWS)是车载主动安全系统的一项主要功能, 研究了 LDWS 中的关键技术, 以车道 模型为核心, 采用基于模型驱动的方法探测车道, 为解决弯道探测的问题, 将车线探测区域划分为多个子区域, 独立探测每个子区域中的车线段, 为提高探测效率并减少误识别, 每个子区域的尺寸根据每次探测的结果和车 道模型的拟合值动态变化, 为增加探测的稳定性, 对近处子区域采用 Sobel 滤波处理, 对远处子区域采用根据车 道几何特征动态设置的 Gabor 滤波处理, 实验表明, 系统能准确探测弯道并精确测算车道偏离范围, 在噪声环境 中有良好的鲁棒性. 关键词: 车线检测; 弯道检测; 车线偏离警告系统; 车道模型 Lane Departure Warning System Based on Model Driven Approach ZHU Feng (Shanghai Technical College of Urban Management, Shanghai 200438, China) Abstract: Lane departure warning system(LDWS) is one of the main functions for the vehicle active safety system. This paper researches some critical techniques of LDWS. The road model is made as the core and detect lanes based on the model driven approach. In order to detect curve, the region of detection is divided into multiple sub regions, then lane marks are detected in each region independently. For speeding up the detection and decrease error, the size of each sub region is changed based on the detection result and fitting values of the road model in each frame. For increasing the detection stability, the Sobel filter is adopted for nearby sub regions and Gabor filter is adopted for distant sub regions. Furthermore, the Gabor filter is set adaptively based on the road geometry. Experimental results shows the system can accurate detect the curve and predict lane departure range precisely. Furthermore, the system has good robustness in the noisy environments. Key words: lane detection; curve detection; lane departure warning system (LDWS); road model 汽车主动安全技术是指为预防汽车发生事故, 避 独立应用, 在目前的智能车辆系统中, 车道探测的信 免人员受到伤害而采取的安全设计. 典型的系统包括 息通常还用于 FCWS, PCWS 的探测区域选择, 路径规 前车防撞系统(FCWS)、车道偏离警