基于动态曲线的车道检测算法.pdfVIP

Computer Science and Application 计算机科学与应用, 2018, 8(12), 1791-1797 Published Online December 2018 in Hans. /journal/csa /10.12677/csa.2018.812198 Lane Detection Algorithm Based on Dynamic Curve Yan Gao, Hongqiang Guo, Jun Wang, Yujie Ji College of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng Shandong Email: 1570079892@, 2044369540@, 393900678@, 609404334@ th th th Received: Nov. 26 , 2018; accepted : Dec. 6 , 2018; published: Dec. 13 , 2018 Abstract Aiming at the detection of complex lanes in unmanned driving technology, this paper proposes a complex lane detection algorithm based on the color gradient change of lanes and the correlation of each video frame. The algorithm extracts the edge pixels of the original image by gradient de- tection method, extracts the feature points of the edge pixels through the restriction of dynamic curve, filters out the target edge pixels and removes the non-target edge pixels. Finally, the lane location is detected by curve fitting. Field measurements show that the algorithm can finally ob- tain more accurate location information of complex lane lines through curve fitting. At the same time, the measured results also show that this algorithm has better real-time performance and robustness than other algorithms. Keywords Complex Lane, Gradient Detection, Dynamic Curve, Curve Fitting 基于动态曲线的车道检测算法 高 严，郭洪强，王 钧，季玉洁 聊城大学机械与汽车工程学院，山东 聊城 Email: 1570079892@, 2044369540@, 393900678@, 609404334@ 收稿日期：2018年11月26 日；录用日期：2018年12月6 日；发布日期：2018年12月13 日 摘 要 针对无人驾驶技术中关于复杂车道线的检测问题，本文提出了一种基于车道线的颜色梯度变化和视频每 帧图像的关联性的复杂车道线检测算法。该算法通过梯度检测的方法对原图像进行边缘像素提取，通过 动态曲线的限制对所得的边缘像素进行特征点提取，筛选出目标边缘像素，去除非目标边缘像素。最后 文章引用: 高严, 郭洪强, 王钧, 季玉洁. 基于动态