| 用于车道识别的分段切换车道模型 |
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| 引用本文： | 郭磊,李克强,王建强,连小珉. 用于车道识别的分段切换车道模型[J]. 公路交通科技, 2006, 23(11): 90-94 |
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| 作者姓名： | 郭磊 李克强 王建强 连小珉 |
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| 作者单位： | 清华大学,汽车安全与节能国家重点实验室,北京,100084 |
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| 基金项目： | 国家十五科技攻关计划资助项目(2002BA404A21) |
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| 摘 要： | 为了使得车道模型既能准确地描述车道形状,又不影响车道识别算法的实时性,提出了一种分段切换车道模型。对近视场区域使用直线模型匹配车道线,对远视场区域则在直线模型和二次曲线模型之间进行切换,以适应有曲率和无曲率道路的识别要求。试验表明,使用分段切换车道模型的车道识别算法能够很好地匹配各种形状道路,并能满足实时性要求。
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| 关 键 词： | 车道识别 分段切换车道模型 直线模型 二次曲线模型 |
| 文章编号： | 1002-0268(2006)11-0090-05 |
| 收稿时间： | 2005-10-16 |
| 修稿时间： | 2005-10-16 |
Multi-sectional Lane Switch Model for Lane Detection |
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| GUO Lei,LI Ke-qiang,WANG Jian-qiang,LIAN Xiao-min. Multi-sectional Lane Switch Model for Lane Detection[J]. Journal of Highway and Transportation Research and Development, 2006, 23(11): 90-94 |
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| Authors: | GUO Lei LI Ke-qiang WANG Jian-qiang LIAN Xiao-min |
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| Affiliation: | State Key laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China |
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| Abstract: | A multi-sectional lane switch model is proposed to make the lane model not only fit the lane shape accurately,but also meet the real-time requirements of the lane detection algorithm.A linear model is used to approximate the lane boundaries in near field;while in far field fit the lane boundaries with the lane model which is switched between linear model and second-order polynomial model,this can meet the detection need of both straight lane and curved lane.Experiments show that the lane detection algorithm based on the multi-sectional lane switch model can fit lane boundaries with various shapes accurately,and the algorithm is fast enough. |
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| Keywords: | lane detection multi-sectional lane switch model linear model second-order polynomial model |
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