摘要
利用车载CCD摄像机获取道路图像,采用Sobel边缘检测技术获得含有道路边缘信息的图像,运用Hough直线检测原理检测出左右车道线。根据摄像机在车辆上的安装位置和俯仰角,建立图像坐标到世界坐标的变换关系,提取前轮外沿离最近车道线的距离;再应用国际通用的方法,根据车速估算出从当前时刻到前轮外沿触碰车道线的时间(TLC)并据此发出跑偏告警。以换道模拟跑偏驾驶的试验表明此方法可行、有效。
Road images are taken by CCD video camera, the images with road edge information are obtained using Sobel edge detection technique, and the left and right lane markings are detected by applying Hough straight line detection principle. According to the mounting position and pitch angle of Video camera, the transfor- mation relation from image coordinate to world coordinate is established, and the distance between the outer edge of front wheel and the nearest lane marking is extracted, and then, as per international convention, vehicle speed is used to estimate the time to line crossing （TLC） and a warning of lane departure is given accordingly. The experiment, in which lane departure is mimicked by lane change, indicates that the scheme is feasible and effective.
出处
《汽车工程》
EI
CSCD
北大核心
2010年第1期77-80,共4页
Automotive Engineering
基金
合肥工业大学校基金(2009HGXJ0088)资助
关键词
车辆跑偏
车道线
TLC
告警阈值
lane departure
lane marking
time to line crossing（TLC）
warming threshold
