车道线实时检测与偏离预警系统设计与研究

为保证交通安全,设计了一种基于单目视觉的车道偏离检测系统,利用 车载前视摄像 头获取图像,实时对动态图像进行处理,在驾驶员非主观偏离车道时进行报警。首先研 究了图像预处 理技术,包括灰度化、截取有效区域、滤波去噪、图像灰度增强、边缘检测和边缘修复功能 。其次对预处 理后的图像进行车道线检测,为有效识别具有车道线特征的图像,提出了一种改进的Hough 变换算法；对 没有车道线特征或车道线特征不明显的图像,采用了动态检测方法。在此基础上,提出 了一种车道线 纠正算法,即四点标定逆透视变换,将车道图像转化为俯视图,建立图像坐标系与实际俯视 坐标系之间的 关系,得到实际车辆的位置和偏移角度,判断该车辆的情况并作出指示。最后,在实际道路 中对设计中关 键技术以及整个系统进行了实验,大量实验结果表明,本文系统能在多种环境的道路中实现 车道线的准确识别和偏移判断,具有良好的实时性和鲁棒性。

Design and research on lane detection and the departure warning system

With the rapid growth of the number of cars,traffic safety has become a hot issue of global concern.According to statistics,the accident caused by lane departure i s increasing year by year.This paper designs a new lane departure warning system based on monocu lar vision.The system processes dynamic image in real time,and alarms when the vehicle deviat es from the lane. Firstly,the paper studies image preprocessing technology,including gray proces sing, intercepting effective region,denoising,image gray enhancement,edge detection and edge repairing.Then,in order to detect the lane whose characteristics are not ap parent or with no lane characteristics,an improved Hough transform and a dynamic detection method are put forward.Next, the paper proposes another algorithm for lane line correction,which is inverse p erspective transformation by four point calibration,turning the lane image into a top view.The system establishes the relation between different coordinate systems,works out the off set of the vehicle, judges the situation and gives directions to the driver.Finaly,a lot of experime nts about the key technology and the whole system are conducted in the real-roa ds.The experimental results show that this design can work well in all kinds of environment and has strong real- time capability and robustness.