车道偏离预警图像处理滞后时间补偿

Image Processing Time Delay Compensation for Lane Departure Warning

现有的车道偏离预警系统有着较长的图像处理时间,这使得图像采集时间点处的车道线与图像处理完成时间点处的车道线之间存在一定差异,从而影响系统的准确性和有效性。提出了一种补偿图像处理滞后时间的方法。该方法利用一个基于二自由度车辆模型的状态观测器,将图像采集时间的的车道线转换为图像处理完成时间点处的车道线,以提高系统的准确性。最后利用carsim与matlab联合仿真来验证该方法的有效性。

The existing lane departure warning system has a long image processing timewhich makes differences between the lane at the time point when the image is collected and the time point when the image processing is com- pleted,has a bad influence on the system performance. A method used to compensate the image processing time de- lay is proposed. Using a observer based on two degrees of freedom vehicle model, by converting the collected image information to the lane information which is required to the time point when the image processing is completed. Finally, earsim with Matlab co - simulation is done to verify the effectiveness of the system.