基于模型驱动的车线偏离警告系统

Lane Departure Warning System Based on Model Driven Approach

车线偏离警告系统(LDWS)是车载主动安全系统的一项主要功能,研究了LDWS中的关键技术,以车道模型为核心,采用基于模型驱动的方法探测车道,为解决弯道探测的问题,将车线探测区域划分为多个子区域,独立探测每个子区域中的车线段,为提高探测效率并减少误识别,每个子区域的尺寸根据每次探测的结果和车道模型的拟合值动态变化,为增加探测的稳定性,对近处子区域采用Sobel滤波处理,对远处子区域采用根据车道几何特征动态设置的Gabor滤波处理,实验表明,系统能准确探测弯道并精确测算车道偏离范围,在噪声环境中有良好的鲁棒性.

Lane departure warning system（LDWS） is one of the main functions for the vehicle active safety system. This paper researches some critical techniques of LDWS. The road model is made as the core and detect lanes based on the model driven approach. In order to detect curve, the region of detection is divided into multiple sub regions, then lane marks are detected in each region independently. For speeding up the detection and decrease error, the size of each sub region is changed based on the detection result and fitting values of the road model in each frame. For increasing the detection stability, the Sobel filter is adopted for nearby sub regions and Gabor filter is adopted for distant sub regions. Furthermore, the Gabor filter is set adaptively based on the road geometry. Experimental results shows the system can accurate detect the curve and predict lane departure range precisely. Furthermore, the system has good robustness in the noisy environments.