一种基于横向距离判断的车道偏离预警算法

A Lane Departure Warning Algorithm Based on Lateral Distance Judgment

车道偏离预警系统的主要任务是在非主动变道的情况下发生车道偏离时,及时发出预警信号以保障车辆安全行驶,是一种辅助驾驶技术。横向距离指的是车辆当前位置距离左右车道线的最小距离,是车道偏离预警算法的重要参数,也是本文预警系统触发警告的判断依据。本文首先在采集图像的感兴趣区域(Region of Interest,ROI)进行Hough变换识别出车道线,然后根据车道参数计算横向距离,并以横向距离为判据触发车道偏离预警系统警示。实验结果表明,在直线车道行驶时,该算法对车道偏离的风险估计与实际情况一致,算法具有一定的实用性。

The main task of lane departure warning system is to send an early warning signal in time to ensure the safe driving of vehicles when lane departure occurs in the case of non-active lane change.It is an auxiliary driving technology.The lateral distance refers to the minimum distance between the current position of the vehicle and the left and right lane lines,which is an important parameter of the lane departure warning algorithm and the judgment basis for the warning system to trigger warnings in this paper.In this paper,firstly,the Hough transform is performed on the Region of Interest(ROI)of the collected image to identify the lane line,then the lateral distance is calculated according to the lane parameters,and the lane departure warning system is triggered by the lateral distance as the criterion.The experimental results show that when driving in a straight lane,the risk estimation of the algorithm for lane departure is consistent with the actual situation,and the algorithm has certain practicability.