基于滑动窗口搜索的车道线检测与车道偏离预警算法

Lane Line Detection and Lane Departure Warning Algorithm Based on Sliding Window Searching

针对智能车辆在不同环境下识别车道线出现偏移的问题,提出一种基于滑动窗口搜索的车道线检测与车道偏离预警算法。首先,对实时道路图像进行预处理,包括摄像头校准、色彩和渐变过滤、透视变换等,再采用滑动窗口搜索算法检测车道线,并利用二次多项式进行车道线拟合。然后,利用摄像头单目测距原理计算车辆与车道中心线的相对位置,判断是否偏离车道。试验结果表明,该算法车道线检测准确率达98.59%,车道偏离预警率达99.58%,处理后视频帧速率约为25帧/s,满足准确性、实时性需求。

For the problem of intelligent vehicles recognizing lane line deviation in different environments,this paper proposed a lane line detection and lane deviation warning algorithm based on sliding window search.Firstly,real-time road images were preprocessed,including camera calibration,color and gradient filtering,perspective transformation,etc.,and then the sliding window search algorithm was used to detect the lane lines and fit the lane lines using quadratic polynomials.Then,the camera monocular ranging principle was used to calculate the relative position of the vehicle to the centerline of the lane and determine whether it deviated from the lane.The experimental results show that the algorithm’s lane line detection accuracy reaches 98.59%,the lane deviation warning rate reaches 99.58%,and the processed video frame rate is about 25 frames/s,which meets the accuracy and real-time requirements.