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Vision-based long-distance lane perception and front vehicle location for full autonomous vehicles on highway roads 被引量:10
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作者 刘欣 徐昕 戴斌 《Journal of Central South University》 SCIE EI CAS 2012年第5期1454-1465,共12页
A new vision-based long-distance lane perception and front vehicle location method was developed for decision making of full autonomous vehicles on highway roads,Firstly,a real-time long-distance lane detection approa... A new vision-based long-distance lane perception and front vehicle location method was developed for decision making of full autonomous vehicles on highway roads,Firstly,a real-time long-distance lane detection approach was presented based on a linear-cubic road model for two-lane highways.By using a novel robust lane marking feature which combines the constraints of intensity,edge and width,the lane markings in far regions were extracted accurately and efficiently.Next,the detected lane lines were selected and tracked by estimating the lateral offset and heading angle of ego vehicle with a Kalman filter,Finally,front vehicles were located on correct lanes using the tracked lane lines,Experiment results show that the proposed lane perception approach can achieve an average correct detection rate of 94.37% with an average false positive detection rate of 0.35%,The proposed approaches for long-distance lane perception and front vehicle location were validated in a 286 km full autonomous drive experiment under real traffic conditions.This successful experiment shows that the approaches are effective and robust enough for full autonomous vehicles on highway roads. 展开更多
关键词 lane detection lane tracking front vehicle location full autonomous vehicle feature line section autonomous driving vision
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Real-time lane departure warning system based on principal component analysis of grayscale distribution and risk evaluation model 被引量:4
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作者 张伟伟 宋晓琳 张桂香 《Journal of Central South University》 SCIE EI CAS 2014年第4期1633-1642,共10页
A technology for unintended lane departure warning was proposed. As crucial information, lane boundaries were detected based on principal component analysis of grayscale distribution in search bars of given number and... A technology for unintended lane departure warning was proposed. As crucial information, lane boundaries were detected based on principal component analysis of grayscale distribution in search bars of given number and then each search bar was tracked using Kalman filter between frames. The lane detection performance was evaluated and demonstrated in ways of receiver operating characteristic, dice similarity coefficient and real-time performance. For lane departure detection, a lane departure risk evaluation model based on lasting time and frequency was effectively executed on the ARM-based platform. Experimental results indicate that the algorithm generates satisfactory lane detection results under different traffic and lighting conditions, and the proposed warning mechanism sends effective warning signals, avoiding most false warning. 展开更多
关键词 lane departure warning system lane detection lane tracking principal component analysis risk evaluation model ARM-based real-time system
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Robust lane recognition for structured road based on monocular vision
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作者 王宝锋 齐志权 马国成 《Journal of Beijing Institute of Technology》 EI CAS 2014年第3期345-351,共7页
A robust lane detection and tracking system based on monocular vision is presented in this paper. First, the lane detection algorithm can transform raw images into top view images by inverse perspective mapping ( IPM... A robust lane detection and tracking system based on monocular vision is presented in this paper. First, the lane detection algorithm can transform raw images into top view images by inverse perspective mapping ( IPM), and detect both inner sides of the lane accurately from the top view im- ages. Then the system will turn to lane tracking procedures to extract the lane according to the infor- mation of last frame. If it fails to track the lane, lane detection will be triggered again until the true lane is found. In this system, 0-oriented Hough transform is applied to extract candidate lane mark- ers, and a geometrical analysis of the lane candidates is proposed to remove the outliers. Additional- ly, vanishing point and region of interest(ROI) dynamically planning are used to enhance the accura- cy and efficiency. The system was tested under various road conditions, and the result turned out to be robust and reliable. 展开更多
关键词 lane detection lane tracking inverse perspective mapping region of interest dynami-cally planning
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