Vehicle lane Robust identifying method for lane deviation warning
A technology of lane departure alarm and identification method, applied in the field of automotive active safety
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Embodiment 1
[0086] Aiming at the image characteristics of expressway lanes, the present invention proposes a method for recognizing the left and right marking lines of the current vehicle lane with good real-time performance, anti-interference ability and environmental adaptability (see Figure 2 for the overall process), the method mainly includes The following steps:
[0087] 1. Determine the left and right local window positions
[0088] The positions of the two local windows to be processed (see Figure 1) in the image coordinate system OXY can be calculated and determined according to the characteristic parameter information of the left and right lane marking lines acquired in the previous frame. For the interested left-moving local window, in order to facilitate processing, the upper and lower bottom positions of the trapezoidal window can be fixed in advance, that is, the y coordinates of the upper and lower bottoms are all taken as appropriate constant values in advance, and...
Embodiment 2
[0150] In order to test the actual effect of the lane marking line recognition method proposed by the present invention, a sports car experiment was carried out. The basic situation of the experiment is described as follows:
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