基于消失点的非结构化道路识别及导航预警

针对非结构化道路图像，本文提出了一种基于消失点信息的道路检测及智能预警算法。算法首先利用直线信息、竖直包络线分割、分组策略及聚类算法估计道路图像的消失点；然后基于消失点信息利用边界多特征软投票的方法提取道路区域；最后，根据非结构化道路区域的特点提取导航线，并根据汽车偏航角、偏航距离及偏航时间制定预警决策方案，从而对车道偏离智能预警。实验结果表明，本文提出的算法能快速有效的提取非结构化道路的道路区域，同时，根据预警参数可以有效的进行车道偏离预警。

Abstract

For unstructured road image, a road detection and intelligent warning algorithm is proposed based on vanishing point information. Segmentation algorithm firstly employed the straight line information, vertical envelope, grouping strategy and path clustering algorithm to estimate the vanishing point. Then soft voting method is proposed to extract road region based on the boundaries and vanishing point information features. Finally, according to the features of unstructured road region, the navigation line is extracted, and yaw distance and yaw time warning decisions are depended on the vehicle yaw Angle. Thus, the intelligent lane departure warning algorithm can be achieved. Experimental results show that the proposed algorithm can quickly and efficiently extract the road region of unstructured road. At the same time, the algorithm can be effective for lane departure warning according to early warning parameters.

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丁伟利, 李勇, 王文锋. 基于消失点的非结构化道路识别及导航预警[J]. 光电工程, 2016, 43(10): 63. DING Weili, LI Yong, WANG Wenfeng. An Effective Unstructured Road Navigation and Intelligent Warning System Method Based on Vanishing Point[J]. Opto-Electronic Engineering, 2016, 43(10): 63.

基于消失点的非结构化道路识别及导航预警

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