基于視覺的駕駛輔助系統研究

閆龍 劉玉敏 崔帥恒 李若暉 潘鱈懿

摘? 要：二十一世紀，隨著汽車技術的研究更加深入，汽車技術領域發展迅速，目前汽車技術已經到達智能化階段，機器視覺技術在汽車輔助駕駛技術中占有重要地位，研發內容也不是傳統的機電設備問題，目前已發展到先進的輔助傳動系統（ADAS）研究。文章主要以對車載攝像頭所拍攝圖像的處理技術和車道線的提取、檢測方法的研究。灰度化和平滑處理使原始圖像中的其他線條干擾程度降低，降低噪點使得車道線輪廓更加明顯。運用梯度計算邊緣檢測與非最大值抑制方法檢測邊緣，通過選擇高閥值過濾邊緣像素。得到車道線輪廓線后基于Hough的車道線檢測原理，使用二元性的點和線，將原始圖像給出的曲線轉化為一個點在參數空間的曲線表達形式，解決曲線檢測問題轉化為參數空間中的最大值，且將整體特征的檢測轉換為本地檢測的特點。

關鍵詞：圖像處理;邊緣檢測;車道線檢測

中圖分類號：P237? ? ? ? ? 文獻標志碼：A? ? ? ? ?文章編號：2095-2945（2020）11-0049-03

Abstract： In the 21st century， with the more in-depth research of automobile technology， the field of automobile technology has developed rapidly. At present， automobile technology has reached the intelligent stage， machine vision technology plays an important role in automobile auxiliary driving technology， and the content of research and development is not the problem of traditional mechanical and electrical equipment， but has been developed to the research of advanced driver assistance system （ADAS）. This paper mainly focuses on the processing technology of the image captured by the vehicle camera and the extraction and detection method of the lane line. Graying and smoothing reduce the interference of other lines in the original image， and reduce the noise to make the outline of the lane more obvious. The edge detection method of gradient calculation and non-maximum suppression method is used to detect the edge， and the edge pixels are filtered by selecting a high threshold. After the lane contour is obtained， based on the principle of lane detection based on Hough， the curve given by the original image is transformed into a curve expression of a point in the parameter space by using binary points and lines， the curve detection problem is transformed into the maximum value in the parameter space， and the overall feature detection is transformed into the characteristics of local detection.

Keywords： image processing; edge detection; lane detection

引言

近年來由于汽車堵塞嚴重，交通事故頻發，污染等問題嚴重，因此，如何減少交通事故是當今世界面臨的主要社會問題之一。在實際生活中，馬路上的情況絕大多數是通過車輛駕駛員的眼睛獲取。比如：與前方車輛車距或是否有障礙物和行人在馬路上等。因此利用視覺傳感器檢測路面情況，可以幫助駕駛員觀測，增強駕車安全系數，同時也降低了駕駛員疲勞程度，盡量避免交通事故發生。……