基于视觉的智能汽车道路检测与预警算法的-研究

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1、业—玉L窑j垂厶芏亟』：翌位监童△B』—L』—盘—UABSTRACTABSTRACT：Therapiddevelopmentofeconomyandsocietyhasbroughtgrca【changestopeople’slife．andpeople’sdemandforGaFsisalsogrowingInrecentyears，withrapidgrov,_Lhofthenumberofcars，trafficaccidentshappenffequenll?qandthenthestudyofIntelligentVehicleS

2、afetyDrivingAssistant"lbchnofogy．whichCarlavoidtrafficaccidentsandprovidesafedrivinghasbecomeahotresearchtopicFirstlyinordertoeliminatethejrrefevanlinformatfonandenhancethetestabilityofusefulinformation，thedrivewayimagesequencescollectedbycamerawerepreprocessedThenadivisio

3、nofthepreprocessedimagewasmadetodistinguishtheLaneamanda【1imageonlycontainsdrivewaymarklinewasobtainedSecondly,thedrivewaymarklineisrefined【oreducetheamotmtofdataTheprinciplesofextractionstraightlinealeanalyzedbytheleastsquaresandHoughtransform11heoptimalalgorithmofextract

4、ionisthenselectedbyexperimenbinthisdissertationAtlast．byintroducingtheprinciplesofthemostcommoncur『entmodeloflanedeparturewarningandanalyzingitsadvantagesanddisadvantages．thedrivewaymarklineequationandslopeparametersareusedtoconfirmthepositionanddirectionofthevehiclesinthe

5、drivewayandakindoflanedeparture,x'arningmodelwithomcalibrarioniseslablishedIhi8paperhasstudiedthealgorithmofLanerecognitionanddetectiontjatureextractionoflanemarkingsandlanedeparturewarningsystemImcsimulationresultsshowthatthealgorithmisfeasibfeandefl'cctive，andcarlachieve

6、real—timerequirementsofembeddcdplatformsKEYWORD：Machinevision；Lanerecognition；Lanedetection；LanedeparturewarningCLASSNO：TNqlI些巫坚堑厶芏亟±：!；兰垃熊主日塞中文摘要ABSTRACT1绪论研究背景与意义目录1．2l国内外研究现状⋯2l22机器视觉在智能汽车领域应用分析313本文的课题背景与研究内容5131本文的研究内容⋯5133本文的结构及安排⋯⋯⋯⋯⋯62车道图像预处理82】图像扶度化822平滑处理⋯．．⋯⋯922

7、1空域法92．22频域法122．23结果分析142．3l霉像闽值分割2．4奉章总结3乍通线榆测世特{_f：提取．193l摄像机标定⋯193lI摄像机成像模型193l2摄像机标定20324．道线的边缘检测⋯2532】Sobel边缘榆测算丁3．22Roberts边缘检测算子3．23PrewJtt边缘榆测算f3．24Canny边缘检测并，3．25结果分析2933车道线特钮挫取⋯303l1：道li域与非1，道区域分割3032建立ROIIK域⋯⋯3liV1些—』王_—童—』生—丛土亟—±_芏垃量奎旦塞3．33基于霍夫变换的车道线提取34最小二乘法拟台

8、车道线3．35车道线提取算法具体过程3,5本章总结4车道偏离报警算法的研究4．2车道偏离预瞥模型的建立4．3车道偏离预警系统殴汁“44本章总结455结论4751工作总结5．2腱望