基于摄像机和激光雷达的车道检测与车辆识别技术分析

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1、北京工业大学工学硕上学位论文-n．●ABSTRACT詈曼!皇!鼍!!!!!!曼詈苎!詈!鼍,Lm,d暑鼍皇暑皇曼鼍!!詈!鼍暑!皇鼍暑曼暑鼍曼!喜!鼍!!鼍皇!!!!曼!!曼詈苎詈鼍詈詈!詈暑詈葛詈詈ABSTPACTNowadays，intelligentvehicleswhicharedevotedtoenhancetrafficefficiencyandsafetyinurbanenvironmentaregivenmoreandmoreattention．Intelligentvehicleisacomprehensiveintellige

2、ntsystemwhichintegratesthefunctionofenvironmentperception，planninganddecision—making，drivingassistance，etc．Intelligentvehicle，whichrepresentsthedirectiontowardthedevelopmentoffuturevehicle，hasahighlyexpansiveapplicationprospect．Inthisdissertation，laneandvehiclerecognitiontech

3、nologies，whicharekeytechniquesforenvironmentperceptionofintelligentvehicle，arestudiedsystematically．乃emaincontentsofmydissertationareasfollows：Firstly,approachforcalibrationandregistrationoflaserradarandcameraisstudied．AfastandaccuratecalibrationmethodisadoptedtocalibratetheC

4、CDcameraSOastoacquiretheintrinsicandextrinsicparameters．Furthermore，aregistrationmethodforlaserradarandcameraisproposed．ThjSmethodrealizestheregistrationbetweenthelaserradarandthecamerathroughthecalibrationbroadwithhighprecision．Secondly,alanerecognitionmethodbasedonimprovedH

5、oughTransform(HT)isproposed．LaneisinitiallydetectedbyHTintheareaofpolarangleconstraints．Inlanetracking，regionofinterest(ROI)isestablishedaccordingtolastimageinformationandthentheROI—HTisusedintheROI．Forthecurve，bothoftheroadboundariesaregeneratedusingCatmull—RomSplinesbasedon

6、controlpointssearchalgorithm．Forvariouskindsoflanesonmoststructuralroad，experimentresultsindicatethatthemethodhasgoodreliability．Thirdly,thehostvehicle’yawangleandpositionrelationbetweenhostvehicleandleftorrightlaneisachievedbyInversePerspectiveTransformreal-timelyonthebasiso

7、ftheresultoflanerecognitionandcameracalibration．Finally,vehiclerecognitionmethodbasedonlaserradarandcameraisproposed．VehicleiSinitiallylocatedbasedontheprocessresultoffilterandclusteringoflaserradardata．Andthenthevehicleintheinitialareaisvalidatedbasedonvehicle’Simagefeatures

8、．Simulationplatformandrealcartest．bediSdevelopedtovalidatetheeffecti