本文中提出一种基于图像行数据处理的车道线识别方法和低成本车道偏离预警系统。通过逐行特征的提取和归类处理，提高运行效率，降低内存消耗。在此基础上利用数字摄像头和主频为400MHz的DSP芯片，设计出低成本车道偏离预警系统。它无需视频解码电路和拓展存储器，在保证车道线识别率的同时有效降低了硬件复杂度。为量化评估系统车道线识别性能，采用了一种适用于嵌入式系统的车道线识别测试方案，利用离线制作的样本数据，对车道偏离预警系统进行了硬件在环识别性能的测试。结果表明，系统具有较高的稳定性和实时性，在典型工况下能获得很好的识别率。%With a technique of line-based image processing, a lane mark recognition method and a low-cost lane departure warning system ( LDWS ) are proposed in this paper. Through line-by-line feature extraction and classification, the operation efficiency is enhanced with required memory reduced. On this basis, a low-cost LDWS is designed by using digital camera and 400MHz DSP chip. With no video decoding circuit and extended memory, the hardware complexity of the system is effectively reduced while ensuring a good recognition rate of lane marking. For evaluating the recognition performance of the system, a testing scheme suitable for embedded systems is pro-posed to fulfill a hardware-in-the-loop test on the recognition performance of LDWS based on offline made sample data. The results show that the system can achieve a good recognition rate in typical operating conditions with high stability and real-time performance.
展开▼
