CN100403332C - Vehicle lane Robust identifying method for lane deviation warning - Google Patents

Abstract

A lane robust identification method for warning departure is that first conducts conditional edge detection on the left and right local windows, and constructs the corresponding gradient direction map. Then, according to the histogram processing method, the gradient direction range of lane edge points on every local window. Aiming at the continuity features of direction and space of lane edge points, the filtering algorithm of the candidate and effect point collection is put forward and every window is filtered. Finally, according to the established effective point collection corresponding to each window, the rapid and accurate extraction of lane symbol is realized though the Kalman filter method based on scalar processing.

Description

Be used for the lane line Robust identifying method that deviation is reported to the police

Technical field

The present invention relates to a kind of image processing method of the left and right markings in track of advancing of can the Real time identification highway getting on the car, its purpose is to determine automobile and track relativeness, to automobile whether run-off-road travel and monitor in real time and report to the police, avoid the generation of deviation traffic hazard, belong to the automobile active safety technical field.

Background technology

Along with traffic and rapid development of automobile industry, whole world highway mileage number and automobile pollution are increasing sharply, and the traffic hazard that is caused by galloping also sharply increases, and causes enormous economic loss and casualties.According to statistics, nearly 1,000 ten thousand people are injured in the annual global road traffic accident, wherein severely injured 3,000,000 people, and about dead 400,000 people, the economic loss that these traffic hazards directly cause accounts for 13% of whole world GDP.Studies show that of ergonomics, traffic hazard produce in people-Che-road environment system takes place when unstable or uneven.The direct or indirect reason of road traffic accident comprises people, car, road and various environmental factor.Wherein, driver tired driving, drive when intoxicated and other energy not concentrate driver behavior error under the situation and cause that automotive run-off-road travels be the principal element that causes major traffic accidents.According to the estimation of Bureau of Public Road, 44% is relevant with deviation in the U.S.'s all fatal traffic hazards in 2002, and deviation also is seen as the main cause of vehicle rollover accident simultaneously.In order effectively to reduce and avoid the generation of deviation traffic hazard, developed countries such as U.S., day, moral, meaning pay much attention to the deviation Study on alarm, have successively carried out relevant research work.

Comprehensive external existing research situation, driveway deviation alarming system mainly contains following several implementation: Vision Builder for Automated Inspection, the system based on the magnetic pilot signal, laser system and ITS infrastructure system.Their key distinction is the difference of perceptive mode: Vision Builder for Automated Inspection adopts computer vision technique identification lane line, and then can determine the relative position of automobile and traveling lane; Belong to the category of ITS security system based on the system of magnetic pilot signal, it utilizes the magnetic strength on the car to know that sensor obtains the positional information between track and vehicle by burying the magnetic signal emitter underground on surface, highway track; Laser system then detects lane position by laser aid emitted laser bundle, and the lateral attitude of vehicle is estimated; ITS infrastructure belongs to the hardware category of ITS traffic safety system, such as speed alarm signal board is set near bend.Compare with alternate manner, machine vision has many advantages such as sensing range is wide, information capacity is big, with low cost, become the main flow of present research and development, typical case's representative is as the SafeTRAC of the AutoVue of Iteris company, AssitWare company, the LDW of Infiniti etc., and they all adopt the markings and the conduct in the current track of advancing of vision technique identification automobile to realize the basis that deviation is reported to the police.But consider that for commerce these companies are as the externally open gordian technique wherein of secret abroad, and the domestic fundamental research stage that this still is in exploration is not also developed similar products.

As the basic link that deviation is reported to the police, the identification of lane line also is the technology of most critical wherein.Because the property complicated and changeable of road environment, the recognition methods of lane line not only should have good real time performance, ability and the anti-various noises and the interference capability that also should have environmental changes such as adapting to weather and light well, this also is to improve functional reliability that deviation reports to the police, avoided the unnecessary false-alarm and the prerequisite assurance of false dismissal.Therefore, the emphasis of lane line recognition methods and difficult point are real-time, robustness and the reliability of the how good recognition methods of Coordination Treatment.Existing correlative study still can not address these problems well, need proceed deep research.The present invention will provide a kind of lane line real-time robust recognition methods that can address these problems well.

Summary of the invention

Technical matters: technical problem underlying of the present invention is the requirement at track deviation warning on the highway, proposes a kind of good real-time that both had, and has the traffic lane line real-time robust recognition methods of strong environment self-adaption ability and antijamming capability again.

Technical scheme:

A kind of lane line Robust identifying method that is used for the deviation warning is characterized in that

1. at first, satisfy the picture point of certain condition in left and right two local windows to the lane line place and carry out the Sobel rim detection, not satisfying the picture point of these conditions does not carry out rim detection and is changed to zero gray scale, make up corresponding gradient direction mapping table afterwards and carry out binary conversion treatment, the combination condition that carries out rim detection is:

(DectNum≤2)＜and〉(nei_ave_gray[i] [j]＞th1)＜and〉(diff_x[i] [j]＞th2) DectNum is every row number of times of rim detection, before every row carries out rim detection it is initialized as 1; Nei_ave_gray[i] [j] be image [i] [j] average gray value in 3 * 3 fields on every side

$\mathrm{nei}\_\mathrm{ave}\_\mathrm{gray}\left[i\right]\left[j\right]=\frac{1}{9}\underset{n=j-1}{\overset{j+1}{\mathrm{\Σ}}}\underset{m=i-1}{\overset{i+1}{\mathrm{\Σ}}}\mathrm{gray}\left[m\right]\left[n\right],$

Gray[m] [n] gray-scale value of locating for image [m] [n]; Th1 is according to the determined capable gray threshold of line scanning, and this row gray threshold is the capable gray average that line scanning is determined; Diff_x[i] [j] locate single order differential along the OX direction for image [i] [j], when detecting the right markings in track,

$\mathrm{diff}\_x\left[i\right]\left[j\right]=\underset{m=i}{\overset{i+2}{\mathrm{\Σ}}}\mathrm{grad}\left[m\right]\left[j\right]-\underset{n=i-3}{\overset{i-1}{\mathrm{\Σ}}}\mathrm{grad}\left[n\right]\left[j\right],$

And when detecting a left side, track markings,

$\mathrm{diff}\_x\left[i\right]\left[j\right]=-(\underset{m=i}{\overset{i+2}{\mathrm{\Σ}}}\mathrm{grad}\left[m\right]\left[j\right]-\underset{n=i-3}{\overset{i-1}{\mathrm{\Σ}}}\mathrm{grad}\left[n\right]\left[j\right]);$

Th2 is the differential threshold value, and value is the nonnegative integer in 4～8; And the mode of rim detection is carried out line by line, and is from right to left for left local window, is from left to right for right local window,

The building method of above-mentioned gradient direction mapping table is: in internal memory, open up respectively two with the corresponding zone of left and right local window, they stored respectively with left and right two local windows in the corresponding gradient direction value of each picture point;

2. and then, according to the gradient orientation histogram disposal route that is proposed, determine the gradient direction scope of each local window lane line marginal point, each local window gradient direction method of determining range is:

Step 1Gradient direction is turned to L discrete rank, and definition gradient direction statistic histogram function is

$p_{\mathrm{\θ}}\left({\mathrm{\θ}}_k\right)=\frac{n_k}{n},k=\mathrm{0,1,2},...,L-1$

In the formula, n _kBe θ in the corresponding gradient direction mapping table of local window _kThe number of times that level occurs, n is the total number of elements in the corresponding gradient direction mapping table of local window, L is a positive integer, according to the definition of above-mentioned gradient direction statistic histogram function, is horizontal ordinate, P with gradient direction θ _θ(θ _k) be ordinate, obtain one and the corresponding gradient orientation histogram of local window, this gradient orientation histogram has unimodal characteristic,

Step 2Utilize general histogrammic statistic algorithm, determine the peak value of gradient orientation histogram and the pairing gradient direction scope of peak value etc.,

3. then, at the continuity Characteristics of lane line marginal point on orientation and space, having proposed lane line edge candidate's point set screens with the filtering algorithm of effective point set and to each local window, filtering algorithm in each local window comprises two steps, determine candidate's point set earlier, belong to and roughly select, define the effect point set at each candidate's point set again, promptly selected:

Determine the rougher process of candidate's point set: each candidate point in the local window is included into the very near candidate point of certain consecutive point distance concentrates, concrete steps are

Step 1For satisfying θ ∈ [θ ₁, θ ₂] each picture point in the local window of condition is as candidate point, the picture point that does not satisfy above-mentioned condition is not as candidate point, and wherein, θ is the picture point gradient direction that is stored in the corresponding gradient direction mapping table of this local window, [θ ₁, θ ₂] be gradient direction scope according to the determined lane line marginal point of the gradient orientation histogram of this local window correspondence,

Step 2According to from bottom to up, the mode of lining by line scan from left to right; Calculate current candidate point and each candidate point and concentrate the distance of closest approach; If with the distance of certain candidate's point set closest approach less than a certain threshold value; This threshold value value between 3～7; Just current candidate point is included into this candidate's point set; Otherwise set up new candidate's point set take this current candidate point as starting point; And record the generation sequence number of this point set; So circulation is until finish whole local window image; If through above-mentioned roughly selecting; Successively can obtain the 1st to l candidate's point set

Determine the refining process of effective point set: for the l in the fixed local window candidate's point set, determine effective point set wherein, concrete steps are

Step 1Determine or calculate the base attribute feature of each candidate's point set, comprise count, starting point coordinate, terminal point coordinate and starting point and the determined straight slope of terminal point,

Step 2 is determined near-sighted wild lane line straight line parameter in the local window:The interlacing of local window image is extracted to constitute a width of cloth new images every row, and then the new images that dwindles implemented the straight line parameter of straight line Hough conversion with the wild inside lane markings of rapid extraction myopia, promptly adopt change precision straight line Hough to vary one's tactics and determine the straight line parameter of near-sighted wild inside lane markings, if extraction rate is still unhappy, can do further extraction and conversion process after the same method

First effective point set of step 3 searchBy incremental order differentiate i (i=1 ..., the l) validity of individual candidate's point set: if n _i＞N _Th＜and〉d _{I, sp}＜D _Th＜and〉d _{L, ep}＜D _Th, then i candidate's point set is first effective point set, writes down the point set position number u (being u=i) of this moment, withdraws from search; Otherwise continue search, wherein, n _iBe counting of i candidate's point set, N _ThBe the threshold value of counting, this threshold value value in 5～8 of counting, d _{I, sp}, d _{I, ep}Represent the starting point of i candidate's point set, the distance that terminal point arrives straight line that step 2 is determined respectively, D _ThBe distance threshold, this distance threshold value in 4～8,

Step 4 is determined other effective point setThe current available point set identifier of initialization i=u, by incremental order successively to j (j=u+1 ..., l) validity of individual candidate's point set is differentiated: if | k _i-k _{I, j}|＜k _Th＜and〉| k _j-k _{I, j}|＜k _Th, then j candidate's point set is effective point set, and to make it be current effective point set, even i=j; Otherwise be invalid point set, wherein, k _iExpression is by i candidate's point set, i.e. the determined straight slope of the Origin And Destination of current effective point set, k _jExpression is by the determined straight slope of the Origin And Destination of j candidate's point set, k _{I, j}Expression is by the terminal point of i candidate's point set and the determined straight slope of starting point of j candidate's point set, k _ThExpression slope differences threshold value, this slope differences threshold value value in 0.15～0.3,

4. last, to the corresponding effectively point set of fixed each local window, handle the extraction quick and precisely that the Kalman filtering method has been realized the left and right markings characteristic parameter in track by what propose based on scalarization, the scalarization of each local window inside lane line characteristic parameter is handled Kalman filtering extracting method and is:

Step 1All available point collection in the local window are merged into a new point set, and this new point set is called as feature point set, and it is counted and equals the sum of counting of all the effective point sets in the local window,

Step 2Foundation is about the Kalman filtering equations of 3 characteristic parameters of these local window inside lane markings

$\left\{\begin{array}{c}{X}_k=X_{k-1}+W_k\\ Z_k=H_k{X}_k+V_k\end{array}\right.---\left(1\right)$

In the formula, footmark k represents k constantly, X _kBe the system state vector, for left local window $X_k={\left[\begin{array}{c}{a}_L\\ b_L\\ c_L\end{array}\right]}_k,$ A wherein _L, b _LWith c _LBe respectively the constant term of the quafric curve descriptive model of track left side markings, once a coefficient and quadratic term coefficient, and for right local window $X_k={\left[\begin{array}{c}{a}_R\\ b_R\\ c_R\end{array}\right]}_k,$ A wherein _R, b _RWith c _RBe respectively the constant term of the quafric curve descriptive model of the right markings in track, once a coefficient and quadratic term coefficient; The observation battle array

x _iAnd y _iImage coordinate value for i point in the pairing feature point set of local window; W _k, V _kBe mutual incoherent zero-mean system's white noise and observation white noise, the two corresponding system noise variance battle array Q _kWith measurement noise variance matrix R _kBe normal diagonal matrix,

Step 3For the described system of formula (1), adopt scalarization to handle the extraction of kalman filter method realization to local window inside lane markings characteristic parameter, leaching process is that advanced line time upgrades, measure renewal again, the time renewal is undertaken by the standard card Kalman Filtering, adopt the scalarization disposal route and measure to upgrade, promptly

Time upgrades:

State one-step prediction equation ${\hat{X}}_{k,k-1}={\hat{X}}_{k-1}$ (symbol ∧ represents calculated value)

One-step prediction error variance battle array P _{K, k-1}=P _K-1+ Q _k

Measure and upgrade:

Make P ₁=P _{K, k-1}, ${\hat{X}}_1={\hat{X}}_{k,k-1},$ With H _k, Z _kAnd R _kThe battle array piecemeal, promptly

For i=1 ..., counting of feature point set, carry out recursion by following formula and calculate:

$K_i=\frac{P_i\·H_i^T}{H_i{P}_i{H}_i^T+R_i}$

${\hat{X}}_{i+1}={\hat{X}}_i+K_i(Z_i-H_i{\hat{X}}_i)$

$P_{i+1}=(I-K_i\·H_i)\·P_i$

Finally can get P _k=P _{The counting of feature point set+1},

And

3 components that comprise are 3 characteristic parameters of traffic lane line to be extracted: for a left side, track markings is a _L, b _LWith c _L, and be a for the right markings in track _R, b _RWith c _R

Beneficial effect:

1. the track of getting on the car at highway keeps requiring and proposes, and can effectively reduce and avoid the generation of deviation traffic hazard, improves the active safety performance of automobile.

2. processing speed is fast, and real-time is good.The local window treatment technology that adopts in the recognition methods, change precision Hough vary one's tactics, the scalarization treatment technology of Kalman filtering etc. improved the processing speed of recognition methods, guaranteed real-time.

3. identification certainty height, antijamming capability is strong.Recognition methods takes into full account and has utilized the lane line characteristics of image, effective filtering algorithm and filtering algorithm have been formulated, can get rid of various interference such as zebra stripes on the road surface, speed limit sign, literal, direction sign, isolation strip, guardrail, other vehicle, accurately identify continuously or the lane line that is interrupted.

4. good adaptive capacity to environment.Many Threshold Segmentation of adapting to image technology has been adopted in recognition methods, can adapt to weather complicated and changeable and light condition, comprises fine day, overcast and rainy, night etc.

Description of drawings

Fig. 1 is image coordinate system and local the window's position synoptic diagram.

Fig. 2 is the process flow diagram of the traffic lane line recognition methods that proposes of the present invention.

Fig. 3 is the gradient direction mapping table.

Fig. 4 is the corresponding gradient orientation histogram of single local window.

Fig. 5～Figure 36 is the lane line recognition result figure that reaches under the various interference effects under the different light rays weather condition, wherein:

Fig. 5 is automobile recognition result to continuous lane line when leaning on the track left driving, and periphery also has other vehicle to disturb;

Fig. 6 is the recognition result to the traffic lane line that is interrupted, and periphery also has the interference of other vehicle;

Fig. 7 is the recognition result of the place ahead, track when existing other vehicle to disturb;

Fig. 8 is the recognition result when having a large amount of zebra stripes to disturb on the track;

Fig. 9 is that the outside in next-door neighbour track has the recognition result when disturb the white isolation strip of length;

Figure 10～Figure 11 is the recognition result when having the direction boot flag to disturb on the track;

Figure 12～Figure 14 has direction boot flag, the recognition result when disturb adularescent isolation strip, the outside, track on the track;

Figure 15 is the recognition result during the adularescent limited speed belt on the track;

Figure 16～Figure 18 is the recognition result when having literal to disturb on the track;

Figure 19 is the recognition result (light in moment acute variation has taken place) during by the bridge opening;

Figure 20 is the recognition result when having " ◇ " shape to disturb on the track;

Figure 21 is that lane line is seriously stained, recognition result (especially starboard markers line) when unclear thickens;

Figure 22 is the recognition result of the place ahead, track when existing other vehicle and the outside to have the isolation strip to disturb;

Figure 20～Figure 22 is again the recognition result to lane line at the cloudy day simultaneously;

Figure 23～Figure 24 is the recognition result to interruption and continuous lane line at night;

Figure 25～Figure 27 is the recognition result when have on to the track direction boot flag to disturb night;

Figure 28 is the recognition result when have on to the track direction boot flag and the outside to have the isolation strip to disturb night;

Figure 29～Figure 32 is the recognition result when night, nearby vehicle was sent the high light interference;

Figure 33～Figure 34 is the recognition result when having high light to disturb in the place ahead, track at night;

Figure 35 passes through culvert, the recognition result when there is the isolation strip in the outside, track night;

Figure 36 is the recognition result of unclear lane line of thickening to tarnishing night.

Embodiment

For the track that adapts to high-speed travel automobile on the highway keeps requirement, image recognition algorithm should be able to promptly and accurately identify the left and right markings of the current institute of automobile traveling lane reliably, and this also is the prerequisite and the basis of realizing that deviation is reported to the police.Therefore, the recognizer of lane line should possess real-time and robustness simultaneously.Real-time is meant that the processing power of recognizer must carry out synchronously with travelling of vehicle; Robustness then requires recognizer that weather condition complicated and changeable, various interference and condition of road surface are had good adaptive faculty.For the lane line image, can summarize these points key character:

(1) for the structuring high-grade highway, the traffic lane line edge presents stronger regularity, is its basic characteristics of image.Therefore, adopting the method based on the edge, promptly detect the edge of traffic lane line earlier, and then recover whole road profile, is effective detection method.

(2) common, the left and right markings information spinner in track to be identified will concentrate on the middle part of image, and the periphery of image mainly is some garbages, as barrier, other track, guardrail, groove etc.Be to improve the real-time of recognizer, and reduce the influence that these garbages and noise may cause to greatest extent, can only handle interested local window current traffic lane line identification, rather than entire image.And can set up two local windows respectively at the left and right markings in track, consider the perspective projection of video camera, each interested local wicket can be taken as trapezium structure.

(3) express highway pavement has bigger radius of horizontal curve, usually greater than 1000m.Therefore, choose the descriptive model of Parabolic quafric curve, not only have enough description precision as the left and right markings in track, and calculated amount is moderate, real-time is easy to be guaranteed, i.e. and under image coordinate system OXY (Fig. 1), a left side, current track or right markings can be described as

x＝a _i+b _iy+c _iy ²

In the formula, a _i, b _i, c _iBe exactly a left side, track (i=L) to be extracted or the characteristic parameter of right (i=R) markings.

(4) according to the continuity Characteristics of traffic lane line and motor racing, the result who has discerned is before formed information of forecasting, promptly calculate next step needs are handled, the position of interested local window in image according to recognition result.Can further shorten the search recognition time like this, improve the efficient and the reliability of identification.Therefore, under image processing speed faster, the lane line change in location on the successive images is little, and left and right two positions of local window in image can be determined according to the left and right markings information in the track that preceding frame obtains.

According to the above-mentioned feature of lane markings line image, the technical solution used in the present invention, i.e. the lane line real-time robust image-recognizing method that the present invention proposes is as shown in Figure 2.This recognition methods is at first carried out conditional edge detection to interested left and right two local windows, makes up corresponding gradient direction mapping table afterwards; And then, according to the gradient orientation histogram disposal route that is proposed, determine the gradient direction scope of each local window lane line marginal point; Then, at the continuity Characteristics of lane line marginal point on orientation and space, proposed lane line edge candidate's point set and screened with the filtering algorithm of effective point set and to each local window; At last, to the corresponding effectively point set of fixed each local window, handle the extraction quick and precisely that (scalarmeasurement processing) Kalman filtering method has been realized the left and right markings characteristic parameter in track based on scalarization by what propose.

Embodiment 1

At highway carriageway image feature, the present invention proposes a kind of left and right markings recognition methods (main-process stream is seen Fig. 2) with current track of advancing of automobile of good real-time, antijamming capability and adaptive capacity to environment, this method mainly comprises following several steps:

1. determine left and right local window position

Two the pending positions of local window (see figure 1) in image coordinate system OXY can be determined according to the track that preceding frame obtains left and right markings characteristic parameter information calculations.For the interested local window that moves left, for ease of handling, can be in advance with the stationkeeping of the upper and lower end of this trapezoidal window, the y coordinate that is the upper and lower end all is taken as suitable normal value in advance, again a left side, the track markings straight line descriptive model that obtains according to pre-determined upper and lower bottom width degree and preceding frame (promptly ignore quadratic term after remainder) x=a _L+ b _LY can determine the position of four fixed points of this trapezoid window by the simple geometric computing; In like manner, can determine the position of the mobile local window in the right.The value of the upper and lower bottom width degree of local window should be suitable, and as for size being 384 * 288 image, the upper base width can be in 80～100 values, and the width of going to the bottom can be in a value 100～130.

The image recognition processes of the current left and right markings in ensuing track is exactly to carry out at left and right two local windows respectively.

2. rim detection, gradient direction calculate and image binaryzation

For the lane line on the highway, edge feature is its most basic characteristics of image, and this also is to adopt rim detection to extract the basic foundation of lane line.In addition, traffic lane line also has following feature:

(1) owing to the influence of multiple uncertain factors such as illumination, shade and sighting distance distance, the gray-scale value of traffic lane line may have greatly changed in the image.But for each row of moving window, traffic lane line has the brightness higher than surrounding environment usually.

(2) edge of traffic lane line is by roughly along the edge of level trend with roughly form along the edge that vertically moves towards.For traffic lane line identification, have only roughly just useful to discerning along markings left hand edge that vertically moves towards or right hand edge.

(3) for being consistent, for the left and right markings in current track, all discern their inward flange, promptly discern the right hand edge of a left side, current track markings and the left hand edge of right markings.

For carrying out effective and reasonable rim detection, when carrying out left and right two local window lane line rim detection, should make full use of above-mentioned characteristics of image, not only help improving real-time, can also farthest guarantee accuracy and the reliability discerned.

The processing procedure of the right local window at first is discussed below.The rim detection of the right local window is to carry out line by line according to order from left to right, and for the right local window, according to above-mentioned lane line characteristics of image, carry out the combination distinguishing condition of rim detection below the formulation, do not carry out rim detection and be changed to zero gray scale for the pixel of discontented foot noodles spare

DectNum≤2 ①

<and>nei_ave_gray[i][j]＞th1 ②

<and>diff_x[i][j]＞th2 ③

For condition 1., DectNum is every row number of times of rim detection, before every row carries out rim detection it is initialized as 1.Realized every row is carried out maximum 2 times rim detection by this condition, this mainly is in order to be avoided the detection to noise spot to the full extent.Condition 2. in, nei_ave_gray[i] [j] be image [i] [j] average gray value in 3 * 3 fields on every side, promptly

$\mathrm{nei}\_\mathrm{ave}\_\mathrm{gray}\left[i\right]\left[j\right]=\frac{1}{9}\underset{n=j-1}{\overset{j+1}{\mathrm{\&Sigma;}}}\underset{m=i-1}{\overset{i+1}{\mathrm{\&Sigma;}}}\mathrm{gray}\left[m\right]\left[n\right]$

Gray[m] [n] gray-scale value of locating for image [m] [n].Th1 is according to the determined capable gray threshold of line scanning (being the capable gray average that line scanning is determined).By the row threshold value image being cut apart, is a kind of many Threshold Segmentation of self-adaptation technology in essence, and it has taken into full account the local characteristics of variation of image grayscale, has avoided adopting the drawback of single Threshold Segmentation poor effect.Simultaneously, replace the gray-scale value of this point can greatly eliminate interference of noise the average gray value in [i] [j] field, have the effect of average value filtering, but do not need extra Filtering Processing, guaranteed real-time as distinguishing rule.For condition 3., diff_x[i] [j] locate single order differential along the OX direction for image [i] [j], and for avoiding the influence of picture noise, it calculates employing

$\mathrm{diff}\_x\left[i\right]\left[j\right]=\underset{m=i}{\overset{i+2}{\mathrm{\&Sigma;}}}\mathrm{grad}\left[m\right]\left[j\right]-\underset{n=i-3}{\overset{i-1}{\mathrm{\&Sigma;}}}\mathrm{grad}\left[n\right]\left[j\right]$

Th2 is the differential threshold value, owing to will detect the left hand edge of the right markings in track, th2 is taken as a less nonnegative integer (4～8).The one-sided edge of inspection vehicle diatom also helps follow-up characteristic parameter and realizes extracting fast and accurately.

The gradient operator of rim detection has a lot, and the key distinction is that the mask template that is adopted is different with coefficient.For reaching the purpose of fast detecting, employing here is quick, practical and have the Sobel gradient operator that certain noise suppresses ability, and correspondingly, the formula of gradient magnitude is

$\left\{\begin{array}{c}{\mathrm{\&Delta;}}_{x}f(x,y)=[f(x+1,y-1)+2f(x+1,y)+f(x+1,y+1)]-[f(x-1,y-1)+2f(x-1,y)+f(x-1,y+1)]\\ {\mathrm{\&Delta;}}_{y}f(x,y)=[f(x-1,y+1)+2f(x,y+1)+f(x+1,y+1)]-[f(x-1,y-1)+2f(x,y-1)+f(x+1,y-1)]\\ G_M(x,y)=\left|{\mathrm{\&Delta;}}_{x}f(x,y)\right|+\left|{\mathrm{\&Delta;}}_{y}f(x,y)\right|\end{array}\right.$

In the following formula, G _M(x, y), Δ _xF (x, y), Δ _yF (x, y) respectively presentation video (x, the gradient magnitude of y) locating, OX to difference, OY to difference, and f (x y) is the gradation of image value function.For carrying out following gradient direction histogram statistics, in above-mentioned rim detection, also to calculate the gradient direction of each cut-point

θ＝arctan[Δ _yf(x，y)/Δ _xf(x，y)] (1)

Corresponding with its gradient direction for guaranteeing picture point, the present invention makes up one and the right local window image gradient direction two-dimensional map of the same size table (Fig. 3).The map array on the right has just been stored and the corresponding each point gradient direction of parent window image value among Fig. 3.

For ease of the subsequent images work of treatment, also need the right local window image to be carried out binary conversion treatment according to the amplitude size of rim detection.Image after the binaryzation is littler than gray level image memory capacity, and computing velocity is fast, and the specific aim of Target Recognition is stronger, is convenient to the right markings identification in further track.

The processing of the structure of the rim detection of left side local window, gradient direction mapping table and binaryzation and the right local window is similar, and difference is that its rim detection is from right to left in proper order, and the diff_x[i of rim detection condition in 3.] [j] computing formula becomes

$\mathrm{diff}\_x\left[i\right]\left[j\right]=-(\underset{m=i}{\overset{i+2}{\mathrm{\&Sigma;}}}\mathrm{grad}\left[m\right]\left[j\right]-\underset{n=i-3}{\overset{i-1}{\mathrm{\&Sigma;}}}\mathrm{grad}\left[n\right]\left[j\right]).$

3. gradient orientation histogram is added up

Should be pointed out that the gradient orientation histogram notion to the present invention is directed to the traffic lane line characteristics of image and propose to have specific implication.Its thought source is in common grey level histogram notion.The number that has the pixel of certain gray level in the grey level histogram presentation video has reflected every kind of frequency that gray level occurs in the image.

For the bigger structuring highway of radius of horizontal curve (radius of horizontal curve is usually greater than 1000m), every markings in track all present regular slowly changing continuously, and are more concentrated at the gradient direction that then shows as each point on its left side or the right hand edge on the image.Then mainly keep the right hand edge information of a left side, track markings and the left hand edge information of the right side, track markings through the described edge-detected image of the 2nd joint, inevitably had some interference simultaneously.Therefore, as long as can determine a comparatively intensive left side, track or the gradient direction at right markings edge, just can eliminate there is notable difference in those on gradient direction interference according to gradient direction mapping relations shown in Figure 3 again.A left side, this track or the intensive characteristic of right markings edge gradient direction are reflected in that then to show as counting of occurring in a certain angular range in the gradient direction mapping table on Fig. 3 the right more, and promptly frequency is higher.Be the convenience of handling, use for reference the notion and the thought of grey level histogram here, gradient direction θ is turned to L discrete rank, and definition gradient direction statistic histogram function is

$p_{\mathrm{\&theta;}}\left({\mathrm{\&theta;}}_k\right)=\frac{n_k}{n},k=\mathrm{0,1,2},...,L-1---\left(2\right)$

In the formula, n _kBe θ in the corresponding gradient direction mapping table of certain local window _kThe number of times that level occurs, n is total number of elements of the corresponding gradient direction mapping table of this local window, L is a positive integer.If with θ is horizontal ordinate, P _θ(θ _k) be ordinate, no matter be left local window or right local window, can obtain a corresponding gradient orientation histogram, as shown in Figure 4.According to the analysis of front, the gradient orientation histogram of each local window correspondence has unimodal characteristic.In view of the above, hunt out the peak value and the corresponding gradient direction angular range of this gradient orientation histogram, promptly utilize the statistics with histogram algorithm, can realize statistical study and processing easily this gradient orientation histogram.

Certainly, need to determine their gradient direction scopes separately at left and right two local windows respectively, so that can carry out determining of follow-up candidate's point set.

4. candidate's point set and effectively determining of point set

Also there are many noise spots in each local window image after the binaryzation, therefore, is necessary the point on the image is screened.The main foundation of screening is no matter to be traffic lane line continuous or that be interrupted, and the point on its edge has very strong correlativity.It is all very close on distance and direction that this correlativity shows on its edge on any one group of boundary line that point set constituted and edge that all the other put formed boundary line.

The screening of each local window all comprises two steps: determines earlier to belong to candidate's point set and roughly select, defines the effect point set at each candidate's point set again, and promptly selected.Rougher process has embodied the direction continuity at traffic lane line edge, and refining process has then reflected space continuity.Can effectively remove the influence of many interference by this two step screening, and keep lane line marginal point in the local window to the full extent.During concrete the screening, can roughly select respectively with selected at left and right two local windows.

For each local window, the rougher process of determining its candidate's point set is exactly each candidate point in this local window to be included into the very near candidate point of certain consecutive point distance concentrate, and concrete steps are

Step 1For satisfying θ ∈ [θ ₁, θ ₂] each picture point in the local window of condition is as candidate point, the picture point that does not satisfy above-mentioned condition is not as candidate point, and wherein, θ is the picture point gradient direction that is stored in the corresponding gradient direction mapping table of this local window, [θ ₁, θ ₂] be gradient direction scope according to the determined lane line marginal point of the gradient orientation histogram of this local window correspondence,

Step 2According to from bottom to up, the mode of lining by line scan from left to right; Calculate current candidate point and each candidate point and concentrate the distance of closest approach; If with the distance of certain candidate's point set closest approach less than a certain threshold value; This threshold value value between 3～7; Just current candidate point is included into this candidate's point set; Otherwise set up new candidate's point set take this current candidate point as starting point; And record the generation sequence number of this point set; So circulation is until finish whole local window image; If through above-mentioned roughly selecting; Successively can obtain the 1st to l candidate's point set

For the l in the fixed local window candidate's point set, for further rejecting the influence of disturbing, need that also they are carried out validity and judge, promptly selected, to determine wherein to belong to effective point set at this local window inside lane markings edge.By the search order of rougher process as can be known, the starting point y coordinate of candidate's point set of forming of back should be greater than the starting point y coordinate of the candidate's point set that forms earlier.In view of the above, and, formulate following selected algorithm steps at traffic lane line marginal point continuity spatially:

Step 1Determine or calculate the base attribute feature of each candidate's point set, comprise count, starting point coordinate, terminal point coordinate and starting point and the determined straight slope of terminal point,

Step 2 is determined near-sighted wild lane line straight line parameter in the local window:The interlacing of local window image is extracted to constitute a width of cloth new images every row, and then the new images that dwindles implemented the straight line parameter of straight line Hough conversion with the wild inside lane markings of rapid extraction myopia, promptly adopt change precision straight line Hough to vary one's tactics and determine the straight line parameter of near-sighted wild inside lane markings, if extraction rate is still unhappy, can do further extraction and conversion process after the same method

First effective point set of step 3 searchBy incremental order differentiate i (i=1 ..., the l) validity of individual candidate's point set: if n _i＞N _Th＜and〉d _{I, sp}＜D _Th＜and〉d _{I, ep}＜D _Th, then i candidate's point set is first effective point set, writes down the point set position number u (being u=i) of this moment, withdraws from search; Otherwise continue search, wherein, n _iBe counting of i candidate's point set, N _ThBe the threshold value of counting, this threshold value value in 5～8 of counting, d _{I, sp}, d _{I, ep}Represent the starting point of i candidate's point set, the distance that terminal point arrives straight line that step 2 is determined respectively, D _ThBe distance threshold, this distance threshold value in 4～8,

Step 4 is determined other effective point setThe current available point set identifier of initialization i=u, by incremental order successively to j (j=u+1 ..., l) validity of individual candidate's point set is differentiated: if | k _i-k _{I, j}|＜k _Th＜and〉| k _j-k _{I, j}|＜k _Th, then j candidate's point set is effective point set, and to make it be current effective point set, even i=j; Otherwise be invalid point set, wherein, k _iExpression is by i candidate's point set, i.e. the determined straight slope of the Origin And Destination of current effective point set, k _jExpression is by the determined straight slope of the Origin And Destination of j candidate's point set, k _{I, j}Expression is by the terminal point of i candidate's point set and the determined straight slope of starting point of j candidate's point set, k _ThExpression slope differences threshold value, this slope differences threshold value value in 0.15～0.3,

Some supplementary notes of above-mentioned selected algorithm: the radius of horizontal curve of highway is bigger, markings in carriageway image myopia is wild are form linearly almost, as long as thereby can determine this straight line, just can utilize the space continuity feature of marginal point to determine each effective point set, this carries out the purpose of step 2 just; Step 2 just provides a consult straight line for first effective point set of search in the step 3, accuracy requirement to this straight line is not high, add that general Hough converter technique need expend the plenty of time, real-time is difficult to be guaranteed, so the present invention formulates and adopted change precision Hough to vary one's tactics; When concrete application becomes precision Hough strategy, also should make full use of historical frames information, with scope and the search volume that dwindles the Hough conversion, further improve real-time.

5. based on the characteristic parameter extraction of improved Kalman filtering

For each local window, determined its corresponding effectively point set after, just can carry out the extraction of corresponding traffic lane line characteristic parameter.For handling conveniently, all the available point collection in each local window are merged into a new point set, be referred to as feature point set.Obviously, counting of feature point set equals the sum of counting of all the effective point sets in the local window.Characteristic parameter extraction is carried out at feature point set.Because also may there be some noise spots in feature point set, need make further Filtering Processing during extraction.

Extraction method of characteristic parameters has a lot, and the method that correlative study has at present proposed mainly is various curve fittings and various Hough transform methods etc.But curve-fitting method is comparatively responsive to noise, and fitting precision is low when noise effect is big, and fit procedure exists the inversion operation of higher dimensional matrix; Straight line Hough conversion is only applicable to the bigger situation of radius of horizontal curve, and the real-time of curve Hough conversion is relatively poor.For guaranteeing that leaching process had both had stronger antijamming capability, have good real time performance again, the present invention proposes a kind of characteristic parameter extraction method based on Kalman filtering.

The Kalman wave filter is to be the optimal State Estimation wave filter of criterion with the Minimum Mean Square Error, it does not need to store measured value in the past, only according to current measured value and constantly an estimated value, utilizing computing machine to carry out recursion calculates, just can realize estimation, have the advantages that memory data output is little, algorithm is easy live signal.With regard to the characteristic parameter extraction of current traffic lane line, can use Kalman filtering respectively at left and right two local windows and carry out.

For extracting the traffic lane line in each local window, set up Kalman filtering equations about 3 characteristic parameters of these local window inside lane markings

$\left\{\begin{array}{c}{X}_k=X_{k-1}+W_k\\ Z_k=H_k{X}_k+V_k\end{array}\right.---\left(3\right)$

In the formula, footmark k represents k constantly, X _kBe the system state vector, for left local window $X_k={\left[\begin{array}{c}{a}_L\\ b_L\\ c_L\end{array}\right]}_k,$ A wherein _L, b _LWith c _LBe respectively the constant term of the quafric curve descriptive model of track left side markings, once a coefficient and quadratic term coefficient, and for right local window $X_k={\left[\begin{array}{c}{a}_R\\ b_R\\ c_R\end{array}\right]}_k,$ A wherein _R, b _RWith c _RBe respectively the constant term of the quafric curve descriptive model of the right markings in track, once a coefficient and quadratic term coefficient; The observation battle array

Observation vector

x _iWith y _iImage coordinate value for i point in the pairing feature point set of local window; W _k, V _kBe mutual incoherent zero-mean system's white noise and observation white noise, the two corresponding system noise variance battle array Q _kWith measurement noise variance matrix R _kBe normal diagonal matrix.

For described system state equation of formula (3) and measurement equation, can use kalman filtering theory, standard filtering recursive process below setting up (this recursive process comprises that the time upgrades and measurement is upgraded, and the first two steps of following recursive process are to upgrade the time, and remaining three steps upgrade for measurement):

State one-step prediction equation ${\hat{X}}_{k,k-1}={\hat{X}}_{k-1}$ (symbol ∧ represents calculated value)

One-step prediction error variance battle array P _{K, k-1}=P _K-1+ Q _k

The filter gain matrix $K_k=P_{k,k-1}\&CenterDot;H_k^T\&CenterDot;{(H_k{P}_{k,k-1}{H}_k^T+R_k)}^{-1}$

State estimation ${\hat{X}}_k={\hat{X}}_{k,k-1}+K_k(Z_k-H_k{\hat{X}}_{k,k-1})$

Estimation error variance battle array P _k=(I-K _kH _k) P _{K, k-1}

The above-mentioned inversion operation that in measuring renewal process, exists matrix about the standard K alman filtering recursive process of 3 characteristic parameters, according to system filter equation (3), the matrix dimension that need invert is counting of feature point set, generally is very high.When higher dimensional matrix was inverted, calculated amount caused the instability of numerical evaluation greatly and easily.To this, the present invention does not adopt above-mentioned standard K alman filtering method when measuring renewal, and adopts improved scalarization to handle (scalar measurement processing) method.Particularly, the time renewal process can be carried out according to above-mentioned standard K alman filtering, is undertaken by following recursive algorithm and measure to upgrade:

Make P ₁=P _{K, k-1}, ${\hat{X}}_1={\hat{X}}_{k,k-1},$ With H _k, Z _kAnd R _kThe battle array piecemeal, promptly

For i=1 ..., counting of feature point set, carry out recursion by following formula and calculate:

$K_i=\frac{P_i\&CenterDot;H_i^T}{H_i{P}_i{H}_i^T+R_i}$

${\hat{X}}_{i+1}={\hat{X}}_i+K_i(Z_i-H_i{\hat{X}}_i)$

P _i+1＝(I-K _i·H _i)·P _i

Finally can get P _k=P _{The counting of feature point set+1}, And

3 components that comprise are 3 characteristic parameters of traffic lane line to be extracted: for a left side, track markings is a _L, b _LWith c _L, be a for the right markings in track _R, b _RWith c _R

Embodiment 2

The actual effect of the traffic lane line recognition methods that proposes for check the present invention has been carried out the sport car experiment.The experiment basic condition is described as follows:

Experiment purpose: real-time performance, environmental adaptability and the interference free performance etc. of the lane line recognition methods that is used for the deviation warning that check the present invention proposes.

Experimental system is formed: experimental system is made of jointly software recognizer and hardware device.Lane line software recognizer is the lane line recognition methods that proposes according to the present invention, is too development with C++ Builder6.0; Main hardware equipment comprises: computing machine (match poplar 2.0G CPU, 256 MB of memory, 32M independence video memory), the DH-CG410 of Daheng image pick-up card, Wo Taike WAT-902H CCD camera, Buick experiment car, camera lens fixed support and vehicle power inverter etc.

Experiment is provided with: the image pick-up card working method is PAL, continuous field type, and the video image size is 384 * 288 pixels; Camera is installed in the middle and upper part of shield glass during experiment, points to vehicle traveling direction and becomes certain shooting angle with ground.

Experiment route and environment: in Shanghai and Nanjing at a high speed (Shanghai-Nanjing), rather close (Nanjing-Hefei) and Ningbo-Hangzhou at a high speed and carried out reaching several thousand kilometers repeatedly sport car at a high speed on the road surfaces such as (Nanjing-Hangzhou) and test; Weather and light status have contained typical case such as fine, overcast and rainy and night in the experimentation.

Experimental result: experiment shows (experimental identification of the various situations of face figure) as follows as a result, the traffic lane line recognition methods that the present invention proposes has obtained good recognition result, can satisfy the requirement of driveway deviation alarming system to lane line identification, be embodied in: the time of 1. handling a two field picture remains in the 20ms, and real-time performance is good; 2. can effectively remove all kinds of obstacles, to the recognition accuracy of traffic lane line more than 99%, the identification certainty height, antijamming capability is strong; 3. can adapt to weather and light situations complicated and changeable such as fine day, overcast and rainy and night, environment-adapting ability is strong.

Lane line recognition effect under the various typical situations such as Fig. 5～shown in Figure 36, comprise various interference and different light weather conditions.These lane line recognition results figure all is that real-time grasp shoot obtains in the experimentation of reality, and the black solid line among each figure on the lane line is the quafric curve that is used to describe traffic lane line that goes out according to the lane line characteristic parameter inverse that has extracted, and table 1 has provided the left and right markings characteristic parameter recognition result in the current track of advancing of automobile among each figure.

The advance left and right markings characteristic parameter recognition result (Fig. 5～Figure 36) in track of table 1 automobile

Claims (1)

1. one kind is used for the lane line Robust identifying method that deviation is reported to the police, and it is characterized in that

1. at first, satisfy the picture point of certain condition in left and right two local windows to the lane line place and carry out the Sobel rim detection, not satisfying the picture point of these conditions does not carry out rim detection and is changed to zero gray scale, make up corresponding gradient direction mapping table afterwards and carry out binary conversion treatment, the combination condition that carries out rim detection is:

(DectNum≤2)＜and〉(nei_ave_gray[i] [j]＞th1)＜and〉(diff_x[i] [j]＞th2) DectNum is every row number of times of rim detection, before every row carries out rim detection it is initialized as 1; Nei_ave_gray[i] [j] be image [i] [j] average gray value in 3 * 3 fields on every side

$\mathrm{nei}\_\mathrm{ave}\_\mathrm{gray}\left[i\right]\left[j\right]=\frac{1}{9}\underset{n=j-1}{\overset{j+1}{\mathrm{\&Sigma;}}}\underset{m=i-1}{\overset{i+1}{\mathrm{\&Sigma;}}}\mathrm{gray}\left[m\right]\left[n\right],$

Gray[m] [n] gray-scale value of locating for image [m] [n]; Th1 is according to the determined capable gray threshold of line scanning, and this row gray threshold is the capable gray average that line scanning is determined; Diff_x[i] [j] locate single order differential along the OX direction for image [i] [j], when detecting the right markings in track,

$\mathrm{diff}\_x\left[i\right]\left[j\right]=\underset{m=i}{\overset{i+2}{\mathrm{\&Sigma;}}}\mathrm{grad}\left[m\right]\left[j\right]-\underset{n=i-3}{\overset{i-1}{\mathrm{\&Sigma;}}}\mathrm{grad}\left[n\right]\left[j\right],$

And when detecting a left side, track markings,

$\mathrm{diff}\_x\left[i\right]\left[j\right]=-\left(\underset{m=i}{\overset{i+2}{\mathrm{\&Sigma;}}}\mathrm{grad}\right[m\left]\right[j]-\underset{n=i-3}{\overset{i-1}{\mathrm{\&Sigma;}}}\mathrm{grad}[n\left]\right[j\left]\right);$

Th2 is the differential threshold value, and value is the nonnegative integer in 4～8; And the mode of rim detection is carried out line by line, and is from right to left for left local window, is from left to right for right local window,

The building method of above-mentioned gradient direction mapping table is: in internal memory, open up respectively two with the corresponding zone of left and right local window, they stored respectively with left and right two local windows in the corresponding gradient direction value of each picture point;

2. and then, according to the gradient orientation histogram disposal route that is proposed, determine the gradient direction scope of each local window lane line marginal point, each local window gradient direction method of determining range is:

Step 1Gradient direction is turned to L discrete rank, and definition gradient direction statistic histogram function is

$p_{\mathrm{\&theta;}}\left({\mathrm{\&theta;}}_k\right)=\frac{n_k}{n},k=\mathrm{0,1,2},\&CenterDot;\&CenterDot;\&CenterDot;,L-1$

In the formula, n _kBe θ in the corresponding gradient direction mapping table of local window _kThe number of times that level occurs, n is the total number of elements in the corresponding gradient direction mapping table of local window, L is a positive integer, according to the definition of above-mentioned gradient direction statistic histogram function, is horizontal ordinate, P with gradient direction θ _θ(θ _k) be ordinate, obtain one and the corresponding gradient orientation histogram of local window, this gradient orientation histogram has unimodal characteristic,

Step 2Utilize general histogrammic statistic algorithm, determine the peak value of gradient orientation histogram and the pairing gradient direction scope of peak value etc.,

3. then, at the continuity Characteristics of lane line marginal point on orientation and space, having proposed lane line edge candidate's point set screens with the filtering algorithm of effective point set and to each local window, filtering algorithm in each local window comprises two steps, determine candidate's point set earlier, belong to and roughly select, define the effect point set at each candidate's point set again, promptly selected:

Determine the rougher process of candidate's point set: each candidate point in the local window is included into the very near candidate point of certain consecutive point distance concentrates, concrete steps are

Step 1For satisfying θ ∈ [θ ₁, θ ₂] each picture point in the local window of condition is as candidate point, the picture point that does not satisfy above-mentioned condition is not as candidate point, and wherein, θ is the picture point gradient direction that is stored in the corresponding gradient direction mapping table of this local window, [θ ₁, θ ₂] be gradient direction scope according to the determined lane line marginal point of the gradient orientation histogram of this local window correspondence,

Step 2According to from bottom to up, the mode of lining by line scan from left to right; Calculate current candidate point and each candidate point and concentrate the distance of closest approach; If with the distance of certain candidate's point set closest approach less than a certain threshold value; This threshold value value between 3～7; Just current candidate point is included into this candidate's point set; Otherwise set up new candidate's point set take this current candidate point as starting point; And record the generation sequence number of this point set; So circulation is until finish whole local window image; If through above-mentioned roughly selecting; Successively can obtain the 1st to l candidate's point set

Determine the refining process of effective point set: for the l in the fixed local window candidate's point set, determine effective point set wherein, concrete steps are

Step 1Determine or calculate the base attribute feature of each candidate's point set, comprise count, starting point coordinate, terminal point coordinate and starting point and the determined straight slope of terminal point,

Step 2 is determined near-sighted wild lane line straight line parameter in the local window:The interlacing of local window image is extracted to constitute a width of cloth new images every row, and then the new images that dwindles implemented the straight line parameter of straight line Hough conversion with the wild inside lane markings of rapid extraction myopia, promptly adopt change precision straight line Hough to vary one's tactics and determine the straight line parameter of near-sighted wild inside lane markings, if extraction rate is still unhappy, can do further extraction and conversion process after the same method

First effective point set of step 3 searchBy incremental order differentiate i (i=1 ..., the l) validity of individual candidate's point set: if n _i＞N _Th＜and〉d _{I, ep}＜D _Th＜and〉d _{I, ep}＜D _Th, then i candidate's point set is first effective point set, writes down the point set position number u (being u=i) of this moment, withdraws from search; Otherwise continue search, wherein, n _iBe counting of i candidate's point set, N _ThBe the threshold value of counting, this threshold value value in 5～8 of counting, d _{I, sp}, d _{I, ep}Represent the starting point of i candidate's point set, the distance that terminal point arrives straight line that step 2 is determined respectively, D _ThBe distance threshold, this distance threshold value in 4～8,

Step 4 is determined other effective point setThe current available point set identifier of initialization i=u, by incremental order successively to j (j=u+1 ..., l) validity of individual candidate's point set is differentiated: if | k _i-k _{I, j}|＜k _Th＜and〉| k _j-k _{I, j}|＜k _Th, then j candidate's point set is effective point set, and to make it be current effective point set, even i=j; Otherwise be invalid point set, wherein, k _iExpression is by i candidate's point set, i.e. the determined straight slope of the Origin And Destination of current effective point set, k _jExpression is by the determined straight slope of the Origin And Destination of j candidate's point set, k _{I, j}Expression is by the terminal point of i candidate's point set and the determined straight slope of starting point of j candidate's point set, k _ThExpression slope differences threshold value, this slope differences threshold value value in 0.15～0.3,

4. last, to the corresponding effectively point set of fixed each local window, handle the extraction quick and precisely that the Kalman filtering method has been realized the left and right markings characteristic parameter in track by what propose based on scalarization, the scalarization of each local window inside lane line characteristic parameter is handled Kalman filtering extracting method and is:

Step 1All available point collection in the local window are merged into a new point set, and this new point set is called as feature point set, and it is counted and equals the sum of counting of all the effective point sets in the local window,

Step 2Foundation is about the Kalman filtering equations of 3 characteristic parameters of these local window inside lane markings

$\left\{\begin{array}{c}{X}_k=X_{k-1}+W_k\\ Z_k=H_k{X}_k+V_k\end{array}\right.---\left(1\right)$

In the formula, footmark k represents k constantly, X _kBe the system state vector, for left local window $X_k={\left[\begin{array}{c}{a}_L\\ b_L\\ c_L\end{array}\right]}_k,$ A wherein _L, b _LWith c _LBe respectively the constant term of the quafric curve descriptive model of track left side markings, once a coefficient and quadratic term coefficient, and for right local window $X_k={\left[\begin{array}{c}{a}_R\\ b_R\\ c_R\end{array}\right]}_k,$ A wherein _R, b _RWith c _RBe respectively the constant term of the quafric curve descriptive model of the right markings in track, once a coefficient and quadratic term coefficient; The observation battle array

Observation vector

x _iAnd y _iImage coordinate value for i point in the pairing feature point set of local window; W _k, V _kBe mutual incoherent zero-mean system's white noise and observation white noise, the two corresponding system noise variance battle array Q _kWith measurement noise variance matrix R _kBe normal diagonal matrix,

Step 3For the described system of formula (1), adopt scalarization to handle the extraction of kalman filter method realization to local window inside lane markings characteristic parameter, leaching process is that advanced line time upgrades, measure renewal again, the time renewal is undertaken by the standard card Kalman Filtering, adopt the scalarization disposal route and measure to upgrade, promptly

Time upgrades:

State one-step prediction equation ${\hat{X}}_{k,k-1}={\hat{X}}_{k-1}$ (symbol ∧ represents calculated value)

One-step prediction error variance battle array P _{K, k-1}=P _K-1+ Q _kMeasure and upgrade:

Make P ₁=P _{K, k-1}, ${\hat{X}}_1={\hat{X}}_{k,k-1},$ With H _k, Z _kAnd R _kThe battle array piecemeal, promptly

For i=1 ..., counting of feature point set, carry out recursion by following formula and calculate:

$K_i=\frac{P_i\&CenterDot;H_i^T}{H_i{P}_i{H}_i^T{+R}_i}$

${\hat{X}}_{i+1}={\hat{X}}_i+K_i(Z_i-H_i{\hat{X}}_i)$

P _i+1＝(I-K _i·H _i)·P _i

Finally can get P _k=P _{The counting of feature point set+1},

And 3 components that comprise are 3 characteristic parameters of traffic lane line to be extracted: for a left side, track markings is a _L, b _LWith c _L, and be a for the right markings in track _R, b _RWith c _R

Images