基于残差网络的弯道增强车道线检测方法  

Residual network based curve enhanced lane detection method

作　　者：时小虎[1,2] 吴佳琦 吴春国[1,2] 程石 翁小辉 常志勇[4,5] SHI Xiao-hu;WU Jia-qi;WU Chun-guo;CHENG Shi;WENG Xiao-hui;CHANG Zhi-yong(College of Computer Science and Technology,Jilin University,Changchun 130012,China;Key Laboratory ofSymbol Computation and Knowledge Engineering of Ministry of Education,Jilin University,Changchun 130012,China;School of Mechanical and Aerospace Engineering,Jilin University,Changchun 130022,China;College of Biologicaland Agricultural Engineering,Jilin University,Changchun 130022,China;Key Laboratory of Bionic Engineering ofMinistry of Education,Jilin University,Changchun 130022,China)

机构地区：[1]吉林大学计算机科学与技术学院,长春130012 [2]吉林大学符号计算与知识工程教育部重点实验室,长春130012 [3]吉林大学机械与航空航天工程学院,长春130022 [4]吉林大学生物与农业工程学院,长春130022 [5]吉林大学工程仿生教育部重点实验室,长春130022

出　　处：《吉林大学学报（工学版）》2023年第2期584-592,共9页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(62272192);吉林省重大科技专项项目(20200501013GX);吉林省预算内基本建设项目(2021C044-1)。

摘　　要：本文以提高弯道检测效果为主要目的,并综合考虑检测速度,提出了一种基于残差网络的弯道增强车道线检测方法。该方法采用残差网络为主体框架,通过在损失函数中加入弯道结构约束条件实现弯道增强;另一方面,为降低模型的复杂度,采用权值稀疏剪枝技术对模型进行缩减。实验结果表明:本文提出的弯道增强策略有效提高了在弯道场景下的算法性能,且对直线车道的检测性能影响较小。加入了权值稀疏剪枝策略之后,算法在性能未明显下降的前提下大幅度减少了计算时间,更符合实际生产需求。In this paper, the main purpose is to improve the curve detection effect, and considering the detection speed comprehensively, a curve lane detection method based on residual network is proposed. In this method, the residual network is used as the main framework and the curve enhancement is realized by adding the curve structure constraints to the loss function. On the other hand, in order to reduce the complexity of the model, the weights pruning technique is used to reduce the model. The result shows that the curve enhancement strategy proposed in this paper can not only effectively improve the algorithm performance in the curve scene, but also has little impact on the detection performance of straight lanes.After adding the sparse pruning strategy, the algorithm greatly reduces the computation time without significant performance degradation, which is more in line with actual production requirements.

关 键 词：计算机应用技术 车道线检测 残差网络 损失函数 剪枝 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]