基于逆透视变换的车道线激光精准检测方法  

A precise laser detection method for lane lines based oninverse perspective transform

作　　者：王芳[1] 刘悦[1] 王青正 WANG Fang;LIU Yue;WANG Qingzheng(College of Information Engineering,Kaifeng University,Kaifeng Henan 475000,China;College of Information Engineering,North China University of Water Conservancy and Electric Power,Zhengzhou 450046,China)

机构地区：[1]开封大学信息工程学院,河南开封475000 [2]华北水利水电大学信息工程学院,郑州450046

出　　处：《激光杂志》2024年第8期81-86,共6页Laser Journal

基　　金：河南省科技攻关计划项目(No.222102210125);河南省高等学校重点科研项目(No.23B520042)。

摘　　要：车道线检测作为智能汽车安全驾驶的主要研究方向,能够在汽车偏离车道时及时发出预警,有效缓解交通拥挤、安全问题,但常规方法易受光照强度、阴影等环境因素影响,限制其使用范围,且检测误差较大。为此,提出基于逆透视变换的车道线激光精准检测方法。该方法选用RS-LiDAR-16激光雷达作为车道数据采集装置,借助逆透视变换、顶视图空间坐标系转换各激光点数据,利用最大类间与最小类间方差算法找出激光点反射强度最佳阈值,作为车道表面及车道线数据判断依据,通过二值化算得出车道线各点数据,凭借最小二乘拟合法将这些数据拟合成线,最终检测出车道线。实验结果表明,所提方法车道线检测精准度高,逆透视变换降低了环境对检测结果的干扰。Lane line detection,as the main research direction for safe driving of intelligent vehicles,can provide timely warning when the vehicle deviates from the lane,effectively alleviating traffic congestion and safety issues.However,conventional methods are easily affected by environmental factors such as light intensity and shadows,limiting their scope of use and causing significant detection errors.Therefore,a laser precise detection method for lane lines based on inverse perspective transformation is proposed.This method uses RS-LiDAR-16 LiDAR as the lane data acquisition device,uses inverse perspective transformation and top view spatial coordinate system to convert various laser point data,and uses the maximum and minimum inter class variance algorithm to find the optimal threshold of laser point reflection intensity,which serves as the basis for judging the surface and lane line data of the lane.The data of each point of the lane line is obtained through binary calculation,and these data are fitted into a line using the least squares fitting method,Finally,the lane line was detected.The experimental results show that the proposed method has high accuracy in lane line detection,and the inverse perspective transformation reduces the interference of the environment on the detection results.

关 键 词：逆透视变换 车道表面 车道线 反射强度 激光雷达 

分 类 号：TN249[电子电信—物理电子学]