Abstract
A novel lane detection approach, based on the dynamic region of interest (DROI) selection in the horizontal and vertical safety vision, is proposed to improve the accuracy of lane detection in this paper. The curvature of each point on the edge of the road and the maximum safe distance, which are solved by the lane line equation and vehicle speed data of the previous frame, are used to accurately select the DROI at the current moment. Next, the global search of DROI is applied to identify the lane line feature points. Subsequently, the discontinuous points are processed by interpolation. To fulfill fast and accurate matching of lane feature points and mathematical equations, the lane line is fitted in the polar coordinate equation. The proposed approach was verified by the Caltech database, under the premise of ensuring real-time performance. The accuracy rate was 99.21% which is superior to other mainstream methods described in the literature. Furthermore, to test the robustness of the proposed method, it was tested in 5683 frames of complicated real road pictures, and the positive detection rate was 99.07%.
Highlights
In recent years, advanced driver assistance systems (ADAS) and autonomous driving are becoming more and more important to reducing traffic accidents
Longitudinal Boundary Design of dynamic region of interest (DROI) Based on Safe Car Distance
A seriesAfter of preprocessing, global search for and the recognition lane line feature a series of global search for DROI and realize the recognition of lane line feature points
Summary
In recent years, advanced driver assistance systems (ADAS) and autonomous driving are becoming more and more important to reducing traffic accidents. Vision-based lane detection has always been a hot topic in the field of lane line detection. In these studies, the selection of the region of interest (ROI). Has been widely used to limit the range of lane detection because it can efficiently reduce the level of redundant data to improve the real-time capabilities and accuracy. In order to improve the accuracy capabilities, the vanishing point of the lane line, indicating the point at which two lane lines cross in the distance, was treated as the upper boundary of the ROI [3,4,5]. The calculation amount of this method is less than that of the method with the vanishing point as the upper boundary, this method still cannot effectively extract the ROI following a safe distance from the front field of view
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