【摘要】 根据图像中车道线特征,提出一种应用多阶动态规划的车道线识别算法。为准确识别车道线,算法利用非均匀B样条曲线拟合车道线,通过多阶动态规划确定非均匀B样条曲线的控制点。根据多阶动态规划的起始点和目标点确定车道线检测区域,进行区域分割确定动态规划的阶数,确定控制点的候选点;根据定义的代价函数和最优化原理,利用多阶动态规划确定曲线的控制点;拟合车道线,实现车道线的识别。处理各种路况的视频图像进行算法验证,试验结果表明,对于实车道线和虚车道线的直道、左转、右转的多种路况条件下,算法能有效准确地提取车道线的参数,稳定地实现车道线的识别。更多还原

【Abstract】 According to the characteristics of lane lines,the algorithm of lane line recognition based on multi-stage dynamic programming is proposed.In order to recognize the lane lines accurately,non-uniform B-Spline curve is used to fit the lane lines.The multi-stage dynamic programming is introduced to determine the control points for B-Spline curve.In the algorithm,firstly,according to the region of detection determined by the starting and target points,the candidate control points and the order are obtained after image segmentation.Then,the control points are selected according to the defined cost function and optimization principle.Lastly,the lane lines are fitted so as to realize the recognition thereof.The proposed method is applied to a variety of images,and the experimental results indicate that the algorithm can extract the lane line parameters accurately and effectively for straight line,curved line,continuous line and dotted line,and realize lane recognition stably.更多还原