车道偏离预警系统(LDW)研究报告

车道偏离预警系统（LDW）研究报告摘要：为了积极应对由车道偏离引发的交通安全事故，车道偏离预警系统被广泛应用于现代汽车。报告从车道偏离倒是事故的严重性和车道偏离预警的重要性出发，阐述了车道偏离预警系统的背景和意义。报告主要根据检测车辆横向位置分类，回顾了基于道路基础构造和车辆的车道偏离的警告系统，并简要介绍了相关成熟产品。报告回顾了车道偏离预警系统的四类警告标准，包括：CCP标准、FOD标准、TLC标准和KBIRS标准。报告介绍了以ISO17361:2007和FMCSA-MCRR-05-005为主的两种车道偏离预警系统标准。通过实例，按道路图像预处理、车道检测、车道线检测和车道偏离检测介绍了车道偏离预警系统的实现。最后，报告对车道偏离预警系统进行了回顾和展望。关键词：交通安全；车道偏离；预警系统；车道检测；车道线检测Researchonlanedeparturewarningsystem(LDW)Abstract:Inordertorespondtothetrafficaccidentscausedbylanedepartureactively,lanedeparturewarningsystem(LDW)arewidelyusedinmoderncars.ThebackgroundandsignificanceofLDWwasexplainedfromtheseriousofthelanedeparturecausingaccidentsandtheimportanceofLDW.Thesystembasedonroadinfrastructureconstructionandvehicles’lanedeparturewasrecalled,whichwasmainlybasedontheclassificationofdetectedvehicles’lateralposition,andtherelevantmatureproductswasdescribedbriefly.ThewarningcriteriaoffourlanedeparturewarningsystemsincludingCCPstandard,FODstandard,TLCstandardKBIRSstandardwasreviewed.TwoLDWstandardsincludingISO17361:2007andFMCSA-MCRR-05-005wereintroduced.ThereleasedofLDWwasintroducedinorderbyroadimagepreprocessing,lanedetection,lanemarkingdetectionandlanedeparturedetectionaccordingexample.Finally,LDWwasreviewedanddiscussed.Keywords:trafficsafety;lanedeparture;warmingsystem;lanedetection;lanemarkingdetection目录1车道偏离预警系统的背景和意义...........................................................................11.1车道偏离导致事故的严重性.........................................................................11.2车道偏离预警的重要性.................................................................................11.3车道偏离预警系统的定义.............................................................................12车道偏离预警系统的分类.......................................................................................22.1根据检测车辆横向位置分类.........................................................................22.1.1基于道路基础构造的车道偏离警告系统..........................................22.1.2基于车辆的车道偏离警告系统..........................................................23车道偏离警告系统采用的警告标准.......................................................................53.1CCP标准..........................................................................................................53.2FOD标准..........................................................................................................63.3TLC标准...........................................................................................................63.4KBIRS标准.......................................................................................................74LDW系统的安全标准................................................................................................95.车道偏离预警系统的实现（实例）......................................................................125.1道路图像预处理...........................................................................................125.1.1路面坐标与图像坐标的转换............................................................125.1.2道路图像的灰度化............................................................................145.1.3道路图像的滤波增强........................................................................155.2车道检测.......................................................................................................155.2.1车道检测范围....................................................................................155.2.2感兴趣区域(ROI,regionofinterest)..................................................165.3车道线检测...................................................................................................175.3.1卷积法[4].............................................................................................175.3.2Lucas-Kanade(L-K)光流法................................................................185.3.3车道线追踪（Kalman滤波法）.......................................................205.4车道偏离检测...............................................................................................205.4.1根据标准预警....................................................................................205.4.2基于时空机理的车道偏离预警........................................................225.5测试和结果...................................................................................................254.4.1硬件设备............................................................................................254.4.2测试数据............................................................................................264.4.3测试过程和结果................................................................................264.4.4鲁棒性介绍........................................................................................296展望..........................................................................................................................31参考文献......................................................................................................................3211车道偏离预警系统的背景和意义1.1车道偏离导致事故的严重性据统计,每年世界范围内的公路交通事故中大约有1000万人员受伤,其中重伤约300万人,死亡40万人,这些事故直接造成的经济损失约占世界GDP的13%。根据(美国)联邦公路局的估计，美国2002年所有致命的交通事故中44%是跟车道偏离有关的,同时车道偏离也被看成车辆侧翻事故的主要原因。