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应用模糊逻辑的车道线检测方法

Keywords: 智能车辆,模糊逻辑,车道线检测,直方图,信息熵

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Abstract:

为了实现受大片阴影干扰或强光照等条件下的车道线边缘增强与车道线检测,提出了一种应用模糊逻辑的图像处理方法检测车道线,通过最大信息熵求取直方图的谷底作为隶属度函数的参数值,利用模糊逻辑增强了车道线像素与柏油路像素之间的对比度.在车道线检测过程中,对预处理后的图像利用HT检测直道,利用3次曲线方程拟合弯道.为了节省数据处理时间,根据上一帧的车道线参数,利用Kalman滤波器动态建立感兴趣区域,并且预测当前帧的车道线拟合参数,实现道路的实时检测.对比分析表明,该算法提高了受大片阴影干扰或强光照等条件下的车道线边缘像素和柏油路像素之间的对比度,强化了车道线边缘信息.车道线检测结果表明,经过模糊逻辑处理能准确提取大片阴影干扰或强光照等条件下的车道线参数,稳定检测多种光照条件下的车道线.

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