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基于车道线虚线角点检测的行车安全视距测算模型

田顺 田山山 杨炜 魏朗 陈涛

田顺, 田山山, 杨炜, 魏朗, 陈涛. 基于车道线虚线角点检测的行车安全视距测算模型[J]. 交通信息与安全, 2022, 40(2): 30-37. doi: 10.3963/j.jssn.1674-4861.2022.02.004
引用本文: 田顺, 田山山, 杨炜, 魏朗, 陈涛. 基于车道线虚线角点检测的行车安全视距测算模型[J]. 交通信息与安全, 2022, 40(2): 30-37. doi: 10.3963/j.jssn.1674-4861.2022.02.004
TIAN Shun, TIAN Shanshan, YANG Wei, WEI Lang, CHEN Tao. A Model for Estimating Driving Sight Distances Based on Corner Point of Broken Line of Roadway[J]. Journal of Transport Information and Safety, 2022, 40(2): 30-37. doi: 10.3963/j.jssn.1674-4861.2022.02.004
Citation: TIAN Shun, TIAN Shanshan, YANG Wei, WEI Lang, CHEN Tao. A Model for Estimating Driving Sight Distances Based on Corner Point of Broken Line of Roadway[J]. Journal of Transport Information and Safety, 2022, 40(2): 30-37. doi: 10.3963/j.jssn.1674-4861.2022.02.004

基于车道线虚线角点检测的行车安全视距测算模型

doi: 10.3963/j.jssn.1674-4861.2022.02.004
基金项目: 

国家自然科学基金项目 52072047

陕西省自然科学基础研究计划青年项目 2022JQ-007

中央高校基本科研业务费资助项目 300102220106

详细信息
    作者简介:

    田顺(1989—),博士,讲师. 研究方向:道路交通安全. E-mail:tianshun@chd.edu.cn

    通讯作者:

    魏朗(1957—),博士,教授. 研究方向:道路交通安全. E-mail:qch_1@chd.edu.cn

  • 中图分类号: U46.1

A Model for Estimating Driving Sight Distances Based on Corner Point of Broken Line of Roadway

  • 摘要: 开展行车视距调查对于营运期公路安全评价至关重要,这对车载条件下行车视距检测提出了要求。针对现有基于车道线图像特征点所构建的视距模型精确度不高的问题,提出了1种以车道线虚线角点为关键特征的行车安全视距测算模型。在车载设备获取的图像预处理基础上,采用轮廓跟踪法对车道线虚线轮廓进行提取,通过设定轮廓尖锐度阈值以实现对车道线虚线角点的初步筛选;使用最大、最小距离法对候选角点进行聚类分类,将每类中尖锐度最大的点判定为真实角点;此外,结合车道线虚线图像梯形特征实现对角点的精确提取;根据成像原理的坐标转换关系,通过解构角点在世界坐标和像素坐标之间的映射关系以求解二者之间的转换矩阵,得到实际道路环境的行车安全视距测算模型;将模型所测算的行车视距与运行车速所需的行车视距进行对比,实现对不同道路线形下行车视距的评价。通过实车实验对所提行车视距测算模型进行动态和静态检测精度验证。结果表明:该模型在静态条件下的行车视距检测误差小于7%,低于采用车道线特征点提取方法检测的误差;在动态车载条件可实现行车视距的连续检测,表明在该模型能适应动态条件对行车视距的检测。该模型可实时动态检测行车视距,为营运期公路安全评价提供支撑。

     

  • 图  1  车道线虚线角点检测与提取流程图

    Figure  1.  Flowchart of detection and extraction of dotted line corners of roadways

    图  2  邻域判断顺序图

    Figure  2.  Neighboring area judgment sequence diagram

    图  3  局部轮廓线放大示意图

    Figure  3.  Schematic diagram of local contour line

    图  4  轮廓、角点提取局部图

    Figure  4.  Partial map of contour and corner point extraction

    图  5  车道线虚线角点提取试验结果

    Figure  5.  Extraction test results of the dotted line corners of the roadway

    图  6  车道线虚线角点提取流程

    Figure  6.  Flowchart for extracting the dotted line corner points of the roadway

    图  7  车道线虚线角点成像示意图

    Figure  7.  Schematic diagram of imaging of dotted corners of roadways

    图  8  试验路段图像示例

    Figure  8.  Picture of the test roads

    图  9  与文献[7]~[8]的结果对比

    Figure  9.  Comparison results with methods in references [7]~[8]

    图  10  参数录入信息

    Figure  10.  Import of parameters

    图  11  视距计算结果输出

    Figure  11.  Output of sight distance calculation result

    表  1  二、三、四级公路的停车、会车和超车视距

    Table  1.   Sight distance for parking, meeting and overtaking on second, third, and fourth level highways

    设计速度/(km/h) 停车视距/m 会车视距/m 超车视距/m
    80 110 220 550
    60 75 150 350
    40 40 80 200
    下载: 导出CSV

    表  2  计算误差

    Table  2.   Calculation error

    序号 测量值/m 计算值/m 绝对误差/m 相对误差/%
    1 24.2 25.51 1.31 5.41
    2 17.4 18.14 0.74 4.52
    3 20.2 21.34 1.14 5.64
    4 25.3 27.01 1.71 6.76
    5 23.3 24.92 1.62 6.95
    6 29.8 31.76 1.96 6.58
    7 18.5 19.19 0.69 3.73
    8 21.3 22.61 1.31 6.15
    下载: 导出CSV
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出版历程
  • 收稿日期:  2021-05-23
  • 网络出版日期:  2022-05-18

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