A lane-level positioning method based on vision and millimeter wave radar is proposed. A camera is used for lane recognition with circular curve model and a millimeter wave radar is used for road curb re-cognition by detecting the stationary railways alongside. Lane-level positioning is then calculated by comparing the relative distance of lane and curb with the road prior information obtained from a low precision global position system (GPS). The results show that the lane-level positioning method proposed in this paper can achieve good positioning accuracy in city and highway scenes.
ZHAO Xianga,b,YANG Minga,b,WANG Chunxiangc,WANG Binga,b
. A Lane-Level Positioning Method Based on Vision and Millimeter Wave Radar[J]. Journal of Shanghai Jiaotong University, 2018
, 52(1)
: 33
-38
.
DOI: 10.16183/j.cnki.jsjtu.2018.01.006
［1］HILLEL A B, LERNER R, LEVI D, et al. Recent progress in road and lane detection: A survey［J］. Machine Vision and Applications, 2014, 25(3): 727-745.
［2］WANG H Y, ZHANG X X, LI X L, et al. GPS/DR information fusion for AGV navigation［C］∥World Automation Congress. Puerto Vallarta, Mexico: IEEE, 2012: 1-4.
［3］ALAM N, DEMPSTER A G. Cooperative position-ing for vehicular networks: Facts and future［J］. IEEE Transactions on Intelligent Transportation Systems, 2013, 14(4): 1708-1717.
［4］YONEDA K, YANG C, MITA S, et al. Urban road localization by using multiple layer map matching and line segment matching［C］∥Intelligent Vehicles Symposium (IV). Seoul, South Korea: IEEE, 2015: 525-530.
［5］MECHAT N, SAADIA N, M’SIRDI N K, et al. Lane detection and tracking by monocular vision system in road vehicle［C］∥5th International Congress on International Congress on Image and Signal Processing. Congqing: IEEE, 2013: 1276-1282.
［6］MCDONALD J B, FRANZ J, SHORTEN R. Application of the hough transform to lane detection in motorway driving scenarios［EB/OL］. ［2016-10-01］. http:∥citeseerx.ist.psu.edu/viewdoc/summary?doi= 10.1.1.16.402.
［7］白聪敏. 区域交通环境下的智能车全自主导航方法研究［D］. 上海交通大学机械与动力工程学院, 2012.
［8］BERTOZZI M, BROGGI A. GOLD: A parallel real-time stereo vision system for generic obstacle and lane detection［J］. IEEE Transactions on Image Processing, 1998, 7(1): 62-81.
［9］曹毓, 冯莹, 雷兵, 等. 逆透视映射公式的误差分析及准确度验证［J］. 光子学报, 2011, 40(12): 1833-1838.
CAO Yu, FENG Ying, LEI Bing, et al. Eror analysis and precision validation of inverse perspective mapping formulae［J］. Acta Photonica Sinica, 2011, 40(12): 1833-1838.
［10］JANDA F, PANGERL S, LANG E, et al. Road boundary detection for run-off road prevention based on the fusion of video and radar［C］∥Intelligent Vehicles Symposium (IV). Gold Coast, Australia: IEEE, 2013: 1173-1178.
