presented a similar algorithm using the deviation of the centroid line of detected lanes from the center of the image. However, the camera setup should be ideal enough otherwise, the symmetry axis of EDF may change even if lane departure is not happening. An edge distribution function (EDF) in determined lane departure using the position of the symmetry axis of EDF. This type attracts many researchers because of its simplicity, while one of its shortcomings is the lack of robustness. The first type determines lane departure warning only by using the information in the image, e.g., the slopes of the lane markings in the image can estimate the vehicle’s turning direction. Among all the LDWS algorithms, vision-based algorithms play an important role, which can be divided into two types: (1) algorithms using only image information and (2) algorithms using image information and road model.
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