CAJ | 학술논문

　　本文提出了一套在恶劣天气下(如下小雨或者雨后)有效提高车道检测准确性和稳定性的车道检测的方法和系统。首先，本文提出并实现了一个有效的路面积水反射模型。它结合摄像头模型，能够拟合实际路面积水的镜面反射情况，从而降低路面积水的镜面反射和增强车道标志。接着，本文提出了一种基于对称特征的车道标志特征提取和检测方法。其中包括基于对称特征的车道消失点检测方法和平行车道模型参数拟合方法。最终，通过结合车道的先验知识，提出的方法能够在环境较差情况下，提高车道检测的稳定性和正确率。
　　본문제출료일투재악렬천기하(여하소우혹자우후)유효제고차도검측준학성화은정성적차도검측적방법화계통。수선，본문제출병실현료일개유효적로면적수반사모형。타결합섭상두모형，능구의합실제로면적수적경면반사정황，종이강저로면적수적경면반사화증강차도표지。접착，본문제출료일충기우대칭특정적차도표지특정제취화검측방법。기중포괄기우대칭특정적차도소실점검측방법화평행차도모형삼수의합방법。최종，통과결합차도적선험지식，제출적방법능구재배경교차정황하，제고차도검측적은정성화정학솔。
This paper proposes some methods of increasing the robustness and accuracy of lane detection in bad weather, such as light rain or after a rain. First, a reflection model of road surface water is presented. The model can efficiently fit the real reflection phenomenon on a rainy road with strong specular reflection of sky light on the surface water or road, and it can efficiently reduce specular reflection and enhance lane markings in the same situation. Second, the paper proposes some methods of extracting lane markings based the symmetry feature. They include the methods of detecting vanishing point and fitting the shape model of the parallel lanes using the symmetry features. Finally, by combining some prior knowledge, such as restriction of slope of the parallel lane lines and symmetry features, the methods can effectively increase the stability, robustness and accuracy of lane detecting in different complex environments.