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Tham khảo tài liệu 'intelligent vehicle technology and trends episode 1 part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 162 Integrated Lateral and Longitudinal Control and Sensing Systems The high performance processing platform included both a field-programmable gate array and digital signal processor that is capable of processing raw video at the required high data rate. A modular and stackable unit was designed so that multiple algorithms could be tested on additional processing boards. The objective was to demonstrate that complicated image processing algorithms could be implemented using a cost-effective embedded hardware solution. Video Processing The vision task was split into the functions of lane marking detection and obstacle detection. As stated previously lane marking detection assists the forward ranging sensors in identifying whether obstacles are within the host vehicle s lane or not. Road boundary detection must at least provide with high accuracy estimates of the relative orientation and of the lateral position of the vehicle with respect to the road. Two approaches based on different road model complexity were tested. First a real-time algorithm performed computation of the orientation and lateral pose of a vehicle with respect to the observed road. This approach provided robust measures when lane markings were dashed partially missing or perturbed by shadows other vehicles or noise. The second approach was based on an efficient curve detector which automatically handled occlusion caused by vehicles signs light spots shadows or low image contrast. Shapes in two-dimensional images were described by their boundaries and represented by linearly parameterized curves. In this way particular markings or road lighting conditions are not assumed and lane discrimination is based only on geometrical considerations. Vision-based obstacle detection focused on obstacles within 50m in front of the test vehicle. For CARSENSE an obstacle was defined broadly as a vehicle car truck a motorcycle a bicycle or a pedestrian cutting into the host vehicle s trajectory. A stereo vision and
