A Lane Detection Hardware Algorithm Based on Helmholtz Principle and Its Application to Unmanned Mobile Vehicles

2022 International Conference on Field-Programmable Technology (ICFPT) Pub Date : 2022-12-05 DOI:10.1109/ICFPT56656.2022.9974208

Katsuaki Kamimae, Shintaro Matsui, Yasutoshi Araki, Takehiro Miura, Keigo Motoyoshi, Keizo Yamashita, Haruto Ikehara, Takuho Kawazu, Huang Yuwei, Masahiro Nishimura, Shuto Abe, Kenyu Okino, Yuta Hashiguchi, Koki Fukuda, Kengo Yanagihara, Taito Manabe, Yuichiro Shibata

引用次数: 1

Abstract

We are developing an SoC FPGA-based unmanned mobile vehicle for the FPGA design competition. For the vehicle to follow roads successfully, it must be able to detect not only straight lines but also curved lines accurately. Therefore, we implemented a lane detection algorithm that is robust not only against straight lines but also against curves to improve driving performance. We implemented an autonomous driving system employing this algorithm on Digilent Zybo Z7-20. We evaluated the lane detection algorithm based on simulations and showed that this algorithm can reduce false detection of lane features compared to the classical Canny filter.

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一种基于亥姆霍兹原理的车道检测硬件算法及其在无人驾驶汽车上的应用

我们正在为FPGA设计竞赛开发一种基于SoC FPGA的无人驾驶移动车辆。为了使车辆能够成功地跟随道路，它不仅必须能够准确地检测直线，而且必须能够准确地检测曲线。因此，我们实现了一种不仅对直线而且对曲线都具有鲁棒性的车道检测算法，以提高驾驶性能。我们在Digilent Zybo Z7-20上实现了采用该算法的自动驾驶系统。基于仿真对车道检测算法进行了评估，结果表明，与经典的Canny滤波器相比，该算法可以减少车道特征的误检。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2022 International Conference on Field-Programmable Technology (ICFPT)

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