针对现有的基于车道线宽度的测距方法在弯道时的测距误差,提出一种基于车道线斜率的弯道处车道线横向宽度的估计方法,并推导出基于车道线横向宽度的改进测距模型。随后在同心圆车道线模型下,对现有方法和所提方法的测距误差进行对比,所提方法的测距精度得到明显提高。当车道线曲率为0.01时,在真实距离为50 m内,所提方法的测距误差小于3%;当曲率小于0.005时,在真实距离为100 m内,所提方法的测距误差小于1%。最后基于KITTI数据集验证所提方法在实际道路环境下的测距效果,结果显示,所提方法的平均测距误差在5%以内,显著提高了弯道处的测距精度。

To mitigate the problem of distance measurement errors in the existing vehicle ranging method based on lane line width of curved roads, this study propose a lane line lateral width estimation method at the curve based on the slope of the lane line. Further, an improved ranging model based on lateral width of the lane line is derived. Then, compared with the existing method, the ranging accuracy of the proposed method is obviously improved under the concentric circular lane line model. When the curvature of the lane line is 0.01 and 0.005, the distance measurement errors of proposed method within the true distance of 50 and 100 m are less than 3% and 1%, respectively. Finally, the proposed method is evaluated based on an actual road environment on the KITTI dataset. Results show that the average distance measurement error is less than 5%, indicating the accuracy of distance measurement is significantly improved at the curved road.