摘要驾驶人员在驾驶过程中，会出现注意力不集中、疲劳、打瞌睡等现象，很容易造成车辆偏离车道从而发生意外交通事故。车道偏离预警系统是一种通过报警方式来协助驾驶人员避免因为意外偏离车道而发生交通事故的预警系统。此系统可以智能的进行偏离警示，能在车辆发生或将要发生偏离车道之前发出警报，从而给驾驶人员充足的反应时间来应对，能够极大的减少意外偏离而发生的交通事故。78259

本文先对预警的方法进行了分析，了解了国内外对预警系统的研究现状和不足之处，并简单的说明了本文预警系统的总体设计，从而对整个系统的组成有了大体的了解。对该系统进行了需求分析和模块划分，为接下来的设计打好基础。系统的开发中包括了对获取的车辆前面道路图像的预处理，从而除去图像中的干扰信息，为系统增强了准确性和可靠性。完成必要的图像预处理之后，介绍了几种车道线的检测方法，权衡比较之后最终选择了基于Hough算法的车道线检测方式。接着介绍了几种偏航模型，选择了车道线夹角预警决策算法的设计。该系统使用了上面所述的技术，结合了实际行车进行了测试，最终实验结果表明能够识别车道线并进行相应的预警，实现了预期的功能。

毕业论文关键字：图像预处理；Hough变换；车道线检测；偏航模型

Abstract During driving, the driver may be easily distracted,tired and sleepy,it is easy to cause the vehicle to deviate from the lane resulting in an accident。 Lane departure warning system is a kind of warning system which can help the drivers to avoid traffic accidents due to deviate from the lane through the alarm。 The system can warn the departure intelligently before the car drifts out of its lane or will happen。 Thus to provide drivers with enough time to deal with the situation,which can greatly reduce the accident deviation and the occurrence of traffic accidents。 

Firstly, this paper analyzes the early warning method to understand the domestic and foreign research status of the early warning system and its deficiency, then illustrates the overall design of the early warning system, so we can have a general understanding of the whole system。 Secondly, we analyze the system requirement and pide the module partition, which will lay the foundation for the next design。 The development of the system is included to deal with the road image in front of the road, thereby to remove the interference information of the image, which is used to enhance the accuracy and reliability。 After completing the necessary image preprocessing, I will introduce several of the lane line detection method。 Thirdly, I chose the lane line detection method based on Hough algorithm and introduce several yaw models。 I also select the line angle based on early warning decision algorithm design。 The system uses the technology of the above described, which combined with the actual driving test。 Finally, the experimental results show that can recognize the lane line to reach the early warning, realize the excepted function。

Keywords: Image preprocessing；Hough transformation;；Lane detection；Departure models

目 录

第一章  绪论 1

1。1 研究背景与意义 1

1。2 国内外研究现状 3

1。2。1 国外研究现状 3

1。2。2 国内研究现状 4

1。2。3 存在问题 4

1。3 本文研究内容 4

第二章  系统的总体设计 6

2。1 工作原理