Research on quantitative calculation method of lane-line region of interest and structural constraints in constant speed cruise mode

Appropriate region of interest (ROI) and lane structure restriction conditions can improve the ac-curacy of lane detection. Most previously reported approaches require human experience to set up the constraint conditions of the ROI and lane structure. Few of these studies involved quantitative calculation methods of the constraint conditions of the ROI and lane structure. To solve this problem, constant-speed cruise mode, which relies on lane recognition, was examined. A vehicle dynamics model with a charge-coupled device (CCD) camera was constructed based on the vehicle dynamics and camera projection. The projection of lane line feature points from the world coordinate system to the image coordinate system under different vehicle positions and postures was analyzed. A quantitative calculation method of the ROI lateral constraint equation and the lane structure constraint equation in constant-speed cruise mode is given. Actual road test data showed that the constraint condition calculation method not only agreed with the actual road test results but also improved the real-time accuracy.