Abstract:

The basis of the autonomous driving system of the microvehicles based on simple visual is the road element detection. Based on the lack of the microvehicles processing capacity and the realtime requirements of the detection and control algorithms, the paper proposed a new feature extraction and tracking algorithm based on the pixel data blocks. We use the fixed OTSU threshold image binarization to reduce the impact of light. The detection experiments show that the rapid structural road elements detection(RSRED) algorithm can extract the lane markings, road signs, zebra crossings and other road elements against the interference of light, shelter, pollution and the vehicle speed definitely influence over detection rate of road elements. Finally the Lanekepping and Overtaking experiments show that the algorithm is efficient and stable.

Key words: visual navigation;road detection;road track;pattern recognition