earticle

영어

In this study, the multi-lane detection problem is expressed as a CNN-based regression problem, and the lane boundary coordinates are selected as outputs. In addition, we described lanes as fifth-order polynomials and distinguished the ego lane and the side lanes so that we could make the prediction lanes accurately. By eliminating the network branch arrangement and the lane boundary coordinate vector outside the image proposed by Chougule’s method, it was possible to eradicate meaningless data learning in CNN and increase the fast training and performance speed. And we confirmed that the average prediction error was small in the performance evaluation even though the proposed method compared with Chougule’s method under harsher conditions. In addition, even in a specific image with many errors, the predicted lanes did not deviate significantly, meaningful results were derived, and we confirmed robust performance.