parabolicLaneBoundary

Parabolic lane boundary model

Description

The parabolicLaneBoundary object contains information about a parabolic lane boundary model.

Creation

To generate parabolic lane boundary models that fit a set of boundary points and an approximate width, use the findParabolicLaneBoundaries function. If you already know your parabolic parameters, create lane boundary models by using the parabolicLaneBoundary function (described here).

Syntax

boundaries = parabolicLaneBoundary(parabolicParameters)

Description

boundaries = parabolicLaneBoundary(parabolicParameters) creates an array of parabolic lane boundary models from an array of [A B C] parameters for the parabolic equation y = Ax² + Bx + C. Points within the lane boundary models are in world coordinates.

Input Arguments

parabolicParameters — Coefficients for parabolic models

[A B C] real-valued vector | matrix of [A B C] values

Coefficients for parabolic models of the form y = Ax² + Bx + C, specified as an [A B C] real-valued vector or as a matrix of [A B C] values. Each row of parabolicParameters describes a separate parabolic lane boundary model.

Properties

Parameters — Coefficients for parabolic model

[A B C] real-valued vector

Coefficients for a parabolic model of the form y = Ax² + Bx + C, specified as an [A B C] real-valued vector.

BoundaryType — Type of boundary

LaneBoundaryType

Type of boundary, specified as a LaneBoundaryType of supported lane boundaries. The supported lane boundary types are:

• Unmarked

• Solid

• Dashed

• BottsDots

• DoubleSolid

Specify a lane boundary type as LaneBoundaryType.BoundaryType. For example:

LaneBoundaryType.BottsDots

Strength — Strength of boundary model

real scalar

Strength of the boundary model, specified as a real scalar. Strength is the ratio of the number of unique x-axis locations on the boundary to the length of the boundary specified by the XExtent property. A solid line without any breaks has a higher strength than a dotted line that has breaks along the full length of the boundary.

XExtent — Length of boundary along x-axis

[minX maxX] real-valued vector

Length of the boundary along the x-axis, specified as a [minX maxX] real-valued vector that describes the minimum and maximum x-axis locations.

Object Functions

computeBoundaryModel

Obtain y-coordinates of lane boundaries given x-coordinates

Examples

Create Parabolic Lane Boundaries

Create left-lane and right-lane parabolic boundary models.

llane = parabolicLaneBoundary([-0.001 0.01  0.5]);
rlane = parabolicLaneBoundary([-0.001 0.01 -0.5]);

Create a bird's-eye plot and lane boundary plotter. Plot the lane boundaries.

bep = birdsEyePlot('XLimits',[0 30],'YLimits',[-5 5]);
lbPlotter = laneBoundaryPlotter(bep,'DisplayName','Lane boundaries');
plotLaneBoundary(lbPlotter, [llane rlane]);

Find Parabolic Lane Boundaries in Bird's-Eye-View Image

Find lanes in an image by using parabolic lane boundary models. Overlay the identified lanes on the original image and on a bird's-eye-view transformation of the image.

Load an image of a road with lanes. The image was obtained from a camera sensor mounted on the front of a vehicle.

I = imread('road.png');

Transform the image into a bird's-eye-view image by using a preconfigured sensor object. This object models the sensor that captured the original image.

bevSensor = load('birdsEyeConfig');
birdsEyeImage = transformImage(bevSensor.birdsEyeConfig,I);
imshow(birdsEyeImage)

Set the approximate lane marker width in world units (meters).

approxBoundaryWidth = 0.25;

Detect lane features and display them as a black-and-white image.

birdsEyeBW = segmentLaneMarkerRidge(rgb2gray(birdsEyeImage), ...
    bevSensor.birdsEyeConfig,approxBoundaryWidth);
imshow(birdsEyeBW)

Obtain lane candidate points in world coordinates.

[imageX,imageY] = find(birdsEyeBW);
xyBoundaryPoints = imageToVehicle(bevSensor.birdsEyeConfig,[imageY,imageX]);

Find lane boundaries in the image by using the findParabolicLaneBoundaries function. By default, the function returns a maximum of two lane boundaries. The boundaries are stored in an array of parabolicLaneBoundary objects.

boundaries = findParabolicLaneBoundaries(xyBoundaryPoints,approxBoundaryWidth);

Use insertLaneBoundary to overlay the lanes on the original image. The XPoints vector represents the lane points, in meters, that are within range of the ego vehicle's sensor. Specify the lanes in different colors. By default, lanes are yellow.

XPoints = 3:30;

figure
sensor = bevSensor.birdsEyeConfig.Sensor;
lanesI = insertLaneBoundary(I,boundaries(1),sensor,XPoints);
lanesI = insertLaneBoundary(lanesI,boundaries(2),sensor,XPoints,'Color','green');
imshow(lanesI)

View the lanes in the bird's-eye-view image.

figure
BEconfig = bevSensor.birdsEyeConfig;
lanesBEI = insertLaneBoundary(birdsEyeImage,boundaries(1),BEconfig,XPoints);
lanesBEI = insertLaneBoundary(lanesBEI,boundaries(2),BEconfig,XPoints,'Color','green');
imshow(lanesBEI)

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.