华南理工大学学报（自然科学版）2026，Vol.54Issue(2)：62-76,15.DOI:10.12141/j.issn.1000-565X.250181
结合增强空间感知的远距离车道线检测方法
A Long-Range Lane Detection Method with Enhanced Spatial Perception
摘要
Abstract
Lane detection serves as a core technology for the visual navigation systems of intelligent vehicles.Its performance directly impacts a vehicle's path guidance and steering control,which is of great significance for improving traffic safety and navigation efficiency.In lane images,background information often dominates,especially when distant lane markings exhibit challenges such as small feature size,absence,or occlusion,coupled with perspective-induced width variations.These issues make distant lane detection considerably more challenging than detecting nearby lanes.To address this problem,this paper proposed a lane detection method enhanced with spatial perception.Firstly,conside-ring the elongated morphology of lane markings in images,a strip-pooling module was incorporated into the backbone net-work to refine the representation of lane information.Furthermore,an Enhanced Spatial-Aware Optimizer(ESAO)was integrated with a Lane Multi-Scale Aggregator(LMSA)to suppress irrelevant background interference and enhance the features of distant lane markings,thereby improving the accuracy and robustness of lane detection.Finally,a global and local slope consistency loss function is designed to adaptively adjust the shape and position of lane lines,maintaining geometric consistency between the predicted lanes and the ground truth.Experimental evaluations conducted on the TuSimple and CULane benchmarks demonstrate that the proposed approach outperforms the state-of-the-art methods in comparative experiments.Specifically,it achieves improvements of 0.58 percentage points in F1 score and 0.19 percen-tage points in accuracy on the TuSimple dataset,and 1.14 percentage points in F1@50 on the CULane dataset.Notably,the method exhibits more stable performance,particularly in long-range road scenarios.关键词
车道线检测/远距离/条形池化/增强空间感知优化器/车道线多尺度聚合器Key words
lane detection/long-range/strip pooling/enhanced spatial-aware optimizer(ESAO)/lane multi-scale aggregator(LMSA)分类
信息技术与安全科学引用本文复制引用
王耀琦,卢亚琦,王小鹏..结合增强空间感知的远距离车道线检测方法[J].华南理工大学学报（自然科学版）,2026,54(2):62-76,15.基金项目
甘肃省科技计划项目(25CXGA031) （25CXGA031）
甘肃省优秀研究生"创新之星"项目(2025CXZX-685)Supported by the Science and Technology Plan Project of Gansu Province(25CXGA031) （2025CXZX-685）
