selectconectmethod.asv

车道检测中弯道的检测

function stReturn = SelectConectMethod(stAbove,stBelow)
%连接两条车道线的方式
    stMid.x=(stAbove.low.x+stBelow.top.x)/2;
    stMid.y=(stAbove.low.y+stBelow.top.y)/2;
    
    st(1).top = stAbove.top;
    st(1).low.x = stMid.x;
    st(1).low.y = stMid.y;
    if(stAbove1.StyleFlag==1)%若远景是直线
        %st(1)为stAbove1的最终解析式
%         st(1).top = stAbove1.top;
%         st(1).low.x = stMid1.x;
%         st(1).low.y = stMid1.y;
        st(1).fn(1) = (st(1).top.y-st(1).low.y)/(st(1).top.x-st(1).low.x);
        st(1).fn(2) = st(1).top.y-st(1).fn(1)*st(1).top.x;
        st(1).StyleFlag=1;
        
    else%若远景为曲线
        temp1.x = (stAbove.low.x+stAbove.top.x)/2;
        temp1.y = stAbove.fn(1)*temp1.x*temp1.x+stAbove.fn(2)*temp.x+stAbove.fn(3);
%         st(1).top = stAbove1.top;
%         st(1).low.x = stMid1.x;
%         st(1).low.y = stMid1.y;
        [st(1).fn(1),st(1).fn(2),st(1).fn(3)]=CurveFun(st(1).top,st(1).low,temp1);
        st(1).StyleFlag=2;
    end
    %st(2)为stBelow1的最终解析式
    st(2).top = st(1).low;
    st(2).low = stBelow.low;
    st(2).fn(1) = (st(2).top.y-st(2).low.y)/(st(2).top.x-st(2).low.x);
    st(2).fn(2) = st(2).top.y-st(2).fn(1)*st(2).top.x;
    st(2).StyleFlag=1;