Visual detection method of road driving line

A technology of visual detection and driving line, which is applied in the field of visual detection of road driving line, can solve the problem that positioning accuracy and high real-time performance cannot be taken into account at the same time, and achieve the effect of adaptability, accurate positioning and high real-time performance

Inactive Publication Date: 2010-01-06
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0007] In order to overcome the shortcomings of existing road line detection methods that cannot take into account both positioning accuracy and high real-time performance, the present invention provides a visual detection method for road lines

Method used

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  • Visual detection method of road driving line
  • Visual detection method of road driving line
  • Visual detection method of road driving line

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Embodiment Construction

[0034] The implementation of the invention will be further described below in conjunction with the accompanying drawings. figure 1 It is a flow chart of the method of the present invention, such as figure 1 As shown, the method includes the following four steps.

[0035] Step 101: For a given road image, firstly use the method of edge detection to detect all the edges in the image as completely as possible to obtain an edge image. Specifically:

[0036] (1) Smooth image

[0037] Use a two-dimensional Gaussian function to smooth and denoise the original image f(x, y) to obtain a smooth image I(x, y). Let the two-dimensional Gaussian function be

[0038] G ( x , y ) = 1 2 π σ 2 exp ( - x ...

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Abstract

The invention discloses a visual detection method of a road driving line. The invention comprises the following steps: firstly, detecting all of edges of a given original road image through edge detection, and obtaining an edge image; secondly, respectively defining search rules based on direction priority for a left lane line and a right lane line, using the search rules for searching the edge image, and recording each search path in the search so as to transform the edge image to a set of candidate line sections; thirdly, carrying out Hough transformation on each line section of the set of the candidate line sections, counting collinear points of the line sections in the Hough space, and filtering the line sections with the collinear points less then T2; and fourthly, utilizing luminance information of the original image for carrying on a series of transformation processing on the candidate line sections remained after processing in the third step, eliminating cracks of the road surface and regular edge interference of join of the new and old road surfaces, identifying the lane lines, and completing the positioning of the lane lines. The scheme of the invention follows an idea from coarseness to fineness, and has accurate positioning and high real-time performance when being compared with the prior scheme.

Description

Technical field [0001] The invention relates to an intelligent vehicle technology in an intelligent traffic system, in particular to a visual detection method for road running lines. Background technique [0002] The detection and positioning of road driving lines (also known as lane lines) is a key component of intelligent vehicle systems, and has become the focus of research and development by relevant scientific research institutions and automobile manufacturers. Among them, machine vision as the main means of environmental perception is recognized as one of the most effective perception methods. [0003] Most of the existing methods are based on the fact that there are some white or yellow markings in structured roads, which can be used as special patterns of lane lines. Thus, the problem of lane line detection is transformed into a specific pattern (lane line) recognition problem in a given road image. [0004] The existence of the perspective effect in the optical im...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T5/00G06K9/00
Inventor 李舜酩沈峘毛建国缪小冬柏芳超
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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