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Detection method for lane boundary and main vehicle position

A lane boundary and orientation detection technology, applied in character and pattern recognition, instruments, computer components, etc., can solve the problems of low detection accuracy and reliability

Inactive Publication Date: 2012-06-20
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0005] In order to overcome the shortcomings of low detection accuracy and reliability in the prior art, the present invention provides a detection method for the lane boundary and the orientation of the main vehicle. This method can not only improve the efficiency of lane information collection and lane detection, but also can Detect the lane boundary and orientation of the host vehicle under road conditions such as shadows, vehicles, and light changes

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  • Detection method for lane boundary and main vehicle position
  • Detection method for lane boundary and main vehicle position
  • Detection method for lane boundary and main vehicle position

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Embodiment Construction

[0068] The present invention applies a method for detecting lane boundary and host vehicle orientation to a lane boundary and host vehicle orientation detection device. The system structure diagram of the device is as follows: figure 1 As shown, the specific implementation is as follows:

[0069] Camera: CCD (Charged Coupled Device) image sensor camera is used, connected to the data input interface of the analog-to-digital converter, to photograph the road in front of the vehicle, and send the photographed analog image signal to the analog-to-digital converter;

[0070] Analog-to-digital converter: the data input interface is connected with the data output interface of the camera, the data output interface is connected with the data input interface of the input interface circuit, and the control interface is connected with the system control bus. This component converts the analog image signal of the camera into a digital image The signal is transmitted to the input interface circu...

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Abstract

The invention discloses a detection method for a lane boundary and a main vehicle position. The detection method comprises the following steps of: firstly, setting an optimal external vehicle-mounted camera parameter; then self-adaptively setting an edge threshold according to a lane image pixel gradient amplitude, extracting an edge point and calculating an edge point direction; optimally searching and locating the lane boundary by using an ant colony according to a lane boundary projection model, the edge point and the edge point direction; and finally calculating a lane plane linear parameter value and the main vehicle position. According to the detection method, the lane boundary can be searched and located quickly and effectively, and the lane plane linear parameter value and the deviation angle and the position of a main vehicle in a lane can be measured; and the detection method can adapt to linear changes of various lanes and weather and illumination changes.

Description

Technical field [0001] The invention relates to a method capable of identifying the boundary of a lane where a vehicle is located in a complex road environment and detecting the position and direction of a main vehicle in the lane, and belongs to the technical field of intelligent vehicles. Background technique [0002] In the intelligent vehicle system, the detection method of lane boundary and host vehicle position is an important part of the intelligent vehicle early warning and control system, which is mainly used in lane departure warning, vehicle intelligent cruise control, vehicle lateral control, vehicle autonomous driving, etc. [0003] In the existing lane detection methods, lane curve models such as straight lines, quadratic polynomials, splines, and arcs are mainly used to detect lane boundaries. These models can only partially or approximately reflect the horizontal alignment of the lane, and cannot measure the horizontal alignment of the lane. Parameter values, such a...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/46G08G1/16
Inventor 陈勇何明一张易凡
Owner NORTHWESTERN POLYTECHNICAL UNIV
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