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Method for extracting and recognizing lane line features of complex road conditions

A technology for lane line recognition and complex road conditions, applied in character and pattern recognition, instruments, computer parts, etc., can solve problems such as low robustness and real-time performance, misrecognition, etc., to achieve enhanced robustness and wide adaptability. , the effect of real-time improvement

Inactive Publication Date: 2012-07-18
HENAN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

[0006] The purpose of the present invention is to provide a lane line feature extraction and recognition method for complex road conditions, so as to solve the problem of robustness and real-time performance of existing methods in complex road conditions such as illumination changes, shadow occlusion, damage or stain coverage. The problem of low or even misidentification

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  • Method for extracting and recognizing lane line features of complex road conditions
  • Method for extracting and recognizing lane line features of complex road conditions
  • Method for extracting and recognizing lane line features of complex road conditions

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Embodiment Construction

[0045] 1. Lane line feature extraction using symmetric local threshold segmentation

[0046] The lane line feature extraction method of the present invention includes: graying of road images, median filtering, division of interest regions, and extraction of lane line feature information by applying symmetrical local threshold segmentation.

[0047] Specific implementation steps:

[0048] 1. First, convert the color image collected by the vehicle vision system into a grayscale image by grayscale. Grayscale takes the following form:

[0049] V gray = 0.30 R + 0.59 G + 0.11 B V gray = ...

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Abstract

The invention relates to a method for detecting lane lines of complex road conditions, which includes: firstly converting colored road images into gray level images and performing median filtering, then performing area of interest division on the filtered images, performing binaryzation processing on road images in the area of interest by using a symmetrical local threshold dividing method so as to extract lane line feature information, and finally performing parallel recognition respectively on a left lane line and a right lane line by adopting a decorrelation random sample consensus algorithm (RANSAC) method based on extracted lane line feature point distribution law. Compared with a traditional RANSAC method, the method for detecting lane lines of complex road conditions greatly improves instantaneity, remarkably strengths robustness and can fast and effectively detect lane lines in terms of complex road conditions caused by illumination changing, shadow shielding, lane line damaging, splotch covering and the like.

Description

technical field [0001] The invention relates to a lane line detection method under complex road conditions, in particular to a real-time robust lane line detection method based on symmetrical local thresholds and decorrelation RANSAC, belonging to the technical field of automobile intelligent assisted driving systems. Background technique [0002] In recent years, with the rapid development of my country's economy and the increase of passenger and freight volume, the road construction distance in my country has increased rapidly, especially the rapid development of expressways, which has greatly eased the pressure brought by my country's economic development on the transportation industry. However, with the increase of highway construction distance, the increase of car ownership, the increase of traffic flow and the increase of driving speed, road traffic accidents are getting worse year by year, especially serious and serious traffic accidents occur frequently, which serious...

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Application Information

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IPC IPC(8): G06K9/00G06K9/46
Inventor 樊超狄帅杨铁军傅洪亮张德贤张瑞马海华李永锋侯利龙
Owner HENAN UNIVERSITY OF TECHNOLOGY
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