Lane line detection method based on monocular vision

A lane line detection and monocular vision technology, applied in the field of intelligent vehicle assisted driving system, can solve the problems of not taking into account both real-time and reliability, and achieve the effect of reducing the amount of calculation, ensuring real-time performance and high reliability

Inactive Publication Date: 2012-08-08
TIANJIN POLYTECHNIC UNIV
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Problems solved by technology

The purpose of the present invention is to overcome the shortcomings that the existing monocular vision-based related research cannot take into account both real-time and reliability requirements, and

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  • Lane line detection method based on monocular vision
  • Lane line detection method based on monocular vision
  • Lane line detection method based on monocular vision

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Embodiment Construction

[0050] The general flow chart of the lane line detection method of the present invention is as follows figure 1 As shown, first, Gaussian filtering and gray level equalization are used for image preprocessing, and then the improved OTSU method, binarization and filtering based on the fixed width of the lane line are used to achieve the segmentation and extraction of lane lines. Finally, sampling line scanning and feature points are used. The method of screening and least squares straight line fitting realizes the recognition of lane lines. The specific implementation process of the technical solution of the present invention will be described below with reference to the accompanying drawings.

[0051] 1. Collect the original image I of the road in front of the vehicle in real time. Using MVC1000MS CMOS monochrome industrial camera, PENTAX C815B 8.5mm 1:1.5 CCTV lens, real-time acquisition of grayscale images. The focus is set to 1.8 feet, the aperture is set to 8, and the exposu...

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Abstract

The invention belongs to the technical field of vehicle active safety and relates to a lane line detection method based on monocular vision. The lane line detection method comprises the following steps: acquiring an original image of a road condition in front of a vehicle; intercepting subimages of boundary regions at the two sides, wherein the subimages include the original image; removing the high-frequency noise of the subimages and carrying out grey level histogram equalization and binaryzation; intercepting left and right lane line detection region images; filtering based on the fixed width range of a lane line according to the features of low grey value pavements at the two sides of the lane line; preliminarily determining feature points of the lane line in a sampling line scanning manner and screening; and carrying out lane detection. The lane line detection method has the characteristics of good real time and high reliability.

Description

Technical field [0001] The invention belongs to a traffic detection method capable of real-time identification of lane lines on the left and right sides of the lane where a car is currently driving under high-speed or expressway conditions. It belongs to the field of image processing technology and is mainly suitable for intelligent vehicle assisted driving in the field of intelligent transportation The system belongs to the field of automotive active safety technology. Background technique [0002] With the process of industrialization, more and more cars are owned, which brings people a convenient and fast life, but also brings frequent traffic accidents. The unconscious departure of the vehicle from the lane is a major cause of traffic accidents. Statistics from the Federal Highway Administration show that 44% of fatal traffic accidents that occurred in the United States in 2002 were related to vehicles leaving the lane. If an unintentional lateral deviation occurs during th...

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Application Information

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IPC IPC(8): G06K9/60
Inventor 肖志涛耿磊张芳吴骏方胜宇
Owner TIANJIN POLYTECHNIC UNIV
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