Method for extraction and deviation warning of lane line

A technology of departure warning and lane marking, which is applied in the directions of instruments, character and pattern recognition, computer parts, etc., and can solve problems affecting applications and large amount of calculations

Active Publication Date: 2012-09-12
LIUZHOU BOSHIWEI AUTOMOBILE TECH
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Problems solved by technology

Lane line detection is a key component of lane departure warning and intelligent vehicle navigation research. Currently, the lane line detection method and the detection algorithm used in lane depart

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  • Method for extraction and deviation warning of lane line
  • Method for extraction and deviation warning of lane line
  • Method for extraction and deviation warning of lane line

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Embodiment Construction

[0056] Attachment of the present invention figure 1 The basic framework of the lane line detection algorithm is shown. first of all (1) Pretreatment process , get the back projection transmission map of the original image through camera calibration, through binarization DLD filtering (single line) and DLDLD filtering (double line) feature image, and then perform clustering and expansion processing on it, and fuse all possible feature points; then Carry out continuous linear segmental function fitting on the above feature points in the pre-defined grid, and record the coordinates of the start and end points of each segmental function and the corresponding slope (if the end point of a certain segment of the function line is consistent with the starting point coordinates of the adjacent function line or close, it is considered that the two form a polyline; if the coordinates of the two are inconsistent, it is considered that the function line of this segment is a single line s...

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Abstract

The invention relates to a method for extraction and deviation warning of a lane line. The method is characterized in that the method comprises the following steps that: an image preprocessing step is executed; more specifically, a camera is calibrated to obtain an inverse projection transmission picture, a single-line DLD feature image and a double-line DLDLD feature image are extracted, operators are extracted according to the two features and binarization processing is carried out on the operators, and clustering expansion processing is carried out on white pixels in the binarization images from bottom to up; continuous linear piecewise function fitting is carried out on the feature points in a predefined grid and coordinates of starting points and end points as well as corresponding gradients of all the piecewise functions are recorded; dashed and solid line determination is carried out on the feature points; and a multi-segment tracking step, a multi-segment extension step, an inspection step and a lane line determination step are carried out to determine a lane, thereby making a deviation warning decision. Advantages of the method are as follows: the lane line detection algorithm is suitable for various complicated urban roads; and because less computation is required and thus operation can be carried out under the circumstance of low-end hardware, the method is simple, secure and reliable.

Description

technical field [0001] The invention relates to a method for providing a safety warning when a motor vehicle is running, in particular to a lane line extraction and departure warning method. Background technique [0002] About 50% of automobile traffic accidents are caused by automobiles deviating from the normal driving lane at present. The lane departure warning system can issue an alarm 0.5 to 1 second before the lane departure when the driver deviates from the original lane unconsciously (the driver does not turn on the turn signal), providing the driver with more reaction time and greatly reducing the number of accidents caused by lane departure. collision accident. Lane line detection is a key component of lane departure warning and intelligent vehicle navigation research. Currently, the lane line detection method and the detection algorithm used in lane departure warning decision-making are relatively complex, requiring a large amount of calculation, and require high...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/54B60W40/06B60W50/14
Inventor 宋晓琳高巧明张伟伟
Owner LIUZHOU BOSHIWEI AUTOMOBILE TECH
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