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Complex road detection method under gradient point pair constraint

A road detection and gradient point technology, which is applied in image data processing, instrumentation, calculation, etc., can solve problems such as impact and missing lane lines

Inactive Publication Date: 2015-07-08
HANGZHOU DIANZI UNIV
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Problems solved by technology

However, in complex traffic scenes, the detection of lane lines often faces problems such as the interference of roadside trees and shadows of buildings, the occlusion of other vehicles on the lane, the lack of lane lines caused by road damage, and the influence of other traffic signs on the road surface. Accurate and reliable lane detection in the driving environment still faces many difficulties

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  • Complex road detection method under gradient point pair constraint
  • Complex road detection method under gradient point pair constraint
  • Complex road detection method under gradient point pair constraint

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Embodiment Construction

[0034] The present invention will be further described below in conjunction with the accompanying drawings and specific examples.

[0035] The present invention proposes a complex road detection method based on gradient point pair constraints. This method further adds geometric feature information of structured lanes to In the lane detection, the detection of the lane lines on both sides is converted into the estimation of the linear hyperbolic model parameters of the lane center line and the lane perspective projection parameters, and the detection of the lane lines on both sides of the lane is finally realized by using two Hough transforms. The specific steps are as follows:

[0036] Step 1. Image edge detection

[0037] Use Sobel operator and morphological filtering method to detect the edge of the original image, and obtain the binary image bw, as shown in Figure 1(a) and Figure 1(b).

[0038] In order to eliminate the influence of noise on the edge image, the present in...

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Abstract

The invention relates to a complex road detection method based on a gradient point pair constraint. By using a current road detection method, because of being influenced by a shadow and pavement damage, a detection effect is unsatisfactory, accuracy and reliability are poor and a demand of traffic safety can not be satisfied. The method of the invention is characterized by: firstly, according to a parallel perspective relation of two side lane lines of a structured road, using a gradient point pair to acquire lane width information and a vanishing point coordinate; then, using the gradient point pair to estimate a parameter of a lane center line hyperbola model and realizing the detection of the two side lane lines based on the parameter. By using the method of the invention, the linear and curve lanes can be accurately and reliably extracted under a condition of the shadow, the pavement damage, shielding by a pavement sign and other vehicle and the like; the detection of the dotted line and solid line roads can be effectively realized; reliability and robustness of the complex road detection can be fully embodied.

Description

technical field [0001] The invention belongs to the field of lane detection, in particular to a complex road detection method based on gradient point pair constraints. Background technique [0002] In recent years, with the rapid development of expressways and the continuous increase of the number of cars, the incidence of traffic accidents is also increasing year by year, which has seriously threatened the safety of people's lives and property. According to statistics, in 2008, about 500,000 people died in road traffic accidents around the world. According to the Ministry of Public Security Traffic Management Bureau of China, there were 238,351 road traffic accidents in China in 2009, resulting in 67,759 deaths, 275,125 injuries, and direct property losses of 910 million yuan. The number of deaths due to road traffic accidents in my country far exceeds that of developed countries. In this context, it will be of great significance and development prospect to carry out rele...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00
Inventor 王永忠文成林王晓云骆光州汪圆圆
Owner HANGZHOU DIANZI UNIV
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