Lane line reconstruction device based on Bezier curve

A technology of lane lines and curves, applied in the field of devices for quickly and accurately reconstructing lane lines, to achieve the effects of improving adaptability, improving real-time performance and accuracy, and improving accuracy

Inactive Publication Date: 2013-06-05
BEIHANG UNIV
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[0005] The present invention mainly aims at the complex environment adaptability and curve fitting accuracy and re

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  • Lane line reconstruction device based on Bezier curve
  • Lane line reconstruction device based on Bezier curve
  • Lane line reconstruction device based on Bezier curve

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[0029] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0030] The present invention provides a lane line reconstruction device based on Bézier curves, which is used in a vision-based safety driving assistance system, and the reconstructed lane line information provides parameter support for a decision-making unit. The present invention can better adapt to complex environments such as illumination changes, road shadows, lane interruptions, obstacles, etc., and does not need to preprocess the images, which improves real-time performance, and improves the accuracy of variables through the lane classification module and Bézier curve fitting module. Accuracy of curvature curve reconstruction.

[0031] Firstly, the gradient features and grayscale features involved in the present invention will be described.

[0032] The gray feature refers to the obvious difference between the local average gray value at the edge of t...

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Abstract

The invention provides a lane line reconstruction device based on Bezier curve. According to the lane line reconfiguration device based on the Bezier curve, an initial point search module receives front road environment images of vehicles and searches blocks where initial points of a left line and a right line are located, a forward search module searches blocks where outer side edge lines of all lane lines are located, an interruption search module searches blocks where initial points of interrupted are located, a direction-changing search module searches blocks where outer side edge lines of turning lane lines are located, and all the blocks are processed by an adaptive binaryzation module to obtain a plurality of points on the outer side edge lines of the lane lines, a lane sort module sorts the lanes, and a Bezier curve fitting module fits and constructs the lane lines by using a quadric Bezier curve. The lane line reconstruction device based on the Bezier curve can well adapt to complex environments such as illumination variation, road shadow, lane line interruption and obstacles, does not need preprocessing of images and improves the instantaneity and the accuracy of variable curvature curve reconstruction.

Description

technical field [0001] The invention belongs to the field of safety assisted driving of intelligent vehicles, and relates to a device capable of rapidly and accurately reconstructing lane departure lines. Background technique [0002] Throughout the history of automobile development, research on safety issues has always been a top priority. Especially in recent years, how to improve traffic safety has become an urgent social problem to be solved. The focus of automotive safety research has evolved from passive safety with collision safety as the core to active safety with collision prevention as the core. Many countries and international automotive electronics companies have already launched a number of research programs to find new technologies to improve safety and reduce accidents . Therefore, the concept of intelligent vehicle (Intelligent Vehicle) came into being and became one of the key technologies of intelligent transportation system (Intelligent Transportation Sy...

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Application Information

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IPC IPC(8): G06F17/30
Inventor 徐国艳高峰丁能根黄小云邢龙龙刘建行
Owner BEIHANG UNIV
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