Vehicle line walking method and system based on machine vision

Abstract

The invention provides a vehicle line walking method and system based on machine vision. The line walking method comprises the following steps: an image acquisition module acquires an RGB color image of a road surface; an image processing module converts the RGB color image into a grayscale image; a binarization module obtains a binarization image to separate a lane line; an edge detection module obtains an edge image containing an inner edge and an outer edge of the lane line; a processor acquires parameters of the lane line to establish a lane line model, acquires lane position data of a vehicle in a world coordinate system through inversely perspective conversion, and determines a driving mode of the vehicle according to road surface image information; parameter adjustment of a steering engine and a motor can be realized by using acquired vehicle corner parameters and distance parameters, adopting the driving mode of the vehicle, and utilizing a sectional adaptive control strategy so as to realize real-time control of driving directions and driving speed of the vehicle. According to the method and system, provided by the invention, the line walking speed in the driving process of the vehicle can be increased, the line walking can be completed within the time of 10 milliseconds, and the stability in the driving process of the vehicle is strong.

Description

technical field [0001] The invention relates to the technical field of intelligent transportation, in particular to a machine vision-based vehicle line inspection method and system. Background technique [0002] With the acceleration of urbanization, the existing transportation infrastructure and management methods lag behind the development of the times. Simply by widening roads, building elevated roads, laying rail transit, setting up signs, encouraging public transportation, and even air traffic, relying on traditional methods is far from being able to adapt to the development of modern transportation, and requires the development of intelligent transportation systems. The intelligent transportation system is a real-time, accurate and efficient transportation system with a large scope and full range of functions established by effectively comprehensively applying advanced information technology, data communication transmission technology, control technology and artificial...

AI Technical Summary

Problems solved by technology

The method based on local straight line extraction and dynamic programming needs to fit the obtained straight line points or segments; the recognition method based on expansion feature points is easy to introduce interference points in the road, which increases the difficulty of recognition; image segmentation deformable template based on entropy maximization Lane line recognition technology requires a long iteration time, and the real-time effect needs to be improved urgently

In addition, in the driving control strategy, the method based on the preview points is prone to predict in advance and frequently adjust the vehicle body angle due to the large blind area in front of the vehicle, which may easily lead to early changes in the driving state of the vehicle and cause driving instability.

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