Lane line detection method for lane departure early warning

A technology for lane departure warning and lane line detection, which is applied in the fields of lane departure warning and image processing, can solve the problems of weak anti-noise and anti-interference, complex calculation process, and great influence on reliability and accuracy, so as to improve anti-noise and anti-interference ability, improve detection efficiency, strong robust effect

Active Publication Date: 2014-02-19
FORYOU GENERAL ELECTRONICS
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Problems solved by technology

[0004] Among them, the lane line detection method of the lane departure warning has a great influence on the reliability and accuracy of the lane departure warning system. The existing lane line detection method has a complicated calculation process, takes up a lot of resources, and is not strong in anti-noise and anti-interference capabilities. Low detection efficiency

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  • Lane line detection method for lane departure early warning
  • Lane line detection method for lane departure early warning
  • Lane line detection method for lane departure early warning

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[0062]The implementation of the present invention will be described in detail below in conjunction with the accompanying drawings. The accompanying drawings are only for reference and description, and do not constitute a limitation to the protection scope of the present invention.

[0063] Such as figure 1 As shown, the embodiment of the present invention provides a lane line detection method for lane departure warning, including:

[0064] A0. image preprocessing steps, specifically include:

[0065] a0. Determine the initial detection area,

[0066] b0. collecting a color image of the initial detection area,

[0067] c0. performing grayscale processing on the color image,

[0068] d0. Denoising the image with the median filter method;

[0069] In this embodiment, in step a0, the initial detection area is determined according to the characteristics of the structured road;

[0070] The effective area for lane line detection is mainly the lower half of the image, that is, t...

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Abstract

The invention provides a lane line detection method for lane departure early warning. The method includes the edge detection step and the lane line recognition step. In the edge detection step, edge detection is conducted on images through a stepped edge detection algorithm Canny operator, and the high threshold value and the low threshold value of the Canny operator are determined through a dynamic threshold value; interference edges are removed, namely, a sliding window filter is arranged to filter perpendicular and transverse straight lines in the images, a Sobel gradient operator is utilized to calculate the direction gradient of pixel points in the images, the direction angle of the pixel points is acquired through arc tangent, and then direction gradient filtering is conducted according to the size of the angle. In the lane line recognition step, a plurality of straight lines are detected through Hough transformation, and lane lines are determined according to the positions, where the straight lines are located, of the images and the slope; whether the determined lane lines meet requirements or not is judged according to the relations of the positions and the slope of the left lane line and the right lane line and the included angle between the left lane line and the right lane line. According to the method, lane departure warning anti-noise and anti-interference capacity is improved, high robustness is achieved, and detection efficiency is improved.

Description

technical field [0001] The invention relates to the technical fields of image processing and lane departure warning, in particular to a lane line detection method for lane departure warning. Background technique [0002] Traffic safety has always been one of the important issues that people care about. Many traffic accidents occur on the highway every year, causing serious casualties and huge economic losses. Therefore, it is of great significance to develop advanced driver assistance systems. Machine vision detection technology has the advantages of large amount of information, low cost and wide detection range, and has become the mainstream detection technology currently developed. [0003] Lane Departure Warning (LDW for short) system is one of Advanced Driver Assistance Systems (ADAS for short), which is a car driving safety assistance system. When the sensing element detects that the vehicle has deviated from the lane, if the driver fails to turn on the turn signal to ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/60G06T7/00
Inventor 潘艺胡元峰潘翔
Owner FORYOU GENERAL ELECTRONICS
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