Monocular vision lane line detection method and distance measurement method thereof

A technology for lane line detection and monocular vision, applied in the field of vehicle driving safety assistance systems, can solve problems such as expensive, slow processing, and inability to measure distances

Active Publication Date: 2014-03-12
北京航天科工世纪卫星科技有限公司 +1
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Problems solved by technology

[0006] Among them, the geometric similarity method needs to accurately measure the position and angle of the camera system or the visual acquisition system. If the position and angle measurement cannot reach a certain accuracy, the accuracy of the ranging result of the geometric similarity method will not be high; The geometric shape of the target ha...

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  • Monocular vision lane line detection method and distance measurement method thereof
  • Monocular vision lane line detection method and distance measurement method thereof
  • Monocular vision lane line detection method and distance measurement method thereof

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Embodiment 1

[0067] This embodiment is a monocular vision lane line detection method, the specific process of the method is as follows figure 1 Shown:

[0068] Step 1. Set the abnormal flag flag and the accumulated number of abnormal frames N, both of which have an initial value of 0.

[0069] Obtain reference lane lines: Obtain M frames of images taken when the vehicle just started, extract candidate lane lines for each frame of the M frame images, and select the candidate lane line with the highest probability of occurrence among all the extracted candidate lane lines as Refer to lane markings. The steps of obtaining the reference lane line can be performed according to step 101 to step 104:

[0070] Step 101. Obtain M frames of images taken when the vehicle just started, and perform line detection on each of the M frames of images.

[0071] The method of straight line detection can adopt the existing method, for example: firstly carry out gray-scale processing to each frame of image,...

Embodiment 2

[0112] This embodiment also provides a distance measurement method based on the above-mentioned monocular vision lane line detection method. This method uses the visual acquisition system installed in front of the vehicle to collect image sequences for experiments. The implementation process is shown in figure 1 . Specific steps are as follows:

[0113] first step, such as Figure 5 As shown in , there are the main vehicle and the target vehicle in the scene, the vehicle is located on the horizontal road, and the vertical height of the main vehicle is h 1 , set the visual acquisition system on the top of the main vehicle, and set the reference target at the front end of the main vehicle in the driving direction of the main vehicle, and the vertical height of the reference target relative to the horizontal road surface is h 2 .

[0114] The distance between the position of the visual acquisition system and the reference target is the reference distance L stand .

[0115] ...

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Abstract

The invention discloses a monocular vision lane line detection method and a distance measurement method of the monocular vision lane line detection method and belongs to the field of vehicle driving safety auxiliary systems. The lane line detection method comprises the steps of shooting multiple frames of images when a vehicle is just started to obtain a reference lane line, then obtaining candidate real-time lane lines by every reading of a real-time image, performing region matching on the candidate real-time lane lines and the reference lane line, and if the region matching is successful, updating an inclination angle and outputting the reference lane line; if the region matching is failed and the failure emerges for the first time, recording the candidate real-time lane lines as temporary lane lines, if the failure emerges continuously and the reference lane line can be continuously successfully matched with the temporary lane lines, outputting the temporary lane lines. A distance between a body vehicle and a target vehicle can be calculated by setting a reference target on the basis of a projection relation between the reference target and the target vehicle in a vision collection system according to the lane line image detected by the method disclosed by the invention. The monocular vision lane line detection method and the distance measurement method of the monocular vision lane line detection method are suitable for vehicle lane line detection and distance measurement between two vehicles.

Description

technical field [0001] The invention belongs to the field of vehicle driving safety assistance systems, and in particular relates to a monocular vision lane line detection method and a vehicle ranging method based on the lane line detection method. Background technique [0002] At present, with the popularization of vehicles, vehicle collision avoidance and navigation have become popular research directions, and intelligent vehicle collision avoidance and navigation systems will be an important part of the future intelligent transportation system. [0003] Regardless of vehicle collision avoidance or navigation, fast and accurate recognition of lane lines is particularly important. At present, many vision-based lane line recognition detection methods have been proposed. Most of the methods first perform image segmentation and use straight lines for the segmented images. The detection method identifies lane markings. [0004] Accurate detection of lane lines is a necessary c...

Claims

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Application Information

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IPC IPC(8): G01C11/04G01C3/00
CPCG01C3/00G01C11/04
Inventor 高鹏李祥红张海王婷张宣赵春阳
Owner 北京航天科工世纪卫星科技有限公司
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