Inversion projection transformation based lane keeping method

A technology of lane keeping and back projection, which is applied to vehicle components, image data processing, external condition input parameters, etc., and can solve problems such as vehicle lane departure and traffic accidents

Active Publication Date: 2014-08-13
WUHAN UNIV OF TECH
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Problems solved by technology

When the driver is unskilled or fatigued, the lane dep

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  • Inversion projection transformation based lane keeping method
  • Inversion projection transformation based lane keeping method
  • Inversion projection transformation based lane keeping method

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[0038] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0039] Such as figure 1 As shown, a lane keeping method based on inverse projection transformation includes the following steps:

[0040] 1) Use Camera Calibration Toolbox for Matlab software to calibrate the camera, and calculate the internal parameters of the camera. The internal parameters include the focal length fc (2x1 vector), the principal point coordinate cc (2x1 vector), the tilt coefficient alpha_c (scalar), and the distortion coefficient kc ( 5x1 vector).

[0041] 2) Use the calibrated camera to capture the road information ahead, which is a perspective view, such as figure 2 Shown; convert color image to gr...

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Abstract

The invention relates to an inversion projection transformation based lane keeping method. The inversion projection transformation based lane keeping method mainly comprises the following steps of performing inversion projection transformation on shot perspective drawings according to intrinsic parameters of a camera and converting into vertical views; detecting lane lines and extracting lane central lines based on the vertical views and computing and setting distance between corresponding endpoints of area central lines; judging whether an automobile has lane departure or not due to compare between the distance and threshold values. The inversion projection transformation based lane keeping method has the advantages of overcoming a traditional lane keeping system disadvantage that the lane lines are not benefited to judge due to direct extraction of the vertical views, accurately judging whether the automobile has lane departure or not and achieving lane keeping.

Description

technical field [0001] The invention relates to driving safety assisting technology, in particular to a lane keeping method based on back projection transformation. Background technique [0002] With the development of society, the automobile has become an indispensable means of transportation in modern society. It not only promotes the progress of human culture, but also slowly changes people's lives. The popularity of automobiles has made urban road safety a focus of attention. In recent years, the pace of cars entering households has gradually accelerated. At present, the number of civilian cars in China has exceeded 100 million, surpassing Germany and second only to the United States. At the same time, China has a large population, and the population density of major cities is very high. The conflicts between cars and cars, and people and cars are also particularly acute. There are frequent accidents on the road. The number of traffic accidents is much higher than that ...

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Application Information

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IPC IPC(8): B60W30/12G06T7/00
CPCB60W30/12B60W2050/146B60W2552/00G06T7/00
Inventor 刘建国陈光李雪松章辉王光伟贾波
Owner WUHAN UNIV OF TECH
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