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Lane line adaptive detection method

An adaptive detection and lane line technology, applied in the field of intelligent transportation, to achieve the effect of reducing uneven illumination, reducing the amount of calculation, and increasing accuracy

Active Publication Date: 2014-10-15
CETHIK GRP
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AI Technical Summary

Problems solved by technology

Although this method can adapt to the influence of the external environment, it will be affected by the interference of words and signs on the road surface.

Method used

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  • Lane line adaptive detection method
  • Lane line adaptive detection method

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Embodiment 1

[0026] Embodiment 1: as figure 1 As shown, a lane line adaptive detection method includes the following steps:

[0027] Step 1 - Division of the region of interest:

[0028] Step01: First configure the marker points on the road surface, set 4 marker points along the direction parallel to the vehicle body, ensure that the image distance of these 4 marker points is between [200,300] pixels, and in one of the directions, measure A line segment with an actual distance between [2m, 6m] and a corresponding mark;

[0029] Step02: After completing the corresponding configuration, use the camera calibration principle of the vanishing point attribute to realize the pitch angle fpitch of the installed camera relative to the road surface, the orientation angle fYaw, the flip angle fRoll, and the distance fL between the image plane and the road surface coordinate system. The calibration of several external parameters determines the conversion formula from road coordinates to image coordi...

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Abstract

The invention relates to the field of intelligent traffic, in particular to a lane line adaptive detection method. According to the method, an image vanishing point attribute principle is utilized, the coordinate transformation is completed, and an interesting region is determined; the interesting region is subjected to layering and blocking, and an edge image is subjected to binarization processing; the line segment features are counted, and the descrambling processing is carried out according to the width features and the brightness features of lane lines; and a table of a projection straight line required in Hough conversion is built, the distance feature of left and right lanes and the mutual parallel features of the two lane lines are combined, and the properest straight line is found out to be used as the current lane line. The lane line adaptive detection method has the beneficial effects that through the layering and the blocking on the images, the algorithm is processed in a local small region; then, the dividing processing is carried out on the edge image, the influence of non-uniform illumination is reduced, and the detection effect on the lane lines with low quality is enhanced; the interference due to characters, vehicles, shadow and the like can be effectively avoided, and the detection accuracy is enhanced; and cos(Theta)*w and sin(Theta)*h are realized in a table look-up mode, and the calculation quantity of Hough conversion is effectively reduced.

Description

technical field [0001] The invention relates to the field of intelligent transportation, in particular to a method for adaptive detection of lane lines. Background technique [0002] With the rapid expansion of traffic and the rapid increase of the number of cars, traffic accidents are also constantly rising. According to statistics, due to driver fatigue or inattention, the vehicle driven by him deviates from the current lane, and the accidents caused account for about 1 / 3 of the total traffic accidents. The lane departure warning system is to provide alarm wake-up for those drivers who unconsciously deviate the vehicle from their own lane. However, the effect of lane detection directly affects the performance of the entire lane departure warning system. [0003] Currently, lane detection methods mainly include feature-based recognition methods and model-based recognition methods. Among them, the method based on feature recognition mainly uses the color feature, gray fea...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/34G06K9/46
Inventor 陈群卢朝洪冯忠明韩春立严江江李玲
Owner CETHIK GRP
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