Lane line detection method for lane departure warning system

Abstract

Disclosed in the invention is a lane departure early-warning system-based lane line detection method. The method comprises the following steps: automatically collecting images and carrying out pretreatment on each frame of collected images; detecting a current lane line; realizing detection of a lane line and then adding 1 to a counter S2; otherwise, carrying out zero clearing on the counter S2 and adjusting a camera parameter according to a feature value; determining whether the counter S2 value is larger than a threshold value TA2; if so, entering a lane line tracking state and carrying out zero clearing on the counter S2; otherwise, carrying out zero clearing on the counter S2 and adjusting the camera parameter according to the feature value; determining whether the lane line is tracked; if so, adding 1 to a counter S3; otherwise, carrying out zero clearing on the counter S3 and adjusting the camera parameter according to the feature value; determining whether the counter S3 value is larger than a threshold value TA3; if so, carrying out zero clearing on the counter S3 and outputting an early-warning processing signal; and otherwise, carrying out zero clearing on the counter S3 and adjusting the camera parameter according to the feature value.

Description

technical field [0001] The invention relates to a lane line detection method for a lane departure warning system, in particular to a lane line detection method for a lane departure warning system that can automatically adjust camera internal parameters according to shooting scenes, has a high recognition rate and is good in operability . Background technique [0002] The lane departure warning system based on visual sensors is one of the important components of automotive active safety technology research. Reduce the occurrence of accidents when vehicles deviate from the driving lane. At present, the lane line detection method used in the lane departure warning system is to use the camera to automatically collect images and preprocess the images, and then use the Hough transformation lane line detection algorithm to detect the current lane line. When the lane line is detected, the counter S2 is incremented by 1 , and then judge whether the counter S2 is greater than the th...

AI Technical Summary

Problems solved by technology

Since the lane departure warning system is mainly used in traffic environments such as expressways, and the typical characteristics of vehicles moving on the expressway are fast driving speed and changing illumination, the images collected by the camera are complex and noisy. However, the existing lane The line detection method cannot automatically adjust the internal parameters of the camera according to the shooting scene, resulting in low recognition rate and poor accuracy

However, the traditional Hough transformation lane line detection algorithm is not sensitive to the defects, noise and other coexisting non-linear structures in the straight road model, and has a large amount of calculation and poor real-time performance.

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