Method for detecting road information and identifying forward vehicles based on vision

Abstract

The invention belongs to the field of intelligent automobile road detection and relates to a method for detecting road information and identifying forward vehicles based on vision. The method comprises image preprocessing, lane line characteristic parameter extraction, region-of-interest segmentation and vehicle outline identification. According to the method for detecting the road information and identifying the forward vehicles based on vision, the complexity of computation is simplified by extracting the regions of interest, filtering out background regions and reducing the processing scope; the processing result of each frame of image is obtained through fixed computation times by use of a line-by-line retrieval method, and differing from the characteristic, namely linear fitting on each bright spot, of Hough conversion, the method has outstanding advantages in algorithm instantaneity; the instantaneity of the Robinson direction model operator is improved, and an intermediate variable is set to reduce the computation times of each pixel point. The regions of interest are screened and judged by use of an information entropy and a vehicle tail symmetry characteristic in the target region, and therefore, the omission factor and the false drop rate of the algorithm are reduced.

Description

technical field [0001] The invention belongs to the field of intelligent vehicle road detection, and in particular relates to a vision-based road information detection and front vehicle recognition method. Background technique: [0002] An intelligent vehicle is a comprehensive system that integrates functions such as environmental perception, planning and decision-making, and multi-level assisted driving. It uses technologies such as computers, modern sensing, information fusion, communication, artificial intelligence, and automatic control. technology complex. At present, the research on intelligent vehicles is mainly devoted to improving the safety and comfort of automobiles, and providing an excellent human-vehicle interaction interface. In recent years, intelligent vehicles have become a research hotspot in the field of vehicle engineering in the world and a new driving force for the growth of the automobile industry. Many developed countries have incorporated them int...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problem that the robustness or real-time performance in the prior art cannot meet the requirements of the early warning mechanism, the present invention proposes a vision-based road information detection and front vehicle recognition method, which first performs adaptive binary segmentation on the image ; Then extract the region of interest ROI (Region Of Interes) in the image; use the method of line-by-line retrieval to screen the feature points inside the lane line, so as to obtain the parameters of the left and right marking lines of the actual lane for road model reconstruction

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