Lane line detection method and system, as well as lane departure early warning method and system

A lane line detection and lane line technology, applied in the direction of instrument, calculation, signal device, etc., can solve the problem of large amount of calculation system response delay, etc., and achieve the effect of improving safety, improving accuracy, and accurate lane line detection.

Active Publication Date: 2015-05-27
BYD CO LTD
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Problems solved by technology

[0007] The technical problem to be solved by the present invention is to provide a lane line detection method for the

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  • Lane line detection method and system, as well as lane departure early warning method and system
  • Lane line detection method and system, as well as lane departure early warning method and system

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[0071] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0072] A lane line detection method provided in an embodiment of the present invention includes the following steps:

[0073] S1. Collect images including the left and right lane lines of the lane where the vehicle is located, and convert the color image into a grayscale image;

[0074] S2. Select an image region of interest that may have left and right lane lines in the grayscale image, and divide the above image region of interest into a left image and a right image;

[0075] S3. Use the image binarization method to obtain the grayscale binarization thresholds GrayTL1...

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Abstract

The invention provides a lane line detection method which comprises the steps of: S1, acquiring an image, converting the color image into a grayscale image, S2, selecting a region of interest of the image, dividing the region of interest into a left side image and a right side image, S3, calculating a greyscale binarization threshold of each row of each of the left side image and the right side image by binarization, extracting pixel point sets with grayscale values greater than or equal to the greyscale binarization thresholds from the left side image and the right side image, S4, obtaining edge images of the left side image and the right side image by using a one-dimensional sobel operator, calculating edge binarization thresholds of the edge images, extracting inner edge point sets of the left side edge image and the right side edge image, S5, selecting an intersection of the pixel point set in the left side image and the inner edge point set as an inner edge point of a left lane line, selecting an intersection of the pixel point set in the right side image and the inner edge point set as an inner edge point of a right lane line, and S6, calculating the left lane line and the right lane line according to the inner edge point of the left lane line and the inner edge point of the right lane line.

Description

technical field [0001] The invention relates to the technical field of vehicle safety driving assistance, in particular to a lane line detection method and system, and a lane departure warning method and system. Background technique [0002] With the development of society, automobiles have become a popular means of transportation. Due to fatigue driving or distraction, accidents caused by vehicles deviating from lane lines are also increasing, and such accidents usually occur at high speeds, so they are more harmful. [0003] Studies have shown that if the driver is given a warning 1 second before a potential traffic accident occurs, most of the similar traffic accidents can be avoided. Therefore, real-time detection of lane lines, identification of whether the vehicle deviates from the lane, and timely reminders to the driver when the driver does not perform a lane change operation but the vehicle tends to deviate from the lane can greatly improve driving safety. [0004]...

Claims

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Application Information

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IPC IPC(8): G06K9/60B60Q9/00
Inventor 丁赞
Owner BYD CO LTD
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