Road marking line extracting method based on forward camera head in automatic driving

Abstract

The invention provides a road marking line extracting method based on a forward camera head in automatic driving. The method comprises steps of obtaining a normal incidence view of a road marking line in front of a current vehicle via reverse perspective transformation; restraining an initial threshold value of current solving road segmentation according to parts of prior knowledge formed based on normal running modes of vehicles; by using the initial threshold value, segmenting the normal incidence view; judging the parallel property presented by edge pixel points and the equidistant property presented by a projection histogram; and extracting road marking lines including lane lines, road traffic signs, vehicle stop markings and zebra marking lines. According to the invention, execution speed is fast; by operating the projection histogram, effects on detection and extraction imposed by incomplete image details can be reduced; robustness of the extracting method is improved; constraints on few prior knowledge are increased; and by adopting the approximate, divide-and-conquer and dimension reduction technological means, the range of the extraction precision is further reduced and processing of sub-regions of parts of road scenes is inhibited.

Description

technical field [0001] The invention relates to the field of traffic information detection in the automatic driving industry, in particular to a method for extracting road markings based on a forward camera in automatic driving. Background technique [0002] With the development of computer science and robotics, self-driving vehicles have been widely used in military, civil and scientific research, etc., and it has concentrated the latest research results of multiple disciplines such as structure, electronics, cybernetics and artificial intelligence. ,with broadly application foreground. [0003] Being able to detect the current road driving environment in real time is the core function of autonomous driving and vehicle autonomous driving technology, and the real-time extraction of road markings such as lane lines and road traffic signs is an important prerequisite for a safe and intelligent driving environment. [0004] At this stage, most camera-based road marking extract...

AI Technical Summary

Problems solved by technology

[0004] At this stage, most camera-based road marking extraction methods have high requirements on the image acquisition environment. For example, the collected image may only contain the part of the road where the current vehicle is driving. Once it is applied in a complex urban traffic environment, it is extremely difficult. It is susceptible to interference from environmental factors such as other vehicle bodies and tree shadows on both sides of the road, and cannot obtain accurate extraction results

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