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Hough transform-based lane line detection method

A lane line detection and image technology, applied in instruments, character and pattern recognition, computer parts, etc., can solve problems such as low efficiency, complex algorithm, poor real-time performance, etc.

Active Publication Date: 2016-07-13
北京冠凯科技发展有限公司
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Problems solved by technology

[0006] The present invention aims at the needs of the existing lane line detection technology to establish a specific model, the algorithm is more complicated, the efficiency is low, and the shortcomings of real-time performance are poor, and a lane line detection method based on Hough transform is proposed. Image, using the location information of lane line pixels to detect lane lines and judge trends. The algorithm has good real-time performance and can detect lane lines with high efficiency.

Method used

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  • Hough transform-based lane line detection method
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  • Hough transform-based lane line detection method

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Embodiment Construction

[0134] The Hough transform process is as follows:

[0135] (1) Use a two-dimensional vector (ρ, θ) to describe each straight line area on the image, then the accumulator of the straight line area on the image can be mapped to a storage unit in the parameter space. Since ρ is the distance from the straight line area to the origin, for an image with a diagonal length of n, the upper left corner is fixed as the origin, and the value range of ρ can be obtained [0,n], and θ is the positive relationship between the normal and the x-axis The range of θ can be obtained [0°,179°], and θ is in increments of 1 degree. Define a two-dimensional array Hough[n][180] as a storage unit, where for any linear region determined by (ρ, θ), the accumulator is Hough[ρ][θ].

[0136] (2) traverse all the pixels of the image in turn, judge whether certain conditions are satisfied for each pixel, judge whether the pixel value is 255 in the present embodiment, because what used in the present embodiment...

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Abstract

The invention discloses a Hough transform-based lane line detection method. In view of defects that the existing lane line detection technology needs to build a specific model, the algorithm is complicated, the efficiency and the real-time performance is poor, as for an image containing the lane line after Hough transform, the position information of a lane line pixel is used for lane line detection and tendency judgment, the algorithm has good real-time performance, and a detected lane line can be obtained efficiently. The method does not need to introduce many parameters to help to tell a curve, a tedious method of lane line modeling and the like is not needed, the method can be applied to a common lane and an expressway, recognition on the curve tendency is realized simply and quickly, and the real-time performance and the accuracy are good.

Description

technical field [0001] The invention relates to a lane line detection method based on Hough transformation, and belongs to the technical fields of vehicle autonomous driving and computer-aided driving. Background technique [0002] In recent years, with the continuous increase of highway mileage and the continuous development of the automobile industry, traffic safety problems have become increasingly serious. There are more and more vehicles on the road, and accidents are also increasing year by year. The casualties and property caused by traffic accidents The loss is shocking. In order to reduce the occurrence of traffic accidents, it has become a trend to use computer-aided driving systems and other technological means to ensure driving safety. The primary key issue facing such systems is to quickly and accurately detect lane lines from vehicle video images, which can Allow vehicles to drive accurately and regulated according to real-time road conditions to ensure the sa...

Claims

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Application Information

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IPC IPC(8): G06K9/00
CPCG06V20/588G06V10/30G06V10/44
Inventor 张文利王锦宏李会宾王卓峥颜啸贾维晟
Owner 北京冠凯科技发展有限公司
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