Lane line detection method under complex road condition scene

A technology for lane line detection and complex road conditions, applied in the field of lane line detection, can solve problems such as errors, lane line fitting deviation, etc., achieve good accuracy and robustness, and improve the effect of robustness

Inactive Publication Date: 2016-08-24
SOUTHWEST JIAOTONG UNIV
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Problems solved by technology

When the road surface has shadows, text or road surface damage, there are a large number of noise edge points in the extracted edge information, which will cause deviation or even error in the fitting of the final lane line

Method used

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  • Lane line detection method under complex road condition scene
  • Lane line detection method under complex road condition scene
  • Lane line detection method under complex road condition scene

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Embodiment Construction

[0058] The present invention will be further described below in conjunction with accompanying drawing and concrete road condition scene diagram:

[0059] Such as algorithm flow figure 1 As shown, the method of the present invention is mainly divided into two parts: road condition image preprocessing and lane line detection. In order to overcome the defects in the invention with the invention patent publication number (CN) 103996030A, after obtaining the edge information of the road condition image, we first scan the edge image to calculate the connection direction of the edge pixels, thereby filtering out the noise edge. This avoids the problem of inaccurate fitting of lane lines due to the interference of noise edges in subsequent processing. In addition, we made full use of the structural feature of the vanishing point of the lane line mentioned in the invention of the invention patent publication number (CN) 103617412A. First, the position information of the vanishing poin...

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Abstract

The invention discloses a lane line detection method under a complex road condition scene. The method is used for a smart car to obtain road image information and instantly conduct lane line identification. The method includes scanning the edge image after the edge information of a road condition image is obtained, and calculating the connecting direction of edge pixel points to filter the abnormal noise edge of the connecting direction. The characteristic information of the disappearing point of a lane line can be used, and the position information of the disappearing point can be obtained through a ballot mechanism. The disappearing point serves as the constraint conditions for filtering interference line segment, and also as the key parameters for fitting a lane line. The method eliminates the influence of interference factors of tree shadows, characters and driving vehicles on the pavement, the lane line detection under various complex environments can be realized, and high accuracy and good robustness are ensured.

Description

technical field [0001] The invention relates to the fields of machine vision and intelligent vehicles, in particular to a lane line detection method in complex road conditions. Background technique [0002] In recent years, with the rapid development of society and the continuous increase of car ownership, traffic safety issues have attracted more and more attention. According to statistics, approximately 30% of traffic accidents are caused by factors such as driver's inattention, fatigue driving, and lane deviation every year. Therefore, intelligent vehicle systems that can provide drivers with danger warning and assisted driving have attracted widespread attention. As one of the key technologies of intelligent vehicle systems, detection of lane marking lines (hereinafter referred to as lane lines) has also become an The hot spot of research and development by manufacturers. [0003] Vision-based lane detection technology is widely adopted because of its abundant informat...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/32G06K9/62
CPCG06V20/588G06V10/25G06F18/23213
Inventor 侯进侯长征
Owner SOUTHWEST JIAOTONG UNIV
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