A lane line detection method in complex road conditions

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

Inactive Publication Date: 2019-07-12
SOUTHWEST JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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

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  • A lane line detection method in complex road conditions
  • A lane line detection method in complex road conditions
  • A lane line detection method in complex road conditions

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Embodiment Construction

[0057] The present invention will be further described below in conjunction with accompanying drawing and concrete road condition scene diagram:

[0058] 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 in a complex road condition scene, which is used for intelligent vehicles to obtain road image information and immediately perform lane line identification processing. After obtaining the edge information of the road condition image, the invention first scans the edge image, and at the same time Calculate the connection direction of the edge pixel points, so as to filter out the noise edge with abnormal connection direction. The present invention makes full use of the characteristic information of the vanishing point of the lane line. The position information of the vanishing point is obtained through a voting mechanism. The vanishing point is not only used as a constraint condition for filtering out interference line segments, but also as a key parameter for lane line fitting. The lane line detection method of the present invention can overcome the influence of interference factors such as shadows of trees, text on the road surface, and driving vehicles, and realize lane line detection in various complex environments, and has good accuracy and robustness.

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 Patents(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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