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Vehicle auxiliary positioning method based on lane detection and object tracking

A target tracking and vehicle-assisted technology, applied in the field of vehicle-assisted positioning, can solve the problem of high price, achieve the effect of reducing interference, improving accuracy and efficiency, and reliable and accurate data

Active Publication Date: 2016-10-26
CHONGQING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, there are relative positioning or differential DGPS, wide-area augmentation systems, etc. The disadvantages of such systems are high prices, and the information received in some areas is not up to date, which leads to differences from the actual intersections, and it is impossible to accurately determine which road the vehicle is on. lane positioning

Method used

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  • Vehicle auxiliary positioning method based on lane detection and object tracking
  • Vehicle auxiliary positioning method based on lane detection and object tracking
  • Vehicle auxiliary positioning method based on lane detection and object tracking

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Embodiment Construction

[0038] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0039] figure 1 It is a flow chart of the method of the embodiment of the present invention, such as figure 1 As shown, the vehicle auxiliary positioning method based on lane detection and target tracking provided by the present invention includes the following steps:

[0040] Step 1: Detect the lane line and determine the lane line of the vehicle, install the camera in the middle of the front of the smart car, and the horizontal direction of the camera is the same as the direction of the vehicle. In the video sequence collected by the camera, the road image is divided into left and right parts by the vertical central axis, image preprocessing is carried out respectively, and the lane lines are detected by using Canny and Hough transform, and the left and right lane lines closest to the vertical central axis of the image are taken as The ...

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Abstract

The invention relates to a vehicle auxiliary positioning method based on lane detection and object tracking, belonging to technical field of intelligent traffic. The method aims to accurately position the specific lane of a vehicle. Based on the lane line detection and multi-target vehicle tracking, the two lane lines closest to the vertical axis of an image are taken as the lane lines of the vehicle and the target vehicle is connected with the original point via a straight line by taking the midpoint of the bottom edge of the road image as the original point, and whether the straight line is intersected with the lane lines of the vehicle is determined to determine the relative position relation of the target vehicle and the lane, and through the combination of the relative position relation and the lane lines, the specific lane of the vehicle can be determined, and the lane level positioning of the vehicle can be realized through the combination of the specific lane information and the GPS information. According to the invention, the defect that a GPS system cannot accurately position the specific lane of the vehicle is made up, and more reliable and accurate data is provided for the lane level positioning and auxiliary driving.

Description

technical field [0001] The invention belongs to the technical field of intelligent transportation, and relates to a vehicle auxiliary positioning method based on lane detection and target tracking. Background technique [0002] The automatic driving system uses a variety of sensors to perceive the surrounding environment of the vehicle, and according to the road lane information, vehicle position and status information and obstacle information obtained by the perception system, builds a local map, plans a local path, and controls the steering and speed of the vehicle in real time , so that the vehicle can run safely and reliably on the road. It can liberate people from single and persistent driving activities, reduce the impact of driving behavior differences on the stability of traffic flow, and help improve the vehicle throughput rate of the existing road network to alleviate traffic congestion. On the other hand, it can improve car driving safety. Reducing the rate of tra...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/32G06K9/40G06K9/46G08G1/137
CPCG08G1/137G06V20/588G06V10/25G06V10/30G06V10/44
Inventor 朱浩胡劲松张斌李银国
Owner CHONGQING UNIV OF POSTS & TELECOMM
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