Multi-feature fused lane line detecting system and method and advanced driving assistance system

A lane line detection and multi-feature fusion technology, applied in the field of image processing, can solve the problems that gray images cannot be filtered out, affect the accuracy of lane line detection, and single features, and achieve the effect of strengthening anti-interference ability.

Active Publication Date: 2016-12-07
开易(北京)科技有限公司
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Problems solved by technology

But in fact, different colors of light will have an impact on lane line detection
Especially at night, the light from taillights and traffic lights will affect the accuracy of lane line detection
Pure grayscale images cannot filter out these disturbances
[0005] In addition, whether it is based on the line detection method or the key point dete

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  • Multi-feature fused lane line detecting system and method and advanced driving assistance system
  • Multi-feature fused lane line detecting system and method and advanced driving assistance system
  • Multi-feature fused lane line detecting system and method and advanced driving assistance system

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[0059] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail with reference to specific embodiments and drawings.

[0060] Please refer to figure 1 It is a schematic flow diagram of a lane line detection method based on multi-feature fusion in an embodiment of the present invention.

[0061] In this embodiment, the multi-feature fusion lane line detection method includes the following steps:

[0062] In step S100, a top view of the lane area is captured; in the step S100, after the vehicle enters the lane, the image can be collected by the advanced driving assistance system in the vehicle. The advanced driving assistance system is referred to as ADAS. It uses a variety of sensors installed on the car to collect environmental data inside and outside the car at the first time, and perform technical processing such as identification, detection and tracking of static and dyna...

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Abstract

The invention discloses a multi-feature fused lane line detecting system and method and an advanced driving assistance system. The method comprises the following steps that a top view of a lane area is captured; a color feature graph is obtained by extraction according to colors of lane lines and road interference items in the driving process of a vehicle; a contrast feature graph is obtained according to pixels in the color feature graph; a linear line is detected in the contrast feature graph according to projection, and an interference item in the linear line is rejected via geometric characteristic of the lane line; and the correct lane line is obtained by detection. According to the invention, color information is introduced into lane line detection for the first time, and anti-interference capability for light at night can be enhanced. The contrast feature graph which is obtained on the basis of a lane line enhancing operator of the pavement contrast is redefined. A geometric change rule of the lane line serves as a significant lane line rejection feature, and the interference items are removed from the linear line via geometric feature rejection of the lane line.

Description

technical field [0001] The invention relates to the field of image processing, in particular to a multi-feature fusion lane line detection system, method and advanced driving assistance system. Background technique [0002] For advanced driver assistance systems (ADAS) based on vision algorithms, lane line detection is one of the key technologies. Lane line detection methods can generally be divided into methods based on line detection and methods based on key point detection. [0003] 1) The method based on line detection generally preprocesses the grayscale image through edge detection to obtain the edge enhancement map. On this basis, the Hough transform is used to detect straight lines, and finally the interfering straight lines are rejected through certain rules. 2) The method based on key point detection generally also filters the grayscale image through edge detection, and then extracts several edge points as key points. Finally, a number of lines are fitted as lan...

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Application Information

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IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 刘鹏
Owner 开易(北京)科技有限公司
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