Method for real-time lane line detection based on vision under complex lighting conditions

Abstract

The invention provides a method for real-time lane line detection based on vision under complex lighting conditions and belongs to the field of computer vision and unmanned intelligent driving. During image preprocessing, light estimation and light color correction are conducted on different light images so that the images can recover under standard white light; noise which is introduced in the image acquisition process is eliminated through Gaussian filtering, and then the images are binarized and subjected to edge extraction; the original images are divided in the extraction process; improved Hough transform is used for obtaining a lane candidate line, and a dynamic interesting region (ROI) is built; through Hough transform based on the dynamic interesting region (ROI) and kalman filtering, a lane line is tracked in real time to realize constraint and update of a lane line model. An algorithm is added into a lane line detection failure judgment module to improve the reliability of detection. The method is high in speed and good in robustness, a good lane line detection effect is obtained under the complex lighting conditions, the dynamic lane line identifying ability of a vehicle is improved, and the safety of unmanned vehicle driving is improved.

Description

technical field [0001] The invention relates to a vision-based real-time lane detection method under complex lighting conditions, 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 scientific and technological means to ensure driving safety. The most important problem facing such systems is to quickly and accurately detect lanes from vehicle video images. Lines, which allow vehicles to drive accurately and according to real-time roa...

AI Technical Summary

Problems solved by technology

[0007] The present invention aims at the low recognition rate of the existing lane line detection technology for detecting lane lines unde

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