Simple and rapid lane line detection method based on dynamic area of interest

Abstract

The present invention relates to a simple and rapid lane line detection method based on the dynamic area of interest. The method comprises: performing preprocessing of an original image to obtain an edge detection result graph; calculating a dynamic area of interest; obtaining the lane line detection result of the previous frame image, and generating a mask graph according to the lane line detection result of the previous frame image; employing the mask graph and the edge detection result graph for operation, and obtaining the local image only having the dynamic area of interest; using the Progressive Probabilistic Hough Transform to detect the line in the local image; traversing all the lines, calculating the length thereof, and if the length is smaller than a threshold value, skipping the line; or else, calculating the distance from the line to the middle point of the image bottom edge; traversing the line set after sorting, and calculating the line slope and color and the deviation degree with the previous frame lane line position; and if the deviation degree is located in each range, taking the line as this frame lane line; and or else, going on searching backwards. The simple and rapid lane line detection method based on the dynamic area of interest can better satisfy the requirement of the vision navigation system on the universality, the timeliness and the robustness.

Description

technical field [0001] The invention relates to a lane line detection technology, in particular to a simple and fast lane line detection method based on a dynamic region of interest. Background technique [0002] With the development of intelligent vehicles and people's increasing attention to traffic safety, lane line detection, as an important part of intelligent vehicle environment perception, has become a research hotspot. In the autonomous navigation system, lane keeping assist system, lane departure warning system and lane change assist system, lane line detection plays a key role. Only by accurately knowing the specific position of the lane line can the autonomous navigation system plan a reasonable driving The vehicle can correctly perform driving behaviors such as driving, overtaking, and changing lanes. [0003] At present, there are three main lane line detection strategies: the first one is based on GPS+MAP, which determines which lane you are in according to th...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the disadvantages of high cost of laser-based strategies and complex algorithms of video-based strategies in the prior art, the present invention proposes a simple and fast lane line detection method based on dynamic regions of interest,

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