An efficient lane line detection and tracking method and system
A lane line detection and lane line technology, which is applied in the field of efficient lane line detection and tracking methods and systems, can solve problems such as poor real-time performance, being easily disturbed by the road environment, and having a large amount of computation.
Active Publication Date: 2018-08-21
HEFEI UNIV OF TECH
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Problems solved by technology
Feature-based lane line detection is easily disturbed by the road environment; model-based methods have better robustness, but have a large amount of computation and poor real-time performance
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[0082] refer to figure 1 , the efficient lane line detection and tracking method that the present invention proposes, is characterized in that, comprises the following steps:
[0083] S1. Collect vehicle environment image information; in the actual application process, use cameras to collect vehicle environment information to obtain continuous video streams, providing accurate reference for analyzing vehicle environment image information;
[0084] S2. Determine the position of the vanishing line, the region of interest, and the maximum and minimum values of the matching lane line width ratio coefficient according to the vehicle environment image information;
[0085] Step S2 specifically includes: reading the current frame, preprocessing the vehicle environment image, determining the position of the vanishing line and the region of interest, and determining the maximum and minimum values of the matching lane line width ratio coefficients;
[0086] The range of the lane li...
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The invention discloses an efficient lane line detection and tracking method and system. The method includes the following steps: S1, collecting vehicle environment image information; S2, determining the position of the disappearing line, the region of interest, and the matching lane line width ratio coefficient Maximum value and minimum value; S3, performing edge detection and searching for feature points that meet the lane line feature search conditions; S4, projecting the feature points that meet the lane line feature search conditions to the vanishing line and the preset two lane horizontal lines, And look for the vanishing point on the vanishing line; S5. Perform a reverse search according to the position of the vanishing point, extract the feature points of the lane boundary line, and determine the lane line; S6. Establish a strip-shaped area according to the lane line, and use the confidence to constrain the lane line position and width. The invention detects the vanishing point based on the voting mechanism, divides the target search area, and can quickly and accurately detect the lane line by collecting two points on the edge line of the lane.
Description
technical field [0001] The invention relates to the technical field of vehicle departure warning, in particular to an efficient lane line detection and tracking method and system. Background technique [0002] With the rapid growth of my country's automobile production and quantity, driving safety issues have received more and more attention. At present, automotive driving assistance system products are developing rapidly with the increase in consumer demand, and the rapid development of urban construction and the automotive industry has caused countries around the world to face increasingly severe traffic problems. In view of the huge losses caused by traffic accidents, intelligent assisted driving systems and autonomous vehicle technology have become research hotspots in the field of transportation and the automotive industry today. Among them, the recognition technology of lane lines is a very important link. In order to meet the actual needs of intelligent driving, the...
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IPC IPC(8): G06K9/00G06K9/32G06K9/62
CPCG06V20/48G06V20/588G06V10/25G06F18/22
Inventor 胡延平王乃汉谢有浩陈无畏赵林峰谈东奎蒋玉亭
Owner HEFEI UNIV OF TECH