Lane departure detection method, device and vehicle thereof
A lane departure and detection method technology, applied in image enhancement, image analysis, instruments, etc., can solve problems such as interference with normal driving, complex working conditions, and false alarms
Active Publication Date: 2017-10-24
BYD CO LTD
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However, due to the complex working conditions of the system based on a single front-view camera to realize lane departure, false alarms often occur during normal driving, which will interfere with normal driving
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[0031] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.
[0032] At present, more and more vehicles are equipped with a panoramic image system, which can synthesize the collected images around the car body into a top-view image, which is a 360-degree panoramic image, such as figure 1 shown. By processing the panoramic image, it is possible to extract lane lines and determine whether lane departure occurs.
[0033] However, in some related lane line extraction techniques, a single-direction difference judgment method is used. For example, suppose the obtained panoramic image is as figure 2 As shown, when performing lane line recognition, by scanning each pixel on the image line by line and one by one, it is judged w...
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The invention discloses a lane departure detection method, a device and a vehicle thereof. The method comprises the following steps of acquiring a panoramic image of a vehicle; acquiring a target gray scale image corresponding to the panoramic image of the vehicle; identifying a candidate characteristic point pair from the target gray scale image, wherein the candidate characteristic point pair includes a first pixel point P1 (i, j1) and a second pixel point P2 (I, j2), gray values of the first pixel point P1 (i, j1) and the second pixel point P2 (i, j2) are greater than or equal to a gray scale threshold, a gray difference between the first pixel point P1 (i, j1) and a three pixel point P3 (i, j1- K) is greater than or equal to a first gray scale difference threshold, and a gray difference between the second pixel point P2 (i, j2) and a fourth pixel point P4 (i, j2 + k) is greater than or equal to the first gray scale difference threshold, and a gray difference between the first pixel point P1 (i, j1) and the second pixel point P2 (i, j2) is less than a second gray scale difference threshold; according to the candidate characteristic point pair, determining a lane characteristic point; and according to the lane characteristic point, extracting a lane line, and determining whether lane departure is generated. Lane departure detection accuracy can be increased.
Description
technical field [0001] The present invention relates to the field of lane detection, in particular to a lane departure detection method, device and vehicle. Background technique [0002] With the rapid development of the automobile industry in China, the safety performance of automobile active driving is gradually becoming one of the performance indicators that people focus on. Nowadays, a car is no longer just a means of transportation, but also a carrier of intelligence. Drivers often cause the car to deviate from the normal lane due to fatigue and inattention when driving past, and then danger occurs. [0003] At present, most lane departure warning systems are implemented through a separate front-view camera. The camera installed near the front rearview mirror in the car collects video, processes the video in real time, and judges whether the lane has deviated through the lane recognition algorithm and the preset threshold. However, due to the complex working condition...
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IPC IPC(8): G06K9/00G06K9/46G06T5/50G06T5/00G06T7/10G08B21/18
CPCG06T5/00G06T5/50G08B21/18G06T2207/30256G06V20/588G06V10/56
Inventor 魏星
Owner BYD CO LTD