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Lane departure detection method, device and vehicle

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: 2020-06-19
BYD CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

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

Method used

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  • Lane departure detection method, device and vehicle
  • Lane departure detection method, device and vehicle
  • Lane departure detection method, device and vehicle

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Embodiment Construction

[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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Abstract

The invention discloses a lane departure detection method, device and vehicle. The method includes: acquiring a panoramic image of the vehicle; acquiring a target grayscale image corresponding to the panoramic image of the vehicle; identifying candidate feature point pairs from the target grayscale image, where the candidate feature point pairs include the first pixel point P1(i, j1) and the second pixel point P1(i,j1) and the second Pixel P2(i,j2), the gray value of the first pixel P1(i,j1) and the second pixel P2(i,j2) is greater than or equal to the gray threshold, the first pixel P1(i,j1 ) and the third pixel point P3(i,j1-k) is greater than or equal to the first grayscale difference threshold, the second pixel point P2(i,j2) and the fourth pixel point P4(i,j2+ The grayscale difference between k) is greater than or equal to the first grayscale difference threshold, and the grayscale difference between the first pixel point P1 (i, j1) and the second pixel point P2 (i, j2) is smaller than the second grayscale difference Threshold; determine lane feature points based on candidate feature point pairs; extract lane lines based on lane feature points, and determine whether lane departure occurs. Thereby, the accuracy of lane departure detection can be improved.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06K9/46G06T5/50G06T5/00G06T7/13G08B21/18
CPCG06T5/00G06T5/50G08B21/18G06T2207/30256G06V20/588G06V10/56
Inventor 魏星
Owner BYD CO LTD