Lane line identification method and lane line identification system

A lane line recognition and lane line technology, applied in the field of lane line recognition methods and systems, can solve the problems of poor recognition effect, low accuracy, and lane lines being easily affected by external factors.

Active Publication Date: 2017-11-07
GUANGZHOU AUTOMOBILE GROUP CO LTD
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Problems solved by technology

In addition, the linear-parabolic model is also widely used in the lane line model, but this method generally assumes that at the initial detection moment, the lane line is straight, the vehicle is parallel to the lane line, and there are no other objects in the image field of view except the lane bo

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  • Lane line identification method and lane line identification system
  • Lane line identification method and lane line identification system
  • Lane line identification method and lane line identification system

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Embodiment 1

[0140] Corresponding to Embodiment 1 of the present invention, Embodiment 2 of the present invention provides a lane line recognition system, such as Figure 7 As shown, the system includes: a lane line recognition module 1000, and the lane line recognition module 1000 further includes:

[0141] The region of interest delineation module 1010 is used for delimiting the region of interest for the acquired grayscale image containing lane lines;

[0142] The matched filtering module 1020 is configured to perform multi-scale matched filtering on the image region of interest by using a matched filter to complete specific enhancement of the image region of interest;

[0143] A top-hat transformation module 1030, configured to perform top-hat transformation on the ROI of the image after multi-scale matching filtering;

[0144] The constant false alarm rate detection module 1040 is used to filter the lane line feature points by setting a grayscale adaptive threshold in the image regio...

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Abstract

The invention provides a lane line identification method and a lane line identification system. The lane line identification method comprises steps that an interested area is delineated in an acquired gray level image comprising a lane line; a matched filter is used for multidimensional matching filtering; the top hat transformation of the interested area of the image after the multidimensional matching filtering is carried out; by comparing a preset gray level adaptive threshold with a to-be-detected pixel point, a lane line characteristic point is screened out; the back projection transformation of the lane line characteristic is carried out to acquire a two-dimensional raster map; the neighborhood clustering processing of the two-dimensional raster map is carried out, and the curve fitting of the lane line pixel point is carried out, and then the lane line of the lane, on which a vehicle drives, is determined by combining with the current position of the vehicle. The characteristic enhancement of the lane line area in various environments is realized, and influences of changes of external conditions on the lane line identification based on machine vision are greatly reduced, and the accuracy of the subsequent lane line identification is improved.

Description

technical field [0001] The invention relates to the field of automobile auxiliary driving, in particular to a lane line recognition method and system. Background technique [0002] With the increase of car ownership, road traffic accidents have become a serious problem facing the world. Therefore, in the field of intelligent transportation systems, the development of intelligent vehicles has received widespread attention. Using computer vision for autonomous driving and assisted navigation is the current mainstream Research direction, the detection and tracking of lane lines is a core technology for the development of driver assistance systems and unmanned driving. For lane line recognition, many scholars have carried out extensive research. In general, machine vision-based lane recognition technology mainly includes three steps: lane feature point extraction, lane boundary fitting and lane tracking technology. [0003] The extraction of lane line feature points usually ad...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/32
CPCG06V20/588G06V10/25
Inventor 张三林左亮梁早珊刘前飞
Owner GUANGZHOU AUTOMOBILE GROUP CO LTD
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