Intelligent assisted driving method and system

Abstract

The invention relates to an intelligent assisted driving method and system. A lane line is obtained as follows: an image, shot by a camera, of a road in a vehicle driving direction is obtained; de-distortion processing is carried out on a video frame of the image by using an internal reference matrix of the camera and inverse perspective transformation is carried out on a selected to-be-transformed region src of the video frame; threshold segmentation is carried out on the video frame after inverse perspective transformation and a lane line and a background region are separated; statistics iscarried out on the lower part of the image after threshold segmentation and an intersection point of the lane line and the bottom of the image is obtained by statistics; searching is carried out by starting with the intersection point by using a sliding window, m pixels corresponding to the lane line are determined, and curve equation fitting is carried out on the m pixels to obtain a fitted laneline. With the method and system provided by the invention, the lane line is displayed in a display device inside the vehicle; and various conditions like sudden illumination changing, tree shadow shielding, and pavement blotting are detected accurately. The method and system have advantages of high applicability, low cost, high precision, good real-time performance and high stability.

Description

Technical field [0001] The invention relates to the field of intelligent assisted driving, and more specifically, to an intelligent assisted driving method and system. Background technique [0002] At present, relevant domestic and foreign research institutions have carried out extensive and in-depth research on unmanned vehicles, and the technical performance of the products developed has been continuously improved. In mid-July 2011, the Hongqi HQ3 unmanned vehicle independently developed by the National University of Defense Technology Departing from the Changsha Yangzichong toll station, it took 3 hours and 22 minutes to reach Wuhan, with a total mileage of 286 kilometers. During the driving process, it autonomously overtook 67 times. The average speed of autonomous driving was 87 kilometers per hour, reaching the world's leading level; Beijing Institute of Technology was also the first in China to start research One of the human-driving units. In 2013, Beijing Institute of Te...

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Problems solved by technology

[0010] The technical problem to be solved by the present invention is that, in view of one or more technical defects in the above-mentioned current intelligent assisted driving methods and systems, such as low applicability, high cost, low precision, and low real-time performance, the present invention An intelligent assisted driving method and system are provided to solve the above defects

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