Segmental straight line and segmental Bezier curve-based curve lane line detection method
A Bezier curve and lane line detection technology, which is applied to instruments, character and pattern recognition, computer components, etc., can solve problems such as difficult to locate curved lane lines
Active Publication Date: 2018-02-16
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Nowadays, the straight line model can fit the lane line well in most of the straight roads, but it is difficult to locate the curved lane line when a straight line is in the curve, so it is necessary to study the use of a new suitable model to fit the curve lane line
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[0023] The scheme of fitting the lane line with a straight line plus a segmented Bezier curve is:
[0024] Define two straight lines L 1 , L 2 , L 1 The starting point and end point are s1(sx1,sy1) and e1(ex1,ey1) respectively, L 2 The starting point and end point of are respectively s2(sx2,sy2) and e2(ex2,ey2). When L 1 and L 2 When parallel, the following relationship exists:
[0025] (ey1-sy1) / (ex1-sx1)=(ey2-sy2) / (ex2-sx2) (3)
[0026] In order to avoid the situation where the denominator is zero, we made some adjustments, as shown in formula (4)
[0027] (ey1-sy1)*(ex2-sx2)=(ey2-sy2)*(ex1-sx1) (4)
[0028] For the judgment line L 1 and L 2 Whether the two lines are connected by a straight line or a Bezier curve, we adopt the following strategy. If the two straight lines satisfy the left and right differences of the above formula (the absolute value of the difference between the left and right items in formula (4)) is less than the parallel threshold, then It is ...
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The invention provides a segmental straight line and segmental Bezier curve-based curve lane line detection method. The method comprises the steps of 1) performing binarization processing on an imageto obtain a binary image; 2) performing Hough straight line detection on the binary image to obtain a straight line set; and 3) connecting adjacent straight lines in the straight line set: judging whether a gradient difference value of the adjacent straight lines is smaller than or equal to a parallel threshold or not, and if yes, directly connecting an end point of the first straight line and a start point of the second straight line in the two adjacent straight lines by using a straight line, or otherwise, connecting the end point of the first straight line and the start point of the secondstraight line in the two adjacent straight lines by using a Bezier curve, wherein a Bezier curve control point is an extended line intersection point of the first straight line and the second straightline. According to the method, a segmental straight line and segmental Bezier curve scheme is adopted for a lane line with a relatively great curvature change, so that the simplicity and convenienceare achieved, and the accuracy can be comparable with that of a direct multi-segment Bezier curve fitting result.
Description
technical field [0001] The invention relates to image processing and pattern recognition technology, in particular to the detection of curved lane lines for intelligent driving assistance. Background technique [0002] In recent years, the field of intelligent assisted driving has developed rapidly. Not only traditional large technology companies or automobile manufacturers have been involved in the research of intelligent assisted driving, but also a large number of emerging companies have been born. As a basic part of intelligent assisted driving, lane line detection technology has also developed relatively maturely. Nowadays, the straight line model can fit the lane line well in most of the straight roads, but it is difficult to locate the curved lane line when a straight line is in the curve, so it is necessary to study the use of a new suitable model to fit the curve lane line. [0003] A Bezier curve is a mathematical curve applied to a two-dimensional graphics appli...
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Login to View More IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 解梅叶茂权程石磊曹继承
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA