Curve lane detection method based on segmented straight line and segmented Bezier curve
A Bezier curve, lane line detection technology, applied in the field of image processing and pattern recognition, can solve problems such as difficult to locate curved lane lines
Active Publication Date: 2021-08-06
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 curved lane line detection method based on segmented straight lines plus segmented Bezier curves, comprising the steps of: 1) performing binary processing on the image to obtain a binary image; 2) performing Hough on the binary image 3) Connect the adjacent straight lines in the straight line set: judge whether the slope difference of adjacent straight lines is less than or equal to the parallel threshold, if so, use the straight line to directly connect the end point of the first straight line in the two adjacent straight lines and The starting point of the second straight line, if not, use a Bezier curve to connect the end point of the first straight line and the starting point of the second straight line in two adjacent straight lines, and the control point of the Bezier curve is the first straight line and the second straight line The intersection of the extension lines of the straight lines. The present invention adopts the scheme of segmented straight line plus segmented Bezier curve for the lane line with large curvature change, which is simple and convenient, and the accuracy rate can be compared with the 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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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