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Lane line detection method and device

A technology for lane line detection and images to be detected, which is applied to instruments, character and pattern recognition, computer components, etc., and can solve problems such as inaccuracy and inaccurate number of white pixels

Active Publication Date: 2018-03-02
HISENSE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, in order to solve the problem of using a single threshold to binarize the road image in the prior art, the number of white pixels in the binarized image is not accurate relative to the real lane line, resulting in the subsequent Points account for the proportion of the entire binary image to determine whether there is a lane line in the current monitoring area. The result is not accurate. This application provides a lane line detection method and device to improve the detection of whether there is a lane line on the road. The accuracy of the results saves system computing resources

Method used

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  • Lane line detection method and device

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Embodiment 1

[0100] See Figure 4 , is a flowchart of an embodiment of the lane line detection method of the present application, including the following steps:

[0101] Step 401: Determine the gradient image of the image to be detected.

[0102] In the embodiment of the present application, the road image collected by the camera can be used as the image to be detected, or the region of interest can be delineated on the road image, and the part of the image corresponding to the region of interest can be used as the image to be detected. Not limiting.

[0103] Those skilled in the art can understand that the region of interest can be determined on the road image in a variety of ways, for example, the region of interest can be framed on the road image by manual frame selection, and for example, the region of interest can be determined by a preset height Proportion (such as the lower 3 / 4 part) intercepts the region of interest on the road image. For another example, the part below the vanis...

Embodiment 2

[0145] See Figure 5 , is a flow chart of another embodiment of the lane line detection method of the present application, the Figure 5 The shown method focuses on the process of determining the binarization threshold according to the gradient value of the pixel point in the gradient image and the first setting condition, including the following steps:

[0146] Step 501: Determine a data set composed of gradient values ​​of all pixels in the gradient image as a target data set.

[0147] In the embodiment of the present application, firstly, the data set composed of the gradient values ​​of all pixels in the gradient image is determined as the target data set. For example, assuming that there are 256 pixels in the gradient image, the target data set includes 256 elements.

[0148] Step 502: Determine the average gradient value, minimum value, and maximum value of the gradient values ​​in the target data set, and set the average gradient value as a gradient parameter.

[0149...

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Abstract

The application provides a lane line detection method and device, and relates to the technical field of automobile assisted driving. The method includes the steps of determining a gradient image of ato-be-detected image; determining a binarization threshold according to a gradient value of pixel points in the gradient image and a first setting condition; obtaining a binarization image of the gradient image according to the binarization threshold; and determining the presence of a lane line in the to-be-detected image if the gradient value of white pixel points and the gradient value of blackpixel points in the binarization image meet a second setting condition. The method can be applied to improve the accuracy of detecting the presence of the lane line on the road and to save system computing resources.

Description

technical field [0001] The present application relates to the technical field of automobile assisted driving, and in particular to a lane line detection method and device. Background technique [0002] Lane line detection and recognition is an important link in the Advanced Driver Assistance System (ADAS), and it is also a link with a large amount of calculation. During the actual driving process of the vehicle, the vehicle will pass through some areas without lane lines, such as intersections. Therefore, if the assisted driving system continuously detects the lane lines during the driving process of the vehicle, it will not only waste system computing resources, but also cause serious problems. It may cause detection errors and cause disturbance to the driver. [0003] Based on this, it is proposed in the prior art to perform binarization processing on the road image obtained by the vehicle. In the obtained binarized image, the white pixels represent the lane line. To det...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 高语函李阳
Owner HISENSE