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A lane line detection method

A lane line detection and lane line technology, applied in the field of image processing, to achieve the effect of reducing useless calculations, reducing interference, and improving processing speed

Active Publication Date: 2021-07-09
XIDIAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, since this method only removes the image background block area from a global perspective, it does not substantially reduce the interference of non-lane information. This method is not applicable when the image collected by the sensor itself does not contain a large area of ​​background area.

Method used

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  • A lane line detection method
  • A lane line detection method
  • A lane line detection method

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Embodiment Construction

[0064] In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0065] Such as Figure 1 to Figure 7 as shown, figure 1 A flow chart of a lane line detection method provided by an embodiment of the present invention; figure 2 It is a schematic diagram of dividing the image into strips and blocks in the embodiment of the present invention; image 3 It is a schematic diagram of the gradient data of a single strip in the embodiment of the present invention; Figure 4 It is a schematic diagram of coarse positioning points in the embodiment of the present invention; Figure 5 It is a schematic diagram after fine positioning in the embodiment of the present invention; Figure 6 It is a schematic diagram after classification in the embodiment of the present invention; Figure 7 It is a schematic dia...

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Abstract

The present invention relates to a lane line detection method, wherein the method includes: acquiring an image in front of the vehicle, converting the image into a grayscale image; using the grayscale information of the image to roughly locate the lane line, And record the coarse positioning points; perform fine positioning on the coarse positioning points, and retain the fine points; classify the fine points to obtain multiple straight line classes; obtain the lane line according to the multiple straight line classes. The technical scheme of the present invention performs down-sampling on the entire image in vertical strips and blocks, and utilizes the characteristics of vertical arrangement when detecting edges. The horizontal direction of the lanes in each strip changes drastically, and the suspicious edge points of the lanes are determined, and then the suspicious edge points are determined. Points are processed, so the amount of calculation is reduced, and interference points can be eliminated to improve the real-time performance of the algorithm and the reliability of the lane.

Description

technical field [0001] The invention belongs to the technical field of image processing, and in particular relates to a lane line detection method. Background technique [0002] With the rapid development of automobile assisted driving and unmanned vehicle technology, whether the machine vision sensor can accurately obtain the signs, signs or lane line information around the vehicle is the most important part of the automobile assisted driving system, among which the real-time detection and early warning of lane lines Technology ensures that vehicles can go their own way, and plays an important role in departure warning and lane keeping. [0003] At present, in the research of lane line detection, lanes are mainly divided into straight line model, quadratic curve model or segment switching model, etc. In the straight line model, most of them use the edge search method to detect the edge of the lane first, and then use the Hough transform to identify the lane. The edge sear...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 赵小明刘飞王永红郑鹏珍朱大炜陈前邵晓鹏
Owner XIDIAN UNIV
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