Lane line identification method and device

A technology of lane line and training method, applied in the field of lane line recognition method and device, can solve the problem of inability to recognize the lane line, and achieve the effect of improving the detection function, avoiding the distortion of the line shape, and improving the processing speed.

Active Publication Date: 2018-05-29
BEIJING MOMENTA TECH CO LTD
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[0004] In view of this, the present application provides a lane line identification and device t

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  • Lane line identification method and device
  • Lane line identification method and device
  • Lane line identification method and device

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[0051] In order to make the above objects, features and advantages of the present application more obvious and understandable, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0052] In the traditional technology, deep learning object detection is based on local objects, and the lane line is a global object. Due to the slender structure of the line, a circumscribed frame that just contains the lane line contains very little information about the line. For vertical Straight lines cannot find a bounding box, so the existing deep learning-based object detection algorithms are not suitable for lane line detection, and cannot accurately identify lane lines.

[0053] In view of this, an embodiment of the present application provides a training method for recognizing a lane line model, and a lane line recognition method based on the recognition of the lane line model....

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Abstract

The invention discloses a training method for a lane line identification model. A road image sample labeled with a target line is acquired. The road sample image is input into the lane line identification model to acquire a feature map. The target line in the road image sample is compared with proposed lines in the left, right and lower edge directions in the feature map. Parameters in the lane line identification model are adjusted according to the comparison result. The loss function of the lane line identification model is minimized. The lane line identification model is a deep learning model, so that the image feature of the target line can be learned through weight sharing. The line detection function of a lane line is greatly improved. Even if the lane line is blocked or illuminated,or the lane line is a curve or irregular line or is merged or separated, the lane line can be detected. The robustness is great. The invention further discloses a lane line identification method based on the model.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a lane line recognition method and device. Background technique [0002] As intelligent systems are applied to the field of vehicle driving, more and more vehicles are equipped with intelligent systems that can realize automatic driving functions or assisted driving functions. In order to realize the automatic driving function or assisted driving function, the intelligent system on the vehicle usually needs to recognize the lane line from the road image around the vehicle to determine the driving lane near the vehicle, so as to guide the driving of the vehicle. [0003] The existing lane line detection technology is usually based on traditional image processing, using artificially designed features to extract edges, and then perform operations such as Hough transform on the edges to obtain lane lines, but this method cannot effectively deal with lane line occlusion, blur...

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Application Information

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IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 李俊夏炎
Owner BEIJING MOMENTA TECH CO LTD
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