Lane detection method for improving Gabor transform and updating vanishing points

Abstract

The invention relates to a lane detection method for improving Gabor transform and updating vanishing points. The lane detection method for improving the Gabor transform and updating the vanishing points includes the steps that 1, an original lane image is input; 2, graying pretreatment is conducted on the original image; 3, an improved two-dimensional Gabor filter is adopted to extract gray levelimage texture features in multiple scales and multiple directions; 4, principal component analysis is conducted on the image texture features to obtain texture features which have large influences onthe vanishing points; 5, according to the texture features determined in the step 4, a soft voting method is adopted to detect an initial vanishing point; 6, according to the initial vanishing pointdetected in the step 5, a histogram based on angle deviation and chromatic aberration is adopted to update the initial vanishing point and determine a lane border line; 7, according to a new vanishingpoint and the lane border line in the step 6, a lane range is determined. According to the lane detection method for improving the Gabor transform and updating the vanishing points, by adopting the improved Gabor filter, the accuracy of texture feature extraction is improved, and the problem is solved that traditional Gabor filters are low in real-time performance; the mode of adopting the histogram to update the vanishing points and detect the lane border line is convenient and high in accuracy.

Description

technical field [0001] The invention belongs to the field of image processing and is applied to a lane detection method of an automatic assisted driving system. The lane is detected by an improved Gabor transformation and a method of updating a vanishing point, thereby improving the accuracy and real-time performance of unstructured road lane detection. Background technique [0002] Lane detection technology is widely used in the field of advanced assisted driving, and is the basic part of Lanekeeping assist system and Lane departure warning system. In the field of advanced assisted driving, lane detection technology is often used in structured roads, and the detection effect is obvious. Affected by the progress of urbanization, unstructured roads in my country's cities and towns account for a large part, and the lane detection of unstructured roads has always been It has always been an important research content. [0003] There are many kinds of existing lane detection tech...

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Problems solved by technology

[0005] The present invention aims to solve the problem of inaccurate detection of unstructured road lanes and poor real-time performance in existing lane detection methods, and prov

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