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Lane line detection method and system

A lane line detection and lane line technology, applied in image analysis, image enhancement, instrument and other directions, can solve the problem of high computational complexity of the algorithm, and achieve the effect of improving robustness, reducing the amount of calculation, and improving real-time performance.

Active Publication Date: 2020-11-06
BEIJING HUAHANG RADIO MEASUREMENT & RES INST
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Problems solved by technology

[0004] In view of the above analysis, the present invention aims to provide a lane line detection method and system to solve the problem of high computational complexity of existing algorithms

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  • Lane line detection method and system
  • Lane line detection method and system

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Embodiment Construction

[0029] Preferred embodiments of the present invention are specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principle of the present invention, and are not intended to limit the scope of the present invention.

[0030] A specific embodiment of the present invention discloses a lane line detection method. see figure 1 , the method includes the following steps:

[0031] Step S101, acquire the original image in front of the vehicle and determine the area to be detected from the original image.

[0032] Let the acquired original image be M(u, v), where u and v are the coordinates of pixels in the image in the original image space, see figure 2 , the determined region to be detected (u,v)∈D 0 , that is, the area within the black square frame in the figure, and the area to be detected includes lane lin...

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Abstract

The invention relates to a lane line detection method and system. The method includes: obtaining the original image in front of the vehicle and determining the area to be detected from the original image; performing inverse perspective transformation on the image of the area to be detected; performing lane line edge enhancement processing on the image after inverse perspective transformation; Screen out the candidate points in the image; group the screened out candidate points; fit each group of candidate points to obtain the fitting results as each lane line to be detected; inversely transform the fitted lane line to be detected to the original image space. After the inverse transformation of the area to be detected, the invention realizes the enhanced processing of the lane line through the image filter, and performs rotation transformation on the image in combination with the main direction estimation, removes the influence of lane changing, and improves the robustness of the subsequent lane detection . The invention divides the image after enhanced processing into a plurality of strip images, which greatly reduces the amount of calculation and improves the real-time performance of system detection.

Description

technical field [0001] The present invention relates to the technical field of automobile safety assisted driving, in particular to a lane line detection method and system. Background technique [0002] Lane departure warning system is an important part of the research on vehicle safety assisted driving technology. By warning the driver who is tired or inattentive, he corrects the unconscious lane departure, so as to reduce the occurrence of accidents when the vehicle departs from the driving lane. Among them, how to quickly and accurately extract the lane markings or road boundaries in the road is the key to the application of the system. [0003] At present, lane detection generally adopts methods based on space transformation, such as Hough method, etc., but the existing methods based on space transformation have high computational complexity and cannot meet the real-time requirements. In addition, the existing lane line detection method, when the angle between the lane ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06T7/13G06T7/181
CPCG06T7/13G06T7/181G06T2207/30256G06V20/588
Inventor 魏宁张立平张品张令川苏帅李寒松
Owner BEIJING HUAHANG RADIO MEASUREMENT & RES INST