Lane line detection method considering preceding vehicle interference

Abstract

The invention relates to a lane line detection method considering the preceding vehicle interference. A vehicle detection module, a lane feature point detection module and a lane detection module withpreceding vehicle interference elimination are arranged. The vehicle detection module acquires a road image in front of a vehicle by a camera image and acquires the position and size of a preceding vehicle by using an image processing technique. The lane feature point detection module acquires straight line feature points by using an edge detection method and acquires curve line feature points byusing an improved river point finding method in a model approximation mode with a near-end straight line and a far-end curve. The lane detection module with preceding vehicle interference eliminationuses a dual-curve model for approximation for the curve; when the residual lane line feature points are insufficient, lane line feature points are refilled by using a lane equal-width condition; andthe lane lines are detected by using a random sampling consistency algorithm. With consideration of the preceding vehicle interference to the lane line, a problem that the lane line is shielded or isaffected by the near vehicle is solved; and the lane line detection stability is improved.

Description

technical field [0001] The invention relates to a lane line detection method considering the interference of a preceding vehicle, and belongs to the technical field of active safety of intelligent vehicles. Background technique [0002] Intelligent transportation belongs to the key areas of the "Made in China 2025" development plan. Lane lines are the most basic part of the transportation system, so its accurate detection occupies a very important position in the intelligent transportation system. Lane line detection refers to the accurate detection of the lane line of the road ahead through the vehicle intelligent perception system without road prior information, which is widely used in various vehicle intelligent assisted driving systems, such as lane departure warning, vehicle collision avoidance, Car following and auxiliary lane change systems, etc. [0003] At present, the lane line detection technology for straight roads is relatively mature, but the detection technol...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a lane line detection method that considers the interference of the preceding vehicle, to solve the problem of low lane detection accuracy in the prior art and the difference between the curve fitting calculation amount and low stability in the curve line detection technology technical issues

Images