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Lane line detection method

A lane line detection and lane line technology, applied in the field of lane line detection, can solve the problems of large amount of calculation, insufficient stability, low stability of lane lines, etc., to achieve high-speed detection and reduce interference.

Inactive Publication Date: 2018-11-23
北京茵沃汽车科技有限公司
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The existing lane line feature extraction method is basically based on Hough transform, but this method is computationally intensive and not stable enough, especially when the lane lines are damaged and there are curves
Therefore, the existing lane line detection algorithm has low stability and low efficiency

Method used

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Embodiment Construction

[0036] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0037] Such as figure 1 As shown, the present invention provides a lane line detection method, the method includes detection and tracking two parts, the specific steps are as follows:

[0038] Step 1, collecting images in real time;

[0039] Step 2. Calibrate the collected images, and then obtain the homography matrix of the image coordinate system and the world coordinate system. Through the homography matrix, the image coordinate system and the world coordinate system can be associated, and the coordinate system can be realized. convert each other.

[0040] Step 3: Convert the collected image into a grayscale image, and calculate the grayscale threshold of the lane line by using the local grayscale threshold method. Since the gray value of the lane line is significantly higher than that of the road surface, the approximate area containing the lan...

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Abstract

The invention relates to a lane line detection method. The method comprises the following steps: collecting an image in real time; calibrating to obtain a homography matrix; computing a lane line graythreshold by adopting a local gray threshold method; extracting features according to gray value change of the pixel; clustering the feature points belonging to one lane line to fit the lane line through continuous matching and straight line constraint matching; orderly processing the feature points from bottom to top and from left to right so as to connect a form feature segment; inversely projecting the feature segment to a world coordinate system through the homography matrix, and computing the width, the length and the angle parameter of the lane mark line; selecting a seed feature segment, and searching the feature sequence input into the same lane line with the seed feature segment by serving the seed feature segment as the basis, and fitting a lane line equation; performing lane line tracking, and predicting the location of the detected lane line at the current frame on the basis of the lane line movement parameter estimation, and judging the effectiveness of the tracking target by serving the location at the input of the lane line tracking.

Description

technical field [0001] The invention relates to the field of driving assistance and image processing, in particular to a robust and stable lane line detection method. Background technique [0002] With the improvement of living standards in our country, there are more and more cars. What follows is the increase of traffic accidents, which brings numerous spiritual and property losses to the broad masses of the people. Therefore, assisted driving technology has emerged as the times require, and more and more companies and research institutions are researching and developing this technology. Among them, lane line detection is one of the key technologies for assisted driving. It can remind the car when the line is compacted, thereby reducing the occurrence of traffic accidents. [0003] The existing lane line feature extraction method is basically based on Hough transform, but this method has a large amount of calculation and is not stable enough, especially when the lane lin...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/62G06K9/32
CPCG06V20/588G06V10/25G06F18/23
Inventor 杨波邓博宋平
Owner 北京茵沃汽车科技有限公司
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