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A lane line tracking method based on a Kalman filter

A Kalman filter and Kalman filter technology, applied in the field of vehicle engineering, can solve problems such as rare lane line features, inaccurate detection results, and detection failures, so as to improve driving safety, accurate detection results, and increase stability. Effect

Inactive Publication Date: 2019-04-02
GUANGZHOU ROADPASSION ELECTRONICS TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing lane tracking algorithm based on a single frame image will face many challenges, such as complex and changeable road environment, excessive curvature of lane lines and noise, etc.
In addition, the lack of lane line features, lane line defects or occlusions, and lane changes may lead to detection failures
In the process of lane line detection, the complex and changeable road environment, the lack of lane line features, the defect or cover of lane lines, etc. may easily cause one or several frames of image detection to fail, resulting in detection failure, and the robustness of the lane line detection algorithm is not good. powerful
The lane line tracking method in the prior art is prone to detection failures, and the detection results are inaccurate, which cannot well meet the needs of practical applications. Now it is urgent to develop a new lane line tracking method that can overcome the above technical defects

Method used

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  • A lane line tracking method based on a Kalman filter
  • A lane line tracking method based on a Kalman filter
  • A lane line tracking method based on a Kalman filter

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Embodiment Construction

[0039] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0040] The lane line tracking method based on the Kalman filter provided by the present invention uses the state vector X in the lane line tracking process k Indicates the state of the lane line detected in each frame of the image, X k =[ρ k ,θ k ] T .

[0041] Lane update equation:

[0042] x k =AX k-1 +W k (1)

[0043] Observation equation:

[0044] Z k =HX k +V k (2)

[00...

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Abstract

The invention relates to a lane line tracking method based on a Kalman filter. The method comprises the steps of initializing a counter; inputting lane lines obtained through Hough conversion detection at the moment k; brining Lane lines at k moments one by one with k- Matching the lane lines at the moment 1, and respectively calculating the deviation of the parameters at the two moments; updatingby matching with a counter; when the linear matching number is not smaller than the counter, starting a Kalman filter to track the lane line; otherwise, not tracking; and after 10 frames of lane lines are tracked, detecting and updating a straight line library again. According to the method, the problem that lane lines of one or more frames of images in a complex environment are missed or cannotbe detected is solved; a method for replacing a detection value with the estimation value is provided, the lane line detection stability is improved, when lane line detection of a plurality of framesof images fails, the estimation value can still be used for replacing the detection value for output, the lane line detection method is high in robustness and accurate in detection result, and the driving safety is improved.

Description

technical field [0001] The invention belongs to the technical field of vehicle engineering, and in particular relates to a lane line tracking method based on a Kalman filter. Background technique [0002] During the lane line detection process, the lane line video or image sequence captured by the on-board camera changes continuously over time. The existing lane tracking algorithm based on a single frame image will face many challenges, such as complex and changeable road environment, excessive curvature of lane lines and noise. In addition, the lack of lane line features, lane line defects or occlusions, and lane changes may lead to detection failures. In the process of lane line detection, the complex and changeable road environment, the lack of lane line features, the defect or cover of lane lines, etc. may easily cause one or several frames of image detection to fail, resulting in detection failure, and the robustness of the lane line detection algorithm is not good. p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/277G06K9/00G06K9/46
CPCG06T7/277G06T2207/30256G06V20/588G06V10/48
Inventor 曲刚曾宪玮
Owner GUANGZHOU ROADPASSION ELECTRONICS TECH CO LTD
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