Lane line identification method, device and equipment and storage medium

A lane line recognition and lane line technology, applied in the field of image processing, can solve the problems of reducing the accuracy of lane detection and poor curve recognition effect.

Inactive Publication Date: 2019-04-05
BYD CO LTD
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Problems solved by technology

At present, in the lane line recognition, the lane line is mainly described by the straight line model, and the straight line recognition is carried out through the Hough transform. This method can effectively identify the straight lane line, but the effect on the curve recognition is poor, and it is not good

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  • Lane line identification method, device and equipment and storage medium
  • Lane line identification method, device and equipment and storage medium
  • Lane line identification method, device and equipment and storage medium

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[0026] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

[0027] In order to illustrate the technical solution of the present invention, specific embodiments are used for description below.

[0028] The embodiment of the present invention provides a multi-lane recognition method, such as figure 1 As shown, the multi-lane recognition method includes step S10, step S20, and step S30. The specific steps are as follows:

[0029] Step S10. Obtain the lane image to be detected according to the road video information, establish a coordinate system on the lane image, and perform preprocessing and edge detection on the lane image to be detected to obtain the pos...

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Abstract

The invention relates to the technical field of image processing, and provides a lane line identification method and device, equipment and a storage medium, and the method comprises the steps: carrying out the preprocessing and edge detection of a lane image, so as to obtain the position coordinates and direction angle of an edge point; Acquiring the position of the vanishing line in the coordinate system; according to the candidate vanishing point coordinates on the vanishing line and the position coordinates and direction angles of the edge points, voting the candidate vanishing points in avoting function to determine vanishing point coordinates, and according to the number of the edge points of different direction angles recorded by the candidate vanishing points, sorting to obtain parameter information of a straight line; performing Confidence coefficient calculation according to the parameter information of the straight line to obtain a reference lane line; According to the technical scheme, the fuzzy lane line edge can be effectively detected, noise can be restrained, the detection time of the vanishing point and the straight line is short, the accuracy is high, and the laneline recognition real-time performance is improved.

Description

technical field [0001] The present invention relates to the technical field of image processing, in particular to a lane line recognition method, device, equipment and storage medium. Background technique [0002] With the popularization of automobiles, the use of sensors to improve the ability to identify road objects and provide drivers with more safety warnings and assistance, thereby improving the active safety of vehicles, has become an important direction for the development of intelligent transportation systems. At present, in the lane line recognition, the lane line is mainly described by the straight line model, and the straight line recognition is carried out through the Hough transform. This method can effectively identify the straight lane line, but the effect on the curve recognition is poor, and it is not good for the higher order of the lane maintenance. For driving assistance functions, using a straight line model to describe lane lines is not enough for use....

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Application Information

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IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 丁赞
Owner BYD CO LTD
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