A path identification and centerline optimization method based on a circular road

An optimization method and path recognition technology, applied in the field of pattern recognition, can solve problems such as inaccurate traffic accidents in road condition judgment, and achieve the effect of optimizing the center line path

Active Publication Date: 2019-05-10
HOHAI UNIV CHANGZHOU
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Problems solved by technology

However, in the prior art, due to the lack of algorithm when passing through the circular road during unmanned driving, unmanned driving is prone to traffic acci

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  • A path identification and centerline optimization method based on a circular road
  • A path identification and centerline optimization method based on a circular road
  • A path identification and centerline optimization method based on a circular road

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Embodiment Construction

[0047] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

[0048]The present invention provides a kind of path recognition and midline optimization method based on circular road based on binarized image, it is characterized in that, comprises the following steps:

[0049] Step S1, obtaining the grayscale image of the circular road;

[0050] Step S2, using the Otsu algorithm to select the optimal threshold to obtain a binarized image with the optimal pixel point being 0xff or 0x00;

[0051] Step S3, using the edge-finding method for the binarized image to determine the edge of the road image;

[0052] Step S4, extract the sideline features of the road in the binarized image, determine whether the road is a ring, if it is a ring, optimize the road sidel...

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Abstract

The invention discloses a path identification and centerline optimization method based on a circular road. The method comprises the following steps of S1, obtaining a grayscale image of the circular road; S2, selecting an optimal threshold value by adopting an Otsu algorithm to obtain a binarized image with an optimal pixel point of 0xff or 0x00; S3, determining an image road side boundary of thebinarized image by adopting an edge line hunting method; S4, extracting sideline characteristics of a road in the binary image, judging whether the sideline characteristics are circular rings or not,and if the sideline characteristics are circular rings, optimizing the sideline by adopting a primary linear interpolation method to obtain an optimized secondary sideline so as to obtain a primary road center line; and S5, optimizing the first road center line to obtain a second road center line, namely a final road center line. The circular road image features are identified and compared, the circular road can be accurately identified, and accurate and efficient road path identification in the method has profound significance for development of unmanned driving.

Description

technical field [0001] The invention belongs to the technical field of pattern recognition, and in particular relates to a path recognition and centerline optimization method based on a circular road. Background technique [0002] In recent years, unmanned driving has been widely concerned by the society. In unmanned driving, road path recognition is a very important part. In the prior art, due to the lack of algorithm when passing through the circular road in the process of unmanned driving, it is easy for unmanned driving to cause traffic accidents due to inaccurate judgment of road conditions. Therefore, in the image based on path recognition, a large amount of data needs to be calculated. and analysis. Contents of the invention [0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a path identification and centerline optimization method based on a circular road, which can accurately and efficiently identify the cir...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/46
Inventor 陈明华蔡昌春王海滨罗成名
Owner HOHAI UNIV CHANGZHOU
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