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A straight line and arc combined lane line detection method

A technology of lane line detection and lane line detection, which is applied in the field of lane line detection to avoid complex calculation problems, reduce search areas, and improve reliability

Active Publication Date: 2019-06-14
合肥思艾智能科技有限公司
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Problems solved by technology

[0005] The purpose of the present invention is to provide a lane line detection method combining straight lines and circular arcs, aiming at the adaptability of lane line recognition to complex environments in existing lane line detection, and the accuracy and real-time problems of curve fitting , a lane line detection method combining straight lines and arcs is proposed

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  • A straight line and arc combined lane line detection method
  • A straight line and arc combined lane line detection method
  • A straight line and arc combined lane line detection method

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Embodiment Construction

[0048] Such as Figure 1-5 As shown, a lane line detection method combining straight lines and arcs includes the following steps: S1. Obtain N frames of image information of the front lane of the vehicle through the camera, and the image resolution of the camera is m*n; The coordinate origin is 0, the x-axis is horizontally to the right, and the y-axis is vertically downward, and the image coordinate system is established; the coordinate of the image disappearing point V in the image coordinate system is (v x , v y ); determine whether the driving scene is day or night by counting the gray histogram of the local area of ​​the image; S2, set the left and right boundary points of the image as E and F respectively; point and vanishing point V, set lane detection area of ​​interest S 1 and S 2 ; S3. Set the width of the lane line as w, and construct a lane line width fitting function between the lower boundary of the image and the vanishing point V; S4. According to the lane li...

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Abstract

The invention provides a straight line and arc combined lane line detection method, which comprises the following steps of S1, carrying out driving scene judgment by carrying out gray histogram statistics on a local area of an image; S2, setting a lane line detection region of interest; S3, constructing a lane line width fitting function between the lower boundary of the image and the vanishing point; S4, obtaining lane line candidate points, and screening and linking the lane line candidate points to obtain straight line candidate points; S5, adopting an upward search mode, obtaining straightlines by utilizing a least square method, and screening the straight lines to obtain lane line candidate straight lines; S6, matching lane lines according to the lane width and left and right lane line angle limits to obtain a linear lane line detection result; S7, inversely projecting the straight line lane lines into the IPM, and constructing a lane line curve arc set; S8, generating a lane line curve arc and a curvature radius in the image coordinate system. The method has the advantages of being reasonable, good in adaptability, capable of reducing the hardware requirements and high in accuracy and real-time performance.

Description

technical field [0001] The invention belongs to the technical field of automobile safety, and in particular relates to a lane line detection method combining straight lines and arcs. Background technique [0002] In recent years, with the development of the automobile industry and the popularization of vehicles, people have gradually paid attention to traffic safety, and the focus of research on automobile safety has shifted from passive safety focusing on collision safety to active safety centered on collision prevention. This will also be an important part of the future intelligent transportation system. In the automotive active safety system, the correct identification of lane lines is an important prerequisite for lane departure warning and lane keeping. [0003] In terms of lane line detection and extraction, it is mainly to use the edge features of the lane line and combine the edge points of the image segmentation to fit the lane line. The reflection of buildings on...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/32G06K9/46
Inventor 杜鹏訾春元朱茂飞高磊林建飞
Owner 合肥思艾智能科技有限公司
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