A Lane Line Detection Method Combining Straight Line and Arc

A lane line detection and lane line technology, applied in the field of lane line detection, to achieve the effect of improving reliability, improving accuracy and real-time performance, and avoiding complex calculation problems

Active Publication Date: 2021-06-01
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 Lane Line Detection Method Combining Straight Line and Arc
  • A Lane Line Detection Method Combining Straight Line and Arc
  • A Lane Line Detection Method Combining Straight Line and Arc

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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 present invention provides a lane line detection method combining straight lines and circular arcs, which includes the following steps: S1, judging the driving scene by counting the gray histogram of the local area of ​​the image; S2, setting the area of ​​interest for lane line detection; S3 1. Construct a lane line width fitting function between the lower boundary of the image and the vanishing point; S4. Obtain the lane line candidate points, filter and link them, and obtain the straight line candidate points; S5. Use the upward search method to obtain the straight line using the least squares method And carry out screening, obtain the straight line of lane line candidate; S6, carry out the matching of lane line according to the width of lane and the angle limit of left and right lane line, obtain the detection result of straight line lane line; Collection of curves and arcs; S8, in the image coordinate system, the generation of lane line curves, arcs and curvature radii; it has the advantages of reasonable method, good adaptability, reduced hardware requirements, high 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...

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Application Information

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Patent Type & Authority Patents(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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