A method of lane line detection in complex traffic environment

Abstract

The invention discloses a lane line detection method in a complex traffic environment. Firstly, the video sequence acquired by the vehicle-mounted camera is mapped to a bird's-eye view containing road surface information, and then the color bird's-eye view is converted into a grayscale image by a gradient enhancement method to achieve The purpose of increasing the contrast between the lane line pixels and the ground pixels is to use the edge extraction method to generate lane line candidate pixels, and then use the RANSC method to fit the lane line, and cut out the candidate lane line image from the overhead view for use For verification and semantic recognition, the verified lane line parameters are fed back as geometric constraints of RANSC, and finally the position of the vanishing point is estimated to update the external parameters of the vehicle camera. The method has the advantages of being less affected by complex traffic environments and having high detection accuracy.

Description

technical field [0001] The invention relates to the field of image processing target detection, in particular to a method for lane line detection in complex traffic environments. Background technique [0002] Lane lines are marking lines on the road surface that are used to guide vehicles to travel along prescribed routes and ensure the order of traffic flow. Lane line detection in the image captured by the car camera can help the computer understand the driving environment (such as the geometry of the road ahead and the lateral position of the host vehicle on the road), which is an important step in the realization of ADAS and automatic driving systems. It is also the supporting technology of the lane departure warning system and the driver intention prediction system. [0003] Like traffic signs, lane markings are designed to guide drivers to drive safely and obey traffic laws. Different forms of lane markings (solid lines, dashed lines, and yellow or white lines) repres...

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to overcome the changes in the number of lanes in the prior art, lane line occlusion, lane line wear, and shadows projected on the road surface, which will affect the accuracy of lane line detection results, and provide a complex traffic environment. The method of lane line detection is suitable for lane line detection in various traffic environments

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