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Curve lane departure detection method

A detection method and lane departure technology, applied in the directions of instruments, character and pattern recognition, signaling devices, etc., can solve the problems of lack of universality of alarm thresholds, difficulty in ensuring the recognition accuracy and impact of lane markings, and avoid frequent alarms, The effect of ensuring security and reducing false alarm rate

Pending Publication Date: 2019-12-20
FAW CAR CO LTD
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Problems solved by technology

[0003] On the straight road section, although the design method of the lane departure warning has been basically perfected, the general design theory of the lane departure warning still has the following defects in view of the influence of the real-time change of the curvature radius of the curved road section on the alarm threshold: The recognition accuracy of lane markings is affected by the variability of road bending direction, and the alarm threshold lacks universality

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  • Curve lane departure detection method
  • Curve lane departure detection method
  • Curve lane departure detection method

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Embodiment Construction

[0055] refer to figure 1 A method for detecting lane departure on a curve, wherein a lane departure warning threshold line is designed to give a real-time alarm to a vehicle traveling on a curve, comprising the following steps:

[0056] Step 1: Image preprocessing: Use the on-board camera to obtain road color images, preprocess the acquired color images, and determine the region of interest, including the following sub-steps:

[0057] Step 1.1: Perform grayscale processing on the color road image, and smooth the grayscale image by bilateral filtering;

[0058] Step 1.2: Use the adaptive threshold algorithm based on the Otsu method to perform threshold segmentation, and perform logical AND operations on the binary image obtained by segmentation and the grayscale image obtained by filtering;

[0059] The function of this step is to clearly highlight the road boundary and have good adaptability to different lighting conditions and weather changes;

[0060] Step 2: Curve boundary ...

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Abstract

The invention discloses a curve lane departure detection method, and relates to the field of safe auxiliary driving and intelligent control. The method comprises the following steps of acquiring curveimage information, converting the curve image information into a digital signal for curve boundary identification and curve boundary two-dimensional reconstruction, virtually moving the reconstructedcurve boundary, setting a curve deviation alarm threshold line according to the virtually moved curve boundary, and alarming the lane deviation on the curve in real time. According to the invention,the frequent alarm of the curve caused by no distinguishing of the curve from the straight road is avoided, the curve boundary is detected in real time, the road bending direction is judged, and the curve alarm sensitivity is reduced. According to the invention, a curve recognition algorithm based on feature point extraction is adopted, the recognized curve boundary is virtually moved towards theinner side curve direction, the curve lane departure alarm time is delayed, a curve lane departure alarm threshold line is set, the frequent alarm is avoided, the false alarm rate of curve departure can be effectively reduced, and the safety of vehicle curve driving is guaranteed.

Description

technical field [0001] The invention belongs to the field of safety assisted driving and intelligent control, and relates to a design method for lane departure warning, in particular to a detection method for curve lane departure. Background technique [0002] Lane departure warning is an intelligent control technology commonly used in the field of vehicle safety assisted driving at present. Its technical feature is to design the lane departure warning threshold to provide real-time warning for the recognized lane markings. It relies on the vehicle camera and alarm threshold setting. On the straight road section, it has high lane recognition accuracy and lane departure alarm accuracy, and achieves the purpose of controlling the lateral movement of the vehicle. [0003] On the straight road section, although the design method of the lane departure warning has been basically perfected, the general design theory of the lane departure warning still has the following defects in v...

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Application Information

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IPC IPC(8): G06K9/00B60Q9/00
CPCB60Q9/00G06V20/588Y02T10/40
Inventor 黄晓慧马文峰节忠海白一迪雷凯王亮赵一李成浩王瑞琳张诗宇杨冉
Owner FAW CAR CO LTD