Lane line segmentation detection method and device

Abstract

The invention provides a lane line segmentation detection method. The method comprises: acquiring a to-be-processed image containing lane lines; inputting the to-be-processed image into a lightweightconvolutional neural network for segmentation processing to obtain a binary image about a lane line; carrying out edge detection on the obtained binary image to obtain a lane line contour; carrying out Hough transform on the obtained lane line contour to obtain a coordinate point set of end points of a Hough straight line of the lane line; and solving the slope of each Hough straight line according to the coordinate point set, dividing lane lines according to the slopes, and obtaining the lane line to which the vehicle belongs by utilizing an intercept screening method. By applying the embodiment of the invention, after the binary image corresponding to the to-be-processed image is output through the lightweight convolutional neural network, the left lane line and the right lane line to which the vehicle belongs are screened by using the intercept method based on the binary image, so that an ROI region does not need to be set, and the robustness of the algorithm is further improved.

Description

technical field [0001] The present invention relates to the technical field of image processing, in particular to a lane line segmentation detection method and device. Background technique [0002] Vehicle safety driving assistance system has become one of the research hotspots in the field of transportation in the world. Modern smart cars incorporate many assisted driving functions, including Lane Departure Warning System (Lane Departure Warning System, LDWS) and Lane Keeping Assist System (Lane Keeping Assist System, LKAS), which can make the car drive in the correct lane. Lane line detection in this technology is a key technology in the lane departure warning system and the lane keeping assist system, but due to the complexity of the road scene, it also has high real-time requirements for lane line detection. [0003] The existing lane line detection needs to accurately draw the ROI (Region Of Interest) area, and the road surface must be clean. When there are many vehicl...

AI Technical Summary

Problems solved by technology

Lane line detection in this technology is a key technology in the lane departure warning system and the lane keeping assist system, but due to the complexity of the road scene, it also has high real-time requirements for lane line detection

[0003] The existing lane line detection needs to accurately draw the ROI (Region Of Interest) area, and the road surface must be clean. When there are many vehicles or other obstacles, this method is prone to failure

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