Fast lane line detection method based on parameter space voting and Bessel fitting

A technology of lane line detection and parameter space, applied in the field of image processing, can solve the problems of low efficiency of lane line detection, achieve good anti-interference, avoid complex calculations, and improve detection efficiency

Active Publication Date: 2020-08-21
WUHAN UNIV
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Problems solved by technology

The purpose is to solve the problem of low detection efficiency of lane lines in the prior art

Method used

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  • Fast lane line detection method based on parameter space voting and Bessel fitting
  • Fast lane line detection method based on parameter space voting and Bessel fitting
  • Fast lane line detection method based on parameter space voting and Bessel fitting

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Embodiment Construction

[0071] The present invention will be described in detail below with reference to the accompanying drawings and examples, but the protection scope of the present invention is not limited to the scope expressed in the embodiments.

[0072] Algorithm flow chart diagram of the present invention is as figure 1 As shown, it specifically includes the following steps:

[0073] Step (1) Obtain the image to be detected. The detection data are road images in various environmental scenarios, including rainy days, nights, daytime and other scenes, as well as complex road conditions such as vehicle interference, strong light, and road water stain interference. Convert to grayscale image;

[0074] Step (2) extracting the edge feature points in the region of interest for fast inverse perspective transformation;

[0075] Step (3) Perform a custom parameter space transformation on the edge points, and filter the edge points belonging to the lane

[0076] Step (4) carrying out Bezier curve fi...

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Abstract

The invention relates to a fast lane line detection method based on parameter space voting and Bessel fitting. The method comprises the steps of obtaining an image in front of a vehicle, converting the image into a grey-scale map; firstly, extracting feature edge points based on line scanning; extracting lane feature information through fast inverse perspective transformation to remove interference edge points; putting the edge points into a self-defined parameter space, voting, counting and screening the edge points belonging to the lane, performing Bezier curve fitting on the screened laneedge points to generate a curve cluster, calculating the distance between the curve cluster and the edge points, and selecting a Bezier curve fitting lane closest to the edge points from the curve cluster and the edge points. According to the technical scheme, the method based on the lane line vanishing points is adopted to automatically demarcate the region of interest, remove redundant information and increase the detection speed, edge feature points are subjected to fast inverse perspective transformation, lane features are more remarkable, interference points can be eliminated, and the real-time performance of the algorithm and the reliability of the lane lines are improved.

Description

technical field [0001] The invention belongs to the technical field of image processing, and in particular relates to a fast lane line detection method based on parameter space voting and Bezier fitting. Background technique [0002] The primary cause of frequent accidents is that the driver unintentionally deviates from the lane during driving. With the increasing number of cars and the increasingly complex road environment, in order to allow people to travel more effectively, automatic driving or assisted driving has gradually become one of the research hotspots. Lane line recognition is the most basic part of it. It is not only a key unit to ensure that vehicles can effectively control the road scene, but also can provide accurate location information for vehicle departure warning technology, thereby alleviating traffic pressure and reducing traffic accidents to a certain extent. The realization of lane line recognition and departure warning under the embedded system has...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/32G06K9/62G06F30/20
CPCG06V20/588G06V10/25G06F18/253
Inventor 雷俊锋贺睿肖进胜眭海刚李亮
Owner WUHAN UNIV
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