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Identification method, identification device, computer readable storage medium and vehicle

An identification method and lane line identification technology are applied in the fields of identification, identification devices, computer-readable storage media and vehicles, and can solve problems such as hidden dangers of automatic driving and the inability to accurately identify lane lines by edge detection methods.

Active Publication Date: 2022-01-11
SANY SPECIAL PURPOSE VEHICLE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when the lane line is blocked by the shadows of roadside trees, billboards and other objects, or when the road turns sharply, the edge detection method has the disadvantage of being unable to accurately identify the lane line, resulting in a safety hazard for automatic driving.

Method used

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  • Identification method, identification device, computer readable storage medium and vehicle
  • Identification method, identification device, computer readable storage medium and vehicle
  • Identification method, identification device, computer readable storage medium and vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0068] like Figure 16 As shown, this embodiment provides a method for identifying lane lines:

[0069] Step S102, performing camera calibration on the original picture including the lane line and the background, and obtaining the calibration result;

[0070] Step S104, extracting the region of interest from the calibration result and performing perspective transformation to obtain a perspective picture;

[0071] Step S106, based on the lane line recognition support vector machine model, establish a classification plane of the perspective picture, so as to classify each pixel in the perspective picture according to the classification plane, and obtain a classification result;

[0072] In step S108, the classification result is represented by a binary image to draw the lane line recognition result;

[0073] In step S110, the lane line recognition result is subjected to inverse perspective transformation and inverse camera calibration, so as to identify lane lines.

[0074] T...

Embodiment 2

[0082] like Figure 17 As shown, this embodiment provides a lane line recognition method. In addition to the technical features of the above-mentioned embodiment 1, this embodiment further includes the following technical features.

[0083] Extract the region of interest from the calibration results and perform perspective transformation to obtain perspective pictures, including:

[0084] Step S202, extracting the region of interest from the calibration result to obtain multiple pixel points;

[0085] Step S204, obtaining the color channel vector of each pixel;

[0086] Step S206, mapping the color channel vectors into the color space to perform perspective transformation to obtain a perspective picture.

[0087] In this embodiment, the region of interest is extracted from the camera calibration results to obtain multiple pixels, and then obtain the color channel vectors of multiple pixels, map the color channel vectors to the color space for perspective transformation, and ...

Embodiment 3

[0089] like Figure 18 As shown, this embodiment provides a lane line recognition method. In addition to the technical features of any of the above embodiments, this embodiment further includes the following technical features.

[0090] The classification results are represented by a binary image to draw the lane line recognition results, including:

[0091] Step S302, performing histogram statistics on the binary image obtained based on the classification result to calculate the expected starting position of the lane line;

[0092] Step S304, using the sliding window technique, starting from the expected starting position of the lane line, drawing the recognition result of the lane line.

[0093] In this embodiment, histogram statistics are performed on the classification results of pixels obtained by using the classification plane to calculate the expected starting position of the lane line and improve the accuracy of lane line recognition. Further, by using the sliding wind...

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Abstract

The invention provides an identification method, an identification device, a computer-readable storage medium and a vehicle. Among them, the lane line recognition method performs camera calibration on the original picture including the lane line and the background, and obtains the calibration result; performs perspective transformation on the calibration result after extracting the region of interest, and obtains the perspective picture; based on the lane line recognition support vector machine model, Establish a more accurate classification plane of the perspective picture to classify each pixel in the perspective picture according to the classification plane to obtain the classification result; express the classification result through a binary image to draw the lane line recognition result; The line recognition results are inversely manipulated for perspective transformation and inversely manipulated for camera calibration to recognize lane lines. The present invention can identify lane lines more accurately in the process of automatic driving, so as to improve the safety degree of automatic driving.

Description

technical field [0001] The present invention relates to the technical field of recognition methods of lane lines, in particular, to a recognition method, a recognition device, a computer-readable storage medium and a vehicle. Background technique [0002] In related technologies, two methods, edge detection method and color filtering method, are mainly used for the identification of lane lines in the process of automatic driving. However, when the lane line is blocked by the shadow of roadside trees, billboards and other objects, or when the road turns sharply, the edge detection method has the disadvantage of being unable to accurately identify the lane line, resulting in a safety hazard for automatic driving. Contents of the invention [0003] In order to solve at least one of the above technical problems, a first object of the present invention is to provide a lane line recognition method. [0004] The second object of the present invention is to provide a lane line re...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/588G06V10/56G06F18/24133G06F18/2411
Inventor 付玺郭武
Owner SANY SPECIAL PURPOSE VEHICLE CO LTD