Highway unmanned scribing method based on image navigation

A technology for unmanned driving and high-speed roads, which is applied in image feedback, image analysis, image enhancement, etc. It can solve the problem that it is difficult to take into account the line type, the error smoothing process is difficult, and the accuracy of GPS navigation is difficult to achieve the accuracy and line type of high-speed road markings. Questions such as requirements

Active Publication Date: 2021-04-27
济南北方交通工程咨询监理有限公司 +1
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Problems solved by technology

[0004] In the existing marking process, the manual control of the trolley marking mainly has the following defects: 1) The drawing personnel need to keep an eye on the deviation between the scale and the waterline to adjust the direction of the trolley, which is easy to cause visual fatigue and the control accuracy is not enough; 2 ) trolley line general

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  • Highway unmanned scribing method based on image navigation
  • Highway unmanned scribing method based on image navigation
  • Highway unmanned scribing method based on image navigation

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Embodiment Construction

[0057] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0058] Such as figure 1As shown, the principle diagram of the unmanned driving marking method for expressway based on image navigation of the present invention is given. The same side of the automatic marking vehicle 1 shown in the figure is sequentially provided with a waterline detection device 2 and a marking line from front to back. The line hopper 3 and the waterline detection equipment 2 are equipped with a downward facing camera. Since the road surface image containing the waterline is collected, it is possible to identify whether there is a deviation in the current driving path of the automatic marking vehicle through the collected image containing the waterline, and determine whether there is a deviation based on the deviation. Control the automatic form of the automatic marking car 1. The marking hopper 3 realizes the automatic painting of r...

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Abstract

A highway unmanned scribing method based on image navigation comprises the steps of firstly, collecting an image a waterline drawn on a road surface, and obtaining a straight line where the waterline is located by filtering, stretching and binarizing the image; detecting a driving error of an automatic marking vehicle, determining the grade of the driving behavior of the marking vehicle according to the driving error and the change rate of the driving error, calculating the steering angle according to a PD controller, and controlling the automatic form of the automatic marking vehicle. Automatic painting of the road surface is realized, the labor intensity of marking personnel is reduced, the working efficiency is improved, the precision of landmark marking is ensured, the beneficial effects are substantial, and the method is worthy of popularization.

Description

technical field [0001] The present invention relates to an unmanned driving marking method, and more specifically, to an image-based unmanned driving marking method for expressways. Background technique [0002] Expressway marking first draws the waterline on the highway surface manually, and then the marking personnel scrape the lined paint (two-component, hot-melt material, etc.) evenly along the waterline with hand-push equipment onto the road. In the conventional marking process, the drawing personnel should not only observe the deviation between the scale and the water line at all times, but also pay attention to the line type of the drawn marking line and the close cooperation of each process; In summer, late spring and early autumn, the operating environment temperature is generally above 30°C, and the heated hot melt material is generally above 200°C. The on-site equipment operators are in high temperature and heavy chemical fume environment, which will inevitably d...

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Application Information

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IPC IPC(8): B62D6/00G06T7/13G06T7/168G06T1/00E01C23/20B62D137/00
CPCB62D6/001B62D6/002G06T7/13G06T7/168G06T1/0014E01C23/20G06T2207/20061G06T2207/30256
Inventor 石磊潘为刚王绍磊徐吉存李仰印吴京波秦石铭王目树靳华磊侯传明刘鹏董兴学
Owner 济南北方交通工程咨询监理有限公司
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