Lane line detection method of first global positioning and then local detection
A lane line detection and local detection technology, applied in the field of lane line detection, can solve problems such as unfavorable application, high loading cost, high hardware requirements, etc., to reduce parameters and calculation complexity, avoid inaccurate local detection, and save calculations resource effect
Pending Publication Date: 2022-07-22
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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However, this method has a huge amount of calculation and high hardware requirements, resulting in high loading costs, which is not conducive to large-scale application in the market
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[0033] Below in conjunction with accompanying drawing, the technical scheme of the present invention is described in further detail:
[0034] The present invention may be embodied in many different forms and should not be considered limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
[0035] It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components and / or sections, these elements, components and / or sections are not limited by these terms. These terms are only used to distinguish an element, component and / or section from one another. Thus, a first element, component and / or section discussed below could become a second element, component or section without departing from the teaching...
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The invention discloses a lane line detection method of first global positioning and then local detection, and the method comprises the steps: carrying out the global positioning and then precise detection through a lane line detection algorithm based on global detection according to the thought of first global positioning and then local detection; firstly, a lane line regression coordinate regression network improved on the basis of ResNet is used for globally detecting the general position of a lane line, then a global detection result is input into an improved K-means algorithm, and the position of the lane line is accurately detected. The main improvement of the K-means algorithm is that for the processing of each image, the mass center is not initialized any more, but the clustering result of the previous frame of image is continuously used to replace the initialized mass center. Therefore, the calculation amount is greatly reduced, and the detection speed is improved. According to the method, parameters and calculation complexity of a network model are reduced, calculation resources are saved, and the defect of inaccurate local detection can be avoided.
Description
technical field [0001] The invention relates to the technical field of lane line detection in automatic driving assistance, in particular to a lane line detection method for global positioning and then local detection. Background technique [0002] With the rapid development of technology and economic level of the automobile industry in today's society, the number of motor vehicles in the world has risen rapidly. The widespread popularity of automobiles brings convenience to people's lives, but also causes many problems to people's life safety, such as traffic congestion, traffic accidents, and environmental pollution. With the increase of vehicle traffic accidents, road safety has become more and more important, and the automatic driving and advanced assisted driving functions of automobiles have received more and more attention and research. In autonomous driving and advanced driving assistance systems, vision-based lane line detection is the core of lane departure warnin...
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IPC IPC(8): G06V10/25G06K9/62G06N3/04G06T3/40G06T7/11G06T7/66G06T7/73G06V20/58G06V10/774G06V10/762G06V10/82
CPCG06T7/11G06T3/4038G06T7/66G06T7/73G06T2207/20132G06T2200/32G06T2207/20081G06T2207/20084G06N3/045G06F18/23213G06F18/214
Inventor 李泽智贾晨宋廷伦张恒于张武顾亚美
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS