An infrared laser-assisted lane line detection method, device, equipment and medium

Abstract

The present invention provides an infrared laser-assisted lane line detection method, device, equipment and medium, including: obtaining the position parameters of a camera and two laser emitters, and a road surface image collected in real time by the camera; establishing an image world coordinate system according to the position parameters and the road surface image, and determining the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface in the image world coordinate system; generating a road surface coordinate system corresponding to the image world coordinate system according to the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface; establishing a window on the road surface coordinate system and performing a scanning process on the road surface coordinate system to determine the position of the lane line. It aims to solve the problems that the lane line detection device in the prior art may ignore road surface changes, have complex operations, consume a large amount of computing power to estimate the angle of the road surface, and have poor robustness.

Description

Technical Field

[0001] The present invention relates to the field of lane line detection, and particularly to an infrared laser-assisted lane line detection method, device, equipment and medium. Background Art

[0002] Lane line detection is an important function in intelligent systems such as advanced driver assistance and automatic parking. As an important part of vehicle perception of environmental information, lane line detection has an important impact on functions such as lane departure warning, lane change, forward collision warning, adaptive cruise control, and automatic parking. Most of the existing lane line detection devices detect the position of lane lines by obtaining road information through on-vehicle cameras and then transmitting it to the processing unit to help the control system make decisions. However, when the road surface changes, the existing lane line detection devices may ignore the road surface changes and always regard the road surface as parallel to the vehicle's forward direction. Moreover, complex operations are performed on the directly obtained road surface images, which requires a large amount of computing power to estimate the angle of the road surface, resulting in poor robustness of the device.

[0003] In view of this, the present application is proposed. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide an infrared laser-assisted lane line detection method, device, equipment and medium, which can effectively solve the problems existing in the existing lane line detection devices, such as ignoring road surface changes, complex operations, consuming a large amount of computing power to estimate the angle of the road surface, and poor robustness.

[0005] The present invention provides an infrared laser-assisted lane line detection method, including:

[0006] Obtaining the position parameters of a camera and two laser emitters, and the road surface image collected by the camera in real time;

[0007] Establishing an image-world coordinate system according to the position parameters and the road surface image, and determining the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface in the image-world coordinate system;

[0008] Generating a road surface coordinate system corresponding to the image-world coordinate system according to the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface;

[0009] Establishing a window on the road surface coordinate system and performing a scanning process on the road surface coordinate system to determine the position of the lane line.

[0010] Preferably, the position parameters include the vertical distance between the optical center of the camera lens and the two laser emitters, and the angles of the two laser emitters with the horizontal line respectively.

[0011] Preferably, a road surface coordinate system corresponding to the image world coordinate system is generated according to the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface, specifically as follows:

[0012] Obtain the vertical height from the camera optical axis to the road surface and the angle with the road surface according to the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface;

[0013] According to the formula Calculate the vertical coordinate of the road surface coordinate system corresponding to the image world coordinate system;

[0014] According to the formula Calculate the horizontal coordinate of the road surface coordinate system corresponding to the image world coordinate system, where u is the abscissa of a pixel point in the image after direct imaging by the camera, v is the ordinate of a pixel point in the image after direct imaging by the camera, fx is the focal length of the camera in the X-axis direction, fy is the focal length of the camera in the Y-axis direction, u0 is the abscissa of the projection position of the camera lens optical axis in the pixel coordinate system, and v0 is the ordinate of the projection position of the camera lens optical axis in the pixel coordinate system;

[0015] Generate a road surface coordinate system corresponding to the image world coordinate system according to the vertical coordinate and the horizontal coordinate.

[0016] Preferably, the vertical height from the camera optical axis to the road surface and the angle with the road surface are obtained according to the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface, specifically as follows:

[0017] According to the formula Calculate the angle between the camera optical axis and the road surface by calculating the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface;

[0018] According to the formula h = y c1 -z c1 tan(θ) to calculate the vertical height from the camera optical axis to the road surface by using the intersection coordinates of the first laser with the road surface, the intersection coordinates of the second laser with the road surface, and the angle, where yc1 is the ordinate of the intersection coordinates of the first laser with the road surface, zc1 is the abscissa of the intersection coordinates of the first laser with the road surface, yc2 is the ordinate of the intersection coordinates of the second laser with the road surface, and zc2 is the abscissa of the intersection coordinates of the second laser with the road surface.

[0019] Preferably, a window is established on the road surface coordinate system, and the road surface coordinate system is scanned to determine the position of the lane line, specifically as follows:

[0020] Obtain the first laser axis coordinate and the second laser axis coordinate within the road surface coordinate system;

[0021] Windows are respectively established for the first laser axis coordinate and the second laser axis coordinate, and scanning processing is performed along the transverse coordinate axis of the road surface coordinate system to determine the position of the lane line.

[0022] The present invention also provides an infrared laser assisted lane line detection device, including:

[0023] A data acquisition unit, configured to acquire the position parameters of a camera and two laser emitters, and a road surface image collected in real time by the camera;

[0024] A world coordinate system generation unit, configured to establish an image world coordinate system according to the position parameters and the road surface image, and determine the coordinates of the intersection of the first laser and the road surface and the coordinates of the intersection of the second laser and the road surface in the image world coordinate system;

[0025] A coordinate system conversion unit, configured to generate a road surface coordinate system corresponding to the image world coordinate system according to the coordinates of the intersection of the first laser and the road surface and the coordinates of the intersection of the second laser and the road surface;

[0026] A lane line determination unit, configured to establish a window on the road surface coordinate system and perform scanning processing on the road surface coordinate system to determine the position of the lane line.

[0027] Preferably, the coordinate system conversion unit is specifically configured to:

[0028] Obtain the vertical height of the camera optical axis from the road surface and the angle with the road surface according to the coordinates of the intersection of the first laser and the road surface and the coordinates of the intersection of the second laser and the road surface;

[0029] According to the formula Calculate the vertical coordinate of the road surface coordinate system corresponding to the image world coordinate system;

[0030] According to the formula Calculate the horizontal coordinate of the road surface coordinate system corresponding to the image world coordinate system, where u is the abscissa of a pixel point in the image after the camera directly forms an image, v is the ordinate of a pixel point in the image after the camera directly forms an image, fx is the focal length of the camera in the X-axis direction, fy is the focal length of the camera in the Y-axis direction, u0 is the abscissa of the projection position of the camera lens optical axis in the pixel coordinate system, and v0 is the ordinate of the projection position of the camera lens optical axis in the pixel coordinate system;

[0031] Generate a road surface coordinate system corresponding to the image world coordinate system according to the vertical coordinate and the horizontal coordinate.

[0032] Preferably, the lane line determination unit is specifically configured to:

[0033] Obtain the first laser axis coordinate and the second laser axis coordinate within the road surface coordinate system;

[0034] Windows are respectively established for the first laser axis coordinate and the second laser axis coordinate, and scanning processing is performed along the transverse axis of the road surface coordinate system to determine the position of the lane line.

[0035] The present invention also provides an infrared laser-assisted lane line detection device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, the infrared laser-assisted lane line detection method described in any one of the above is implemented.

[0036] The present invention also provides a readable storage medium storing a computer program, which can be executed by the processor of the device where the storage medium is located to implement the infrared laser-assisted lane line detection method described in any one of the above.

[0037] In summary, an infrared laser-assisted lane line detection method, device, equipment and medium provided by this embodiment. Two laser emitters have the same distance in the vertical direction and the camera optical axis, and different angles. When the vehicle is driving, the image and the above parameters are brought into the formula to quickly complete the adaptive inverse perspective transformation. The positions of the two lasers obtained in the adaptive inverse perspective transformation step are scanned to locate the local lane line position and assist in lane line detection. Thereby solving the problems in the prior art that the lane line detection device may ignore road surface changes, have complex operations, consume a large amount of computing power to estimate the road surface angle, and have poor robustness. Description of the Drawings

[0038] Figure 1 It is a schematic flowchart of the infrared laser-assisted lane line detection method provided by the embodiment of the present invention.

[0039] Figure 2 It is a road surface image collected by the camera in real time provided by the embodiment of the present invention.

[0040] Figure 3 It is a schematic diagram of the camera pinhole model provided by the embodiment of the present invention.

[0041] Figure 4 It is a side view of the image world coordinate system provided by the embodiment of the present invention.

[0042] Figure 5 It is a schematic diagram of the road surface coordinate system provided by the embodiment of the present invention

[0043] Figure 6 It is a module schematic diagram of the infrared laser-assisted lane line detection device provided by the embodiment of the present invention. Detailed Embodiments

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0045] The following provides a detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings.

[0046] Please refer to Figure 1 , the first embodiment of the present invention provides an infrared laser-assisted lane line detection method, which can be executed by an infrared laser-assisted lane line detection device (hereinafter referred to as the detection device), and particularly, by one or more processors in the detection device to implement the following steps:

[0047] Please refer to Figure 2 , S101, obtain the position parameters of the camera and two laser emitters, and the road surface image collected by the camera in real time;

[0048] In this embodiment, the detection device can be a main controller, the control ends of the camera and the two laser emitters are electrically connected to the output end of the main controller, the output end of the camera is electrically connected to the input end of the main controller, and the data end of the main controller can be used to establish a communication connection with an external remote control terminal to achieve data interaction.

[0049] When the road surface changes, the existing lane line detection device may ignore the road surface changes, that is, when the road surface changes from a flat road to an uphill or from a flat road to a downhill, the existing lane line detection device still believes that the road surface is parallel to the vehicle's forward direction and cannot observe the road surface changes.

[0050] Specifically, in this embodiment, the position parameters include the optical center O of the camera lens i the vertical distance h' from the two laser emitters, and the angles θ' of the two laser emitters with the horizontal line respectively i (i = 1, 2).

[0051] Specifically, in this embodiment, the position parameters include the optical center O of the camera lensi The vertical distance h′ from the two laser emitters is consistent. The angles between the two laser emitters and the horizontal line are θ′1 and θ′2 respectively, that is, the two laser emitters have the same distance in the vertical direction from the camera optical axis and different angles.

[0052] S102. Establish an image world coordinate system based on the position parameters and the road surface image, and determine the coordinates P of the intersection point of the first laser and the road surface in the image world coordinate system c1 and the coordinates P of the intersection point of the second laser and the road surface c2 ;

[0053] Please refer to Figure 3 . Specifically, in this embodiment, a camera pinhole model can be used to assist in the derivation of the intersection point coordinates. As Figure 3 shown, the origin Oc of the image world coordinate system is at the optical center of the camera lens. The OcZc axis is parallel to the camera lens optical axis, the OcXc axis is parallel to the imaging plane and to the right, and the OcYc axis is perpendicular to the OcXcZc plane and downward. The origin Op of the pixel coordinate system corresponding to the image world coordinate system, the Opu axis is parallel to the imaging plane and to the left, and the Opv axis is perpendicular to the Opu axis and downward. The conversion between the point Pc(Xc, Yc, Zc) in the image world coordinate system and the point P(u, v) in the pixel coordinate system, that is, the conversion between the coordinates of the intersection point of the laser and the road surface in the image world coordinate system and the coordinates of the intersection point of the laser and the road surface in the pixel coordinate system, can be calculated by formula (1) , where fx and fy are the focal lengths of the camera in two directions respectively; u0 and v0 are the coordinates of the projection position of the camera lens optical axis in the pixel coordinate system.

[0054] Please refer to Figure 4 . In this embodiment, the vertical distance between the camera and the ground is h, the vertical distance between the laser emitter and the camera optical axis is h′, the angle between the road surface and the camera optical axis is θ, the angle between the laser and the camera optical axis is θ′, 2α is the vertical field of view angle of the camera, and the laser irradiates a point Pc(Yc, Zc) on the road surface, that is, the coordinates of the intersection point of the laser and the road surface. Substitute formula (2) c y c = z tan(θ') - h'......(2) into formula (1), and formula (3) can be obtained Substitute formula (3) into formula (2) to obtain formula (4) Figure 4, Zc, and Yc are the axes of the world coordinate system, yc is the distance between Pc in the vertical direction and the camera optical axis, and Op is the nearest point visible to the camera, which is the intersection point of the lower end of the field of view angle and the ground.

[0055] S103. Generate a road surface coordinate system corresponding to the image world coordinate system based on the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface;

[0056] Please refer to Figure 5 , specifically, step S103 includes: obtaining the vertical height of the road surface from the camera optical axis and the angle with the road surface based on the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface;

[0057] According to the formula Calculate the vertical coordinate of the road surface coordinate system corresponding to the image world coordinate system;

[0058] According to the formula Calculate the horizontal coordinate of the road surface coordinate system corresponding to the image world coordinate system, where u is the abscissa of a pixel point in the image after the camera directly forms an image, v is the ordinate of a pixel point in the image after the camera directly forms an image, fx is the focal length of the camera in the X-axis direction, fy is the focal length of the camera in the Y-axis direction, u0 is the abscissa of the projection position of the camera lens optical axis in the pixel coordinate system, and v0 is the ordinate of the projection position of the camera lens optical axis in the pixel coordinate system;

[0059] Generate a road surface coordinate system corresponding to the image world coordinate system based on the vertical coordinate and the horizontal coordinate.

[0060] In this embodiment, obtaining the vertical height h of the road surface from the camera optical axis and the angle θ with the road surface based on the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface is specifically as follows:

[0061] According to the formula Calculate the angle θ between the camera optical axis and the road surface by calculating the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface;

[0062] According to the formula h = y c1 -z c1 Calculate the vertical height h of the camera optical axis from the road surface by calculating the intersection coordinates of the first laser with the road surface, the intersection coordinates of the second laser with the road surface, and the angle θ, where yc1 is the ordinate of the intersection coordinates of the first laser with the road surface, zc1 is the abscissa of the intersection coordinates of the first laser with the road surface, yc2 is the ordinate of the intersection coordinates of the second laser with the road surface, and zc2 is the abscissa of the intersection coordinates of the second laser with the road surface.

[0063] Specifically, in this embodiment, let the intersection points of the two lasers be the intersection coordinates Pc1(Yc1, Zc1) of the first laser with the road surface and the intersection coordinates Pc2(Yc2, Zc2) of the second laser with the road surface, where the position parameters include the optical center O of the camera lens i The perpendicular distances h' from the two laser emitters are the same, and the angles θ' between the lasers and the camera optical axis are different. According to formula (5) and formula (6) h = y c1 -z c1 tan(θ)......(6), the vertical height h of the camera optical axis from the road surface and the angle θ with the road surface can be calculated. In actual operation, only by substituting the intersection coordinates Pc1(Yc1, Zc1) of the first laser with the road surface and the intersection coordinates Pc1(Yc1, Zc1) of the second laser with the road surface into the formula for calculation can the conversion between coordinate systems be completed. Please refer to Figure 5 , Zp, Xp, Op are the coordinate axes and origin of the road surface intersection coordinates, Pp1 is the position of the upper left corner of the image after inverse perspective transformation in the ground coordinate system, Pp2 is the position of the lower right corner of the image after inverse perspective transformation in the ground coordinate system, Pp is the position of a certain point of the image after inverse perspective transformation in the ground coordinate system, Zc1 is the Z-axis coordinate of the first laser in the ground coordinate system (the laser is parallel to the X-axis), and Zc2 is the Z-axis coordinate of the second laser in the ground coordinate system (the laser is parallel to the X-axis).

[0064] In this embodiment, the adaptive inverse perspective transformation of the image requires the use of two laser emitters. Using only one laser emitter cannot complete the inverse perspective transformation.

[0065] S104. Establish a window on the road surface coordinate system and perform a scanning process on the road surface coordinate system to determine the position of the lane line.

[0066] Specifically, step S104 includes: obtaining the first laser axis coordinate and the second laser axis coordinate within the road surface coordinate system;

[0067] Establish windows for the first laser axis coordinate and the second laser axis coordinate respectively, and perform a scanning process along the horizontal coordinate axis of the road surface coordinate system to determine the position of the lane line.

[0068] Please refer to Figure 5, specifically, in this embodiment, during the adaptive inverse perspective transformation of the image, the Zp-axis coordinates of the two lasers in the ground coordinate system are respectively obtained, that is, the first laser axis coordinate and the second laser axis coordinate. Windows are established at the two Zp-axis coordinates to scan the lane lines along the Xp-axis. The position of the lane lines can be quickly located according to the obvious difference in the reflection effect of the lane lines and the ground background on the laser. During the lane line extraction process, a scanning window needs to be established and remain stationary along the vertical direction of the entire laser, and scan from left to right; each time, the sum of the pixel grayscales in the small window is statistically calculated. The gray level of the lane line part is significantly higher than that of the ground. Therefore, when the scanning window is located on the lane line, the sum of the gray levels will be greater than that of the road surface. Record the horizontal coordinate at this time to determine the position of the lane line.

[0069] In this embodiment, two laser emitters are adopted. On the one hand, in the requirements of inverse perspective transformation, the pitch angle of the vehicle is mainly considered. Therefore, two reference points with differences in the forward direction are required. The entire horizontal laser has the same coordinate in the forward direction, which is convenient for detection. On the other hand, during extraction, the position scanned by the window is a local reference position, which helps the Hough transform to screen. It only needs to make contact with the lane line; at the same time, it is impossible to determine at what angle the lane line appears in the image, but it can be determined that there must be a lane line at one place in the same vertical direction (the entire horizontal direction at a certain image height). Therefore, the horizontal direction can ensure that the lane line is irradiated by the laser. And by using two laser emitters, when one of the lasers does not scan the lane line, the other can also complete the task, ensuring the normal use of the scanning function.

[0070] In summary, when there are interferences such as lane line breakage that cause one of the lasers to be unable to locate the lane line, the adaptive inverse perspective transformation of the image is realized through the two lasers, and the lane line is located through the other laser. The two laser emitters have the same distance h′ from the camera optical axis in the vertical direction and different angles θ′ i (i = 1, 2). When the vehicle is driving, the image and the above parameters are substituted into the above formula to quickly complete the adaptive inverse perspective transformation; and scan at the positions of the two lasers obtained in the previous step to locate the local lane line position and assist in lane line detection. The infrared laser-assisted lane line detection method uses two lasers to assist the camera to obtain road surface information, enabling the image processing stage to quickly realize the adaptive inverse perspective transformation, improving the detection speed and robustness; and the laser-assisted positioning of the local lane line position enables the lane line detection algorithm to have a reliable reference point, reducing the interference of the environment on lane line detection.

[0071] Please refer to Figure 6 , the second embodiment of the present invention provides an infrared laser-assisted lane line detection device, including:

[0072] A data acquisition unit 201, configured to acquire the position parameters of a camera and two laser emitters, and a road surface image captured by the camera in real time;

[0073] A world coordinate system generation unit 202, configured to establish an image world coordinate system according to the position parameters and the road surface image, and determine the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface in the image world coordinate system;

[0074] A coordinate system conversion unit 203, configured to generate a road surface coordinate system corresponding to the image world coordinate system according to the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface;

[0075] A lane line determination unit 204, configured to establish a window on the road surface coordinate system and perform a scanning process on the road surface coordinate system to determine the position of the lane line.

[0076] In a possible embodiment of the present invention, the coordinate system conversion unit is specifically configured to:

[0077] Obtain the vertical height of the camera optical axis from the road surface and the included angle with the road surface according to the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface;

[0078] According to the formula Calculate the vertical coordinate of the road surface coordinate system corresponding to the image world coordinate system;

[0079] According to the formula Calculate the horizontal coordinate of the road surface coordinate system corresponding to the image world coordinate system, where u is the abscissa of a pixel point in the image after the camera directly forms an image, v is the ordinate of a pixel point in the image after the camera directly forms an image, fx is the focal length of the camera in the X-axis direction, fy is the focal length of the camera in the Y-axis direction, u0 is the abscissa of the projection position of the camera lens optical axis in the pixel coordinate system, and v0 is the ordinate of the projection position of the camera lens optical axis in the pixel coordinate system;

[0080] Generate a road surface coordinate system corresponding to the image world coordinate system according to the vertical coordinate and the horizontal coordinate.

[0081] In a possible embodiment of the present invention, the lane line determination unit is specifically configured to:

[0082] Obtain the first laser axis coordinate and the second laser axis coordinate in the road surface coordinate system;

[0083] Respectively establish windows for the first laser axis coordinate and the second laser axis coordinate, and perform a scanning process along the horizontal coordinate axis of the road surface coordinate system to determine the position of the lane line.

[0084] The third embodiment of the present invention provides an infrared laser-assisted lane line detection device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, the infrared laser-assisted lane line detection method described in any one of the above is implemented.

[0085] The fourth embodiment of the present invention provides a readable storage medium storing a computer program that can be executed by a processor of a device where the storage medium is located to implement the infrared laser-assisted lane line detection method described in any one of the above.

[0086] Exemplarily, the computer program described in the third and fourth embodiments of the present invention can be divided into one or more modules. The one or more modules are stored in the memory and executed by the processor to complete the present invention. The one or more modules can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program in implementing an infrared laser-assisted lane line detection device. For example, the device described in the second embodiment of the present invention.

[0087] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor is the control center of the infrared laser-assisted lane line detection method, and uses various interfaces and lines to connect the entire implementation of various parts of the infrared laser-assisted lane line detection method.

[0088] The memory can be used to store the computer program and / or modules. By running or executing the computer program and / or modules stored in the memory, and invoking the data stored in the memory, the processor realizes various functions of an infrared laser-assisted lane detection method. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, a text conversion function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, text message data, etc.). In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices.

[0089] Among them, if the implemented module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-mentioned embodiment methods of the present invention, it can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be realized. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0090] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the attached drawings of the device embodiments provided by the present invention, the connection relationships between the modules indicate that there is a communication connection between them, which can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0091] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention.

Claims

1. An infrared laser-assisted lane line detection method, characterized in that Including: Obtaining the position parameters of a camera and two laser emitters, and a road surface image captured by the camera in real time; Establishing an image world coordinate system based on the position parameters and the road surface image, and determining the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface in the image world coordinate system; Generating a road surface coordinate system corresponding to the image world coordinate system according to the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface; Establishing a window on the road surface coordinate system and performing a scanning process on the road surface coordinate system to determine the position of the lane line; Generating a road surface coordinate system corresponding to the image world coordinate system according to the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface, specifically: Obtaining the vertical height from the camera optical axis to the road surface and the angle with the road surface according to the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface; According to the formula Calculate the vertical coordinate of the road surface coordinate system corresponding to the image world coordinate system; According to the formula calculate the lateral coordinate of the road surface coordinate system corresponding to the image world coordinate system, where u is the abscissa of a pixel point in the image after direct imaging by the camera, v is the ordinate of a pixel point in the image after direct imaging by the camera, fx is the focal length of the camera in the X-axis direction, fy is the focal length of the camera in the Y-axis direction, u0 is the abscissa of the projection position of the camera lens optical axis in the pixel coordinate system, and v0 is the ordinate of the projection position of the camera lens optical axis in the pixel coordinate system; Generating a road surface coordinate system corresponding to the image world coordinate system according to the vertical coordinate and the horizontal coordinate.

2. The infrared laser-assisted lane line detection method according to claim 1, wherein The position parameters include the vertical distance from the optical center of the camera lens to the two laser emitters, and the angles of the two laser emitters with the horizontal line respectively.

3. The infrared laser-assisted lane line detection method according to claim 1, wherein Obtaining the vertical height from the camera optical axis to the road surface and the angle with the road surface according to the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface, specifically: According to the formula calculate the coordinates of the intersection point of the first laser and the road surface and the coordinates of the intersection point of the second laser and the road surface to generate the angle between the camera optical axis and the road surface; According to the formula h = y c1 -z c1 Calculate the intersection coordinates of the first laser with the road surface, the intersection coordinates of the second laser with the road surface, and the included angle according to tan(θ) to generate the vertical height of the camera optical axis from the road surface, where yc1 is the ordinate of the intersection coordinates of the first laser with the road surface, zc1 is the abscissa of the intersection coordinates of the first laser with the road surface, yc2 is the ordinate of the intersection coordinates of the second laser with the road surface, and zc2 is the abscissa of the intersection coordinates of the second laser with the road surface.

4. The infrared laser-assisted lane line detection method according to claim 1, wherein Establishing a window on the road surface coordinate system and performing a scanning process on the road surface coordinate system to determine the position of the lane line, specifically: Obtaining the first laser axis coordinate and the second laser axis coordinate within the road surface coordinate system; Respectively establishing windows for the first laser axis coordinate and the second laser axis coordinate, and performing a scanning process along the horizontal coordinate axis of the road surface coordinate system to determine the position of the lane line.

5. An infrared laser-assisted lane line detection device, characterized in that, Including: A data acquisition unit for obtaining the position parameters of a camera and two laser emitters, and a road surface image captured by the camera in real time; A world coordinate system generation unit for establishing an image world coordinate system based on the position parameters and the road surface image, and determining the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface in the image world coordinate system; A coordinate system conversion unit for generating a road surface coordinate system corresponding to the image world coordinate system according to the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface; A lane line determination unit for establishing a window on the road surface coordinate system and performing a scanning process on the road surface coordinate system to determine the position of the lane line; The coordinate system conversion unit is specifically used for: Obtaining the vertical height from the camera optical axis to the road surface and the angle with the road surface according to the intersection coordinates of the first laser with the road surface and the intersection coordinates of the second laser with the road surface; According to the formula calculate the vertical coordinate of the road surface coordinate system corresponding to the image world coordinate system; According to the formula calculate the lateral coordinate of the road surface coordinate system corresponding to the image world coordinate system, where u is the abscissa of a pixel point in the image after the camera directly forms an image, v is the ordinate of a pixel point in the image after the camera directly forms an image, fx is the focal length of the camera in the X-axis direction, fy is the focal length of the camera in the Y-axis direction, u0 is the abscissa of the projection position of the camera lens optical axis in the pixel coordinate system, and v0 is the ordinate of the projection position of the camera lens optical axis in the pixel coordinate system; Generating a road surface coordinate system corresponding to the image world coordinate system according to the vertical coordinate and the horizontal coordinate.

6. The infrared laser-assisted lane line detection device according to claim 5, wherein The lane line determination unit is specifically used for: Obtaining the first laser axis coordinate and the second laser axis coordinate within the road surface coordinate system; Respectively establishing windows for the first laser axis coordinate and the second laser axis coordinate, and performing a scanning process along the horizontal coordinate axis of the road surface coordinate system to determine the position of the lane line.

7. An infrared laser-assisted lane line detection device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the infrared laser assisted lane line detection method according to any one of claims 1 to 4.

8. A readable storage medium, characterized in that, A computer program is stored, and the computer program can be executed by the processor of the device where the storage medium is located to implement the infrared laser assisted lane line detection method according to any one of claims 1 to 4.

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