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All-day structured road multi-lane line detection method

A structured and line detection technology, applied in road network navigators, image analysis, instruments, etc., can solve problems such as application limitations of road line detection methods, light conditions, etc.

Inactive Publication Date: 2009-07-01
NANJING UNIV OF SCI & TECH
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Problems solved by technology

Moreover, most of the existing research on roadway detection methods focuses on the detection of one-way lanes, and there are great restrictions on light conditions. For example, it is required to work in a sunny environment during the day.
However, in many cases, the above constraints are not satisfied, which greatly restricts the application of the road line detection method

Method used

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  • All-day structured road multi-lane line detection method
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Embodiment Construction

[0016] combine Figure 1 to Figure 5 , the method for detecting all-time structured road multi-lane lines of the present invention mainly includes steps such as image grayscale, road edge detection, image binarization, vanishing point detection, and road line fitting. The first is to grayscale the image, and then extract the obvious edge features in the image through a heuristic method, which makes the daytime image and nighttime have better binary output, and the same algorithm can be suitable for all-day traffic line detection . The subsequent algorithm is based on the binary image, first detects the vanishing point in the image, and then fits the road line in the road image by clustering with the aid of the vanishing point. Specific steps are as follows:

[0017] 1. Install the camera above the front of the driver and near the interior rearview mirror. The camera looks forward and maintains a certain angle with the horizontal axis.

[0018] 2. Obtain a color image of the...

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Abstract

The invention discloses an all-time structured road multi-lane detection method, comprising: mounting a camera at the front upper side of driver and near internal rearview mirror, while the direction of the camera is forward and has an angle to the horizontal axis; obtaining the colorful image of front road surface via the camera; preprocessing the colorful image; detecting lanes; according to the detected lanes, automatically navigating the automobile or alarming for the automobile deviated from normal driving track. The invention grays image and extracts obvious edge features in the image via heuristic method, to output the images at night and day via binary type. The invention can satisfy the requirement of highway automobile navigation at the point of real-time property, can complete detection under the illumination at night and day at the point of robustness, and has high adaptability for the roads with degenerated marks and serious interface.

Description

technical field [0001] The invention belongs to the field of active and safe driving of automobiles, in particular to a method for detecting multi-lane lines on structured roads all day long. Background technique [0002] Due to the sharp increase in the number of cars, car safety driving has become a worldwide problem. The Intelligent Transportation System (ITS), which considers roads and vehicles as a system and uses various technologies to solve the problem of car safety driving, came into being. A vehicle equipped with an assisted driving system is called an intelligent vehicle. It is a comprehensive system that integrates multiple functions such as environmental perception, planning and decision-making, and automatic driving. It is an important part of ITS. In order for intelligent vehicles to realize completely unmanned driving on busy urban roads, lane line detection technology is the basis for understanding the road environment and the key to the realization of intel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/26G01C21/34G06T7/00
Inventor 赵春霞张浩峰任明武唐振民唐佐林孙兴华杨静宇
Owner NANJING UNIV OF SCI & TECH
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