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A Lane Departure Distance Measurement and Early Warning Method Based on Monocular Vision

A lane departure and distance measurement technology, applied in measurement devices, instruments, optical devices, etc., can solve the problems of complex models, complex calculations, and many algorithm parameters, and achieve the effect of improving accuracy

Active Publication Date: 2011-12-21
厚普清洁能源(集团)股份有限公司
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Problems solved by technology

The above methods require motion parameter sensors to collect information such as vehicle speed, steering wheel steering, and vehicle turn signals. The sensing equipment is expensive, the model is complex, the algorithm parameters are many, and the calculation is complicated.

Method used

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  • A Lane Departure Distance Measurement and Early Warning Method Based on Monocular Vision
  • A Lane Departure Distance Measurement and Early Warning Method Based on Monocular Vision
  • A Lane Departure Distance Measurement and Early Warning Method Based on Monocular Vision

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Embodiment approach

[0039] 1. Calibration and installation of camera parameters, according to step 2-1 to calibrate the internal parameters of the camera (this example uses the Matlab camera calibration toolbox developed by the Caltech Vision Laboratory to calibrate the internal parameters), and then follow the steps

[0040] 1. Step 2-2 Install the calibrated camera on the vehicle and calibrate the external parameters.

[0041] 2. For the detection of lane lines and the extraction of lane line parameters on the left and right sides, determine the parameters of the straight line according to steps 3 and 4.

[0042] 3. Use the slope of the lane line to calculate the deviation distance of the vehicle in the lane, and bring each parameter into the formula (1) and (2) according to step 5 to obtain the vertical distance from the vehicle to the lane.

[0043] Lane departure warning decision-making, according to step 6, set the threshold according to the driver's safety requirements, reaction time, and ...

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Abstract

The invention discloses a method for measuring and pre-warning a lane departure distance based on monocular vision, belonging to the technical field of computer imaging processing. The method comprises the following steps of: collecting a video image through a monocular video camera installed in the front of an automobile at first, completing the detection of a lane line after processing through an image processing technology, and extracting geometrical information of the lane line; obtaining vertical distances between the automobile and the lane lines at left and right sides by utilizing thethree-dimensional geometry transformation relation of a pinhole imaging principle; and establishing a departure pre-warning decision method according to the vertical distances measured in real time, and providing effective information for an intelligent assistant driving technology. According to the method disclosed by the invention, when the lane line is detected by utilizing Hough transform, a constraint condition is added, a part of virtual lane line is excluded, and the operation speed and the lane line detection accuracy are increased; simultaneously, the lane departure pre-warning can be realized only by utilizing image information; the measurement influence of a vehicle departure angle on the lane departure distance is low; furthermore, the solving operation speed is high owing to the use of the three-dimensional geometry transform method; and the requirements of the intelligent assistant driving technology can be satisfied.

Description

technical field [0001] The invention belongs to the technical field of computer image processing, in particular to the lane departure warning technology in the intelligent assisted driving technology. Background technique [0002] With the development of social economy, the number of automobiles has increased rapidly, and traffic accidents caused by drivers and other reasons have become more frequent, which has become an obstacle restricting social development. Intelligent assisted driving technology is one of the ways to reduce traffic accidents, improve transportation efficiency, and reduce the driver's workload. It has attracted more and more domestic and foreign research institutions and automobile R&D and manufacturers. Lane departure warning system is an important aspect of intelligent assisted driving system research. The basic principle of lane departure warning system: the system obtains the geometric information of lane lines through image sensors, and obtains vehi...

Claims

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Application Information

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IPC IPC(8): G01B11/14
Inventor 解梅马争张青森
Owner 厚普清洁能源(集团)股份有限公司
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