Method and device for extraction of lane line feature points under complex road conditions

Abstract

The invention relates to a method and a device for extracting characteristic points of a lane line under a complex road condition. The method comprises the following steps of: acquiring a grayscale image of a road by using vehicular equipment; dividing the grayscale image into an irrespective region and a region of interest (ROI) according to the degree of importance of the road image to the characteristic point extraction of the lane line; performing smoothing filtering processing on the ROI; and performing binarization processing on the smoothing-filtering processed ROI by utilizing a structure tensor field-based level set extrinsic curvature, and extracting the characteristic points of the lane line. The problem of low robustness for the characteristic point extraction of the lane line under the complex road condition such as illumination variation, shadowing, breakage and smear coverage of the lane line in the conventional method can be solved.

Description

technical field [0001] The invention belongs to the technical field of automobile intelligent assisted driving systems, and relates to a lane line feature point extraction method under complex road conditions, in particular to a feature point extraction method based on the extrinsic curvature of a level set of a structural tensor field. Background technique [0002] In recent years, with the rapid development of my country's economy and the increase of passenger and freight volume, the road construction distance in my country has increased rapidly, especially the rapid development of expressways, which has greatly eased the pressure brought by my country's economic development on the transportation industry. However, with the increase of highway construction distance, the increase of car ownership, the increase of traffic flow and the increase of driving speed, road traffic accidents are getting worse year by year, especially serious and serious traffic accidents occur freque...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a method for extracting feature points of lane lines in complex road conditions, so as to solve the problem of the robustness of feature point extraction for lane lines in complex road conditions such as illumination changes, shadow occlusion, damage or stain coverage in existing methods. low sex problem

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