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Detection method of lane line

A detection method and technology of lane lines, which are applied in image data processing, instruments, character and pattern recognition, etc., can solve the problem that the lane line detection method is difficult to meet the real-time and robustness of lane lines, and reduce the impact of illumination changes , improve robustness, improve the effect of accuracy

Active Publication Date: 2014-06-04
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

[0007] The technical problem to be solved by the present invention is that the current lane line detection method is difficult to meet the real-time and robustness of lane line detection

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  • Detection method of lane line
  • Detection method of lane line

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Embodiment Construction

[0028] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0029] The present invention proposes a detection method for lane lines, such as figure 1 As shown, the method includes the following steps:

[0030] Step 1, obtain road image I through the vehicle image sensor t , where t is the frame number;

[0031] Step 2, preprocessing the road image to obtain the preprocessed road image I p,t ;

[0032] Image preprocessing is mainly to prepare for subsequent operations such as feature extraction, mainly including grayscale, smooth denoising, scale scaling or image cropping of road images. Among them, the purpose of image scaling is to reduce the amount of calculation; image cropping can also be A similar purpose is achieved, especially when the image contains non-road areas.

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Abstract

The invention discloses a detection method of a lane line. At first, edge information of a road image is extracted by means of a self-adaption threshold value edge extraction algorithm, cumulative probability Hough transformation in which an edge gradient direction constraint is brought is utilized so that straight lines can be quickly detected from an edge image, then the accurate positions of blanking points are estimated between successive frames by means of the detected straight lines through an iterative calculation method, a part of the straight lines not deriving from the edge of the lane line are filtered out by means of blanking point constraints, a tracking door is built so that noise can be further filtered out, candidate straight lines are obtained, and ultimately a pair of optimal straight lines are selected from the candidate straight lines to represent a current lane line through use of color information of candidate straight line neighborhoods and lane line information detected by a previous frame. According to the method, robustness on road environment change is achieved, the calculated quantity is small and real-time performance is achieved.

Description

technical field [0001] The invention relates to the technical field of vehicle assisted driving, in particular to a fast detection method for lane lines used in a real-time system. Background technique [0002] The invention of the automobile has changed the way of human travel. It strongly promotes the flow of goods and people with its convenience and high efficiency, and plays an important role in the development of economy and society. As of 2010, there are about 1 billion vehicles of various types in the world, and this number is still growing at a high speed. However, many cities in the world are currently facing many problems caused by the excessive use of personal cars, such as various serious traffic accidents, annoying road congestion, huge energy consumption, noise pollution and environmental pollution, etc. Seriously reduced the quality of urban life. With the advancement of science and technology and the development of society, people have higher and higher req...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06K9/80
Inventor 汤淑明袁俊
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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