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High-robustness real-time lane detection algorithm based on ROI

A robust, lane-based technology that can be used in computing, traffic flow detection, computer components, etc., to solve problems such as inefficiency

Active Publication Date: 2014-07-02
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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  • Claims
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AI Technical Summary

Problems solved by technology

Algorithms based on perspective conversion, the difficulty lies in correcting the camera, and this algorithm is not efficient on slopes and windy conditions

Method used

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  • High-robustness real-time lane detection algorithm based on ROI

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Embodiment Construction

[0059] In order to deepen the understanding of the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments, which are only used to explain the present invention and do not limit the protection scope of the present invention.

[0060] Such as Figure 1-3 As shown, the present embodiment provides a robust real-time lane detection algorithm based on ROI, and the algorithm specifically includes the following steps:

[0061] Step 1, first detect the first image to extract the initial adaptive threshold;

[0062] Step 2, and establish a coordinate system on the captured image, the upper left corner is the origin, the horizontal axis is the x axis, and the vertical axis is the y axis; the part near the bottom of the image is called the near view area, and the part far away is called the distant view area; The middle lane line will only appear in a certain area. Here, we only process a part o...

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Abstract

The invention provides a high-robustness real-time lane detection algorithm based on ROI. In order to achieve curve detection, an image is divided into an upper portion and a lower portion, namely a close shot area and a long shot area, and solutions are obtained through Hough and a hyperbolic curve pair model respectively. The whole image is mainly filtered through a transverse gradient operator so that the calculation speed can be increased and the purpose of real-time detection can be achieved; an area of gradient direction angles of a lane boundary image is counted through a sliding ROI window strategy, boundary noise of the abnormal gradient direction angles is eliminated, and therefore the accuracy of lane detection is guaranteed; in the hyperbolic curve pair model adopted in the long shot area, parameters in a close shot model are mainly used as initial parameters, a parameter K is finally determined through a search strategy, and the curve portion is detected. The high-robustness real-time lane detection algorithm is good in robustness in the complex road condition and the complex environment and lane counseling information can be provided in real time.

Description

technical field [0001] The invention relates to the field of safety detection for driving, in particular to an ROI-based robust real-time lane detection algorithm. Background technique [0002] Recently, ITS has become popular because people pay more attention to vehicle safety. There are many vision-based research topics on ITS, including obstacle detection, pedestrian avoidance, lane departure warning, collision avoidance, etc. Among these challenging tasks, lane line detection is one of the most important parts of ITS. The main body of this technology is to separate the lane line consultation from the complex environment through some features; however, most of the existing lane line detection techniques are sensitive to the influence of bad weather and tree shadows. Lane line detection is an important part of Intelligent Transportation System (ITS), and a curve detection system in complex environments is proposed, such as tree shade, complex road conditions, and road si...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/62G08G1/01
Inventor 陈孟元柴灿郎朗
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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