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Method and apparatus for recognizing lane line

An identification method and a technology of an identification device are applied in the field of lane line identification methods and devices, and can solve problems such as difficulty in lane line fitting and identification, inability to exclude lane lines, and potential safety hazards.

Active Publication Date: 2017-05-17
BEIJING ELECTRIC VEHICLE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In the embodiment of the present invention, a lane line recognition method and device are provided to solve the difficulty in lane line fitting and recognition when the road image is complex and the brightness distribution is uneven, and the incorrectly recognized lane line cannot be excluded, which is a safety hazard. Hidden problems

Method used

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  • Method and apparatus for recognizing lane line
  • Method and apparatus for recognizing lane line
  • Method and apparatus for recognizing lane line

Examples

Experimental program
Comparison scheme
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no. 1 example

[0087] The embodiment of the present invention discloses a lane line recognition method, combining figure 1 shown, including:

[0088] Step 101 , acquiring an image of the road ahead of the road the vehicle is currently traveling on.

[0089] The acquisition of the front road image can be collected by the camera device in the machine vision sensor in the car, specifically can be collected by installing a camera on the front of the car, and in order to make the machine vision sensor and the camera device can collect effective front road images , which is preferably set at the center of the front of the car.

[0090] Step 102, processing the image of the road ahead to obtain a first region image where the first lane line is located and a second area image where the second lane line is located in the road ahead image.

[0091] Wherein, the first lane line is specifically the left lane line constituting the lane, the second lane line is the right lane line constituting the lane...

no. 2 example

[0114] The embodiment of the present invention discloses a lane line recognition method, combining figure 2 shown, including:

[0115] Step 201 , acquiring a road ahead image of the road the vehicle is currently traveling on.

[0116] The acquisition of the front road image can be collected by the camera device in the machine vision sensor in the car, specifically can be collected by installing a camera on the front of the car, and in order to make the machine vision sensor and the camera device can collect effective front road images , which is preferably set at the center of the front of the car.

[0117] Step 202, selecting a target area in the road ahead image.

[0118] combine Figure 7 As shown, after analyzing the road image collected by the vehicle-mounted machine vision sensor, according to the importance of the entire image for lane line recognition and its impact on subsequent image processing. The front area of ​​the vehicle engine cover 3 and the area near an...

no. 3 example

[0130] The embodiment of the present invention discloses a lane line recognition method, combining image 3 shown, including:

[0131] Step 301 , acquiring a road ahead image of the road the vehicle is currently traveling on.

[0132] The acquisition of the front road image can be collected by the camera device in the machine vision sensor in the car, specifically can be collected by installing a camera on the front of the car, and in order to make the machine vision sensor and the camera device can collect effective front road images , which is preferably set at the center of the front of the car.

[0133] In step 302, the image of the road ahead is processed to obtain a first area image where the first lane line is located and a second area image where the second lane line is located in the road ahead image.

[0134]Wherein, the first lane line is specifically the left lane line constituting the lane, the second lane line is the right lane line constituting the lane, and t...

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Abstract

The invention provides a method and apparatus for recognizing a lane line. The method comprises the steps of acquiring a front road image of the current traveling road of a vehicle; processing the front road image to obtain a first area image in which a first lane line is located and a second area image where a second lane line is located in the front road image; and processing the first area image and the second area image to obtain the first lane line and the second lane line. The scheme improves the lane line recognition effect under the interference conditions and improves the driving accuracy of automatic driving abiding by the lane line.

Description

technical field [0001] The invention relates to the field of automatic driving of automobiles, in particular to a method and device for recognizing lane lines. Background technique [0002] With the popularity of cars, autonomous driving technology is developing faster and faster, and it is gradually entering people's lives. [0003] The existing automatic driving technology is based on the recognition of lane lines to realize road-tracking. When the car is performing lane keeping in the automatic driving system, it must first process the image of the lane line and extract feature points from it, and then pass the obtained lane edge. The pixels are fitted to the lane lines. [0004] In reality, lane lines are easily affected by the external environment. The road surface often has uneven structure, illumination changes, shadow occlusion, broken lane lines, stain coverage, and the existence of other vehicles that complicate the road image. [0005] For example, when shadows ...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/20
CPCG06V20/588G06V10/22
Inventor 吴家轩尹颖张友焕饶淼涛
Owner BEIJING ELECTRIC VEHICLE
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