Non-flat road surface lane line detection method

A lane line detection, lane line technology, applied in the direction of instruments, character and pattern recognition, computer parts, etc., can solve the problem of easy false detection and so on

Inactive Publication Date: 2017-08-18
南宁市正祥科技有限公司
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Problems solved by technology

However, these methods only use the point features on the lane line in the Hough transform,...

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Embodiment Construction

[0056] The following specific examples further illustrate the present invention, but are not intended to limit the present invention.

[0057] A method for detecting lane lines on uneven roads, comprising the following steps:

[0058] S1: Establish a normal-based lane line model to extract line features of the lane line;

[0059] S2: Combining the directional characteristics and intensity information of the line feature, the improved Hough transformation lane line detection method is used to detect the lane line;

[0060] S3: Use the detected straight line to accurately locate the lane line, and use the weighted least squares curve fitting method to completely extract the lane line in the image.

[0061] The specific method of step S1 is as follows:

[0062] 1) In the normal direction, the lane line model can be expressed as:

[0063] ;

[0064] That is, when viewed from the normal direction, the height of the lane line is h and the width is 2b;

[0065] 2) order is t...

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Abstract

The invention discloses a non-flat road surface lane line detection method. The non-flat road surface lane line detection method comprises steps of S1, establishing a normal-lane-line-based model and extracting line characteristics of the lane line, S2, adopting an improved Hough transform lane-line straight line detection method to detect the lane line by combining with direction characteristics and intensity information of line characteristics, and S3, using a detected straight line to accurately position the lane line and adopting a weighted least square curve fitting method to completely extract the lane line of the image. The non-flat road surface lane line detection method uses the improved Hough conversion to perform straight line detection on the basis of the extracted line characteristics, adopts the weighted least square method to perform curve fitting, can accurately and robustly detect the lane line on a curve and a non-flat road. The non-flat road surface lane line detection method is simple in calculation and thus the calculation process has high practicability.

Description

technical field [0001] The invention specifically relates to a method for detecting lane lines on uneven road surfaces. Background technique [0002] Lane line detection technology based on machine vision is widely used in vehicle automatic / assisted driving systems. In recent years, the research of a new generation of intelligent vehicles has been more integrated into human operation and decision-making habits. Lane detection is still an important part of intelligent vehicle status monitoring, lane departure warning and automatic navigation systems. McCall et al. summarized the various lane detection algorithms proposed in the past few decades, and advocated the targeted design of each link of the detection algorithm according to the specific goals of the system and different application environments. [0003] The current lane line detection algorithms are generally based on the assumption of road flatness, and it is difficult to adapt to complex road conditions with slope ...

Claims

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Application Information

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IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 不公告发明人
Owner 南宁市正祥科技有限公司
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