Method and device for fitting lane lines and a terminal

A technology of lane lines and lanes, applied in the field of intelligent transportation, can solve problems such as reduced driving safety

Active Publication Date: 2019-04-05
HANGZHOU HIKVISION DIGITAL TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] When the related technology fits the lane lines in the image, the lane lines obtained by fitting the lane lines of the curve often do not match the actual lane lines, so that the self-driving car cannot keep driving within the actual lane lines, making driving safe decreased sex

Method used

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  • Method and device for fitting lane lines and a terminal
  • Method and device for fitting lane lines and a terminal
  • Method and device for fitting lane lines and a terminal

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Embodiment Construction

[0051]In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0052] An embodiment of the present invention provides a method for fitting lane lines, which can be implemented by a terminal. Wherein, the terminal may be a vehicle-mounted terminal, and may have its own image capturing component or be externally connected to the image capturing component, and the image capturing component may be a vehicle-mounted camera. In this embodiment, the terminal uses the vehicle-mounted terminal as an example to describe the solution in detail, and other situations are similar, so this embodiment will not repeat them.

[0053] The terminal may include components such as a processor, a memory, a screen, and an image capturing component. The processor may be a CPU (Central Processing Unit, central processing u...

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Abstract

The invention discloses a method and device for fitting lane lines and a terminal, and belongs to the field of intelligent traffic. The method comprises the following steps: extracting lane line feature points from a lane image shot by an image shooting part; Fitting the lane line feature points based on an M-order polynomial equation to obtain an initial curve equation of the lane line; Determining a lane line segmentation position based on the curvature of the initial curve equation; Polynomial equation based on N times, fitting lane line feature points located between the lane line segmentposition and the far end of the image to obtain a curve equation of a first segment of a lane line, and fitting the lane line feature points located between the lane line segment position and the nearend of the image based on an O-order polynomial equation to obtain a curve equation of a second segment of the lane line; And determining a final curvilinear equation of the lane line according to the curvilinear equation of the first subsection and the curvilinear equation of the second subsection. According to the invention, the driving safety can be improved.

Description

technical field [0001] The invention relates to the field of intelligent transportation, in particular to a method, device and terminal for fitting lane lines. Background technique [0002] With the development of intelligent transportation, self-driving cars have gradually entered people's lives. During the driving process of the self-driving car, the vehicle-mounted camera can be used to obtain the lane image of the current driving road. The vehicle-mounted terminal installed on the vehicle can process the lane image, extract the lane line of the road and fit the lane line to obtain the lane The curve equation of the line (a straight line is a special curve with a curvature of 0), and perform automatic driving according to the curve equation, so that the self-driving car can keep driving within the lane line. [0003] In the process of realizing the present invention, the inventors have found that the related technologies have at least the following problems: [0004] Wh...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/46
CPCG06V20/588G06V10/44
Inventor 赵显
Owner HANGZHOU HIKVISION DIGITAL TECH
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