Lane line detection method and system

Abstract

The invention relates to a lane line detection method and system. The method comprises the following steps: acquiring an image of a road in front of a vehicle; preprocessing the image of the road in front of the vehicle to obtain a preprocessed image; processing the preprocessed image by using a pre-trained deep learning CNN network to obtain position point information of each lane line, and fitting each lane line according to the position point information of each lane line; binarizing the preprocessed image to obtain a binarized image, and determining lane line color information according to the binarized image and the position point information of each lane line; and graying the preprocessed image, performing image threshold segmentation to obtain a threshold segmentation image, and determining lane line virtual and real information according to the threshold segmentation image and the position point information of each lane line. The consumed computing resources can be reduced, the lane line detection performance in a special road scene is improved, and the real-time requirement is met.

Description

technical field [0001] The invention relates to the technical field of automobile automatic driving, in particular to a lane line detection method and system thereof. Background technique [0002] Research on autonomous driving technology has become increasingly active in recent years. In particular, vision-based environmental perception technology has received extensive attention from academia and industry. However, how to fully understand all surrounding environmental scenes for self-driving vehicles is still a great challenge. Among these environment perception tasks, camera-based lane line detection plays an important role in traffic scene recognition. By providing basic road information, such as lane marking structure and the position of the vehicle relative to the lane markings, the lane marking detection function can ensure that the autonomous vehicle is safely positioned on the main lane. [0003] At present, the use of deep learning networks to detect lane lines ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to propose a lane line detection method and its system to solve the problem that the current deep learning network detection of lane lines does not meet the real-time requirements due to the large computing resources required and the traditional image processing method for detecting lane lines is difficult for special roads. General technical issues of lane line detection performance in scenarios

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