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Agricultural machine real-time path correction method based on visual lane detection

A lane detection and real-time path technology, applied in computer components, image analysis, instruments, etc., can solve the problems of low robustness, no quantitative lateral offset distance, poor accuracy, etc., and achieve good robustness and Accuracy, the effect of realizing the lane keeping function

Pending Publication Date: 2022-04-26
SOUTHEAST UNIV
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Problems solved by technology

The method adopted by the existing scheme is mainly applied on the road surface, and relies on the straight line slope of the lane line detection to qualitatively analyze whether it deviates. This detection method does not quantitatively give the lateral offset distance, the accuracy is poor, and the robustness Low, on farm roads, the reliability of the information is low

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  • Agricultural machine real-time path correction method based on visual lane detection
  • Agricultural machine real-time path correction method based on visual lane detection
  • Agricultural machine real-time path correction method based on visual lane detection

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Embodiment Construction

[0053] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention.

[0054] The present invention improves the existing lane line detection process and uses the ROI area of ​​the sliding window to detect the lane line from the lower end of the image, so as to achieve better detection efficiency and improve robustness. According to the characteristic of using binocular camera to estimate the image depth of the detected lane line, a method of obtaining the lateral offset distance and yaw angle of the vehicle according to the image depth information is proposed.

[0055] For lane line detection, specifically include the following steps:

[0056] Step 1, such as figure 2 with image 3 As shown, fix the position of the binocular camera, ...

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Abstract

The invention discloses an agricultural machinery real-time path correction method based on visual lane detection, relates to the field of vehicle automatic driving, and provides a method for detecting a lane line by sliding a transverse strip-shaped window on the basis of an existing feature-based lane line detection method by improving a detection process. The detection of the selected small window is not only suitable for straight line detection, but also has good robustness and accuracy for curve detection and the like. Meanwhile, for the detected lane line, a method for calculating the transverse offset distance and the yaw angle of the agricultural machine in the running process through binocular vision is provided, data are output to a controller in real time, the controller makes a decision to control the agricultural machine, and the lane keeping function can be achieved.

Description

technical field [0001] The invention belongs to the fields of image processing and automatic driving, and in particular relates to a real-time path correction method for agricultural machinery based on visual lane detection. Background technique [0002] In recent years, with the update of elements such as software algorithms and hardware upgrades and the support of national policies, the technology in the field of autonomous driving has developed rapidly. The premise of automatic driving is to drive in a specified area. Intelligent identification of lanes and vehicle route correction based on the identified lane lines are important components. [0003] At present, the research on autonomous driving of road vehicles is relatively extensive, but in the field of agriculture, especially on farmland roads, there is less research on autonomous driving. Due to the complexity of farmland roads, automatic driving related technologies on roads cannot be directly transplanted to farm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/58G06V10/48G06T7/70
CPCG06T7/70
Inventor 陈熙源王鹏飞
Owner SOUTHEAST UNIV
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