The invention relates to an intelligent assisted driving method and
system. A lane line is obtained as follows: an image, shot by a camera, of a road in a
vehicle driving direction is obtained; de-
distortion processing is carried out on a video frame of the image by using an internal reference matrix of the camera and inverse
perspective transformation is carried out on a selected to-be-transformed region src of the video frame; threshold segmentation is carried out on the video frame after inverse
perspective transformation and a lane line and a background region are separated; statistics iscarried out on the lower part of the image after threshold segmentation and an intersection point of the lane line and the bottom of the image is obtained by statistics; searching is carried out by starting with the intersection point by using a sliding window, m pixels corresponding to the lane line are determined, and curve equation fitting is carried out on the m pixels to obtain a fitted laneline. With the method and
system provided by the invention, the lane line is displayed in a
display device inside the vehicle; and various conditions like sudden illumination changing, tree shadow shielding, and pavement blotting are detected accurately. The method and
system have advantages of high applicability, low cost, high precision, good real-time performance and high stability.