The invention discloses a lane departure degree detection method and a readable storage medium. The method comprises the following steps: acquiring an image of a road surface in front of a vehicle; inputting the image of the road surface in front of the vehicle into a pre-trained lane line detection model to obtain a lane line image; detecting a lane line straight line from the lane line image; finding out the distance from the intersection point of each lane line straight line and the lower boundary of the lane line image to the central axis of the lane line image, and taking the lane line with the minimum distance as the first lane line of the current lane; whether a second lane line of the current lane can be obtained or not is judged according to whether a lane line straight line with the horizontal included angle opposite to the horizontal included angle of the first lane line exists or not, so that the situation that two lane lines can be obtained or only one lane line can be obtained can be distinguished, and the lane departure degree is calculated in different modes; therefore, the method can adapt to lane departure degree calculation when only one lane line is obtained, the applicable scene is widened, and the accuracy of lane departure degree calculation is improved.
一种车道偏离程度的检测方法、可读存储介质,其中方法包括:获取车辆前方路面图像;将车辆前方路面图像输入预先训练好的车道线检测模型中得到车道线图像;从车道线图像中检测出车道线直线;找出各车道线直线与车道线图像下边界的交点到车道线图像的中轴线的距离,取距离最小的作为当前车道的第一条车道线,再根据是否存在水平夹角与第一条车道线的水平夹角符号相反的车道线直线来判断是否能获取到当前车道的第二条车道线,从而能区分能获取到两条车道线和只能获取到一条车道线的情况,并分别采取不同的方式计算车道偏离程度,从而能够适应只获取到一条车道线时的车道偏离程度计算,拓宽了适用场景,提高了车道偏离程度计算的准确性。
Lane departure degree detection method and readable storage medium
一种车道偏离程度的检测方法、可读存储介质
2022-05-13
Patent
Elektronische Ressource
Chinesisch
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