The invention provides a lane line detection method which comprises the steps of: S1, acquiring an image, converting the color image into a grayscale image, S2, selecting a region of interest of the image, dividing the region of interest into a left side image and a right side image, S3, calculating a greyscale binarization threshold of each row of each of the left side image and the right side image by binarization, extracting pixel point sets with grayscale values greater than or equal to the greyscale binarization thresholds from the left side image and the right side image, S4, obtaining edge images of the left side image and the right side image by using a one-dimensional sobel operator, calculating edge binarization thresholds of the edge images, extracting inner edge point sets of the left side edge image and the right side edge image, S5, selecting an intersection of the pixel point set in the left side image and the inner edge point set as an inner edge point of a left lane line, selecting an intersection of the pixel point set in the right side image and the inner edge point set as an inner edge point of a right lane line, and S6, calculating the left lane line and the right lane line according to the inner edge point of the left lane line and the inner edge point of the right lane line.
Lane line detection method and system, as well as lane departure early warning method and system
2015-05-27
Patent
Electronic Resource
English
IPC: | G06K Erkennen von Daten , RECOGNITION OF DATA / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein |
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