The invention discloses a lane departure early warning method, system and device based on a monocular camera and a medium. The method comprises the steps that a monocular camera is used for collecting a road scene image in front of a vehicle; pixel segmentation is carried out on the road scene image by using a trained lightweight convolutional neural network to obtain a vehicle drivable area image, and the lightweight convolutional neural network comprises a plurality of deep convolution modules composed of point-by-point convolution layers and pyramid expansion convolution layers and a two-dimensional convolution module; utilizing a Canny edge detection algorithm to extract an edge image from the vehicle travelable area image, and then performing inverse perspective transformation on the edge image to obtain a bird's-eye view; the minimum distance between the vehicle and the road where the vehicle is located is obtained according to the aerial view, and when the minimum distance is smaller than a preset distance threshold value, a vehicle alarm is controlled to give a vehicle deviation alarm to a driver. According to the method, the real-time performance of image processing can be improved by building the lightweight convolutional neural network, and the early warning precision is ensured.

    本发明公开了一种基于单目相机的车道偏离预警方法、系统、设备及介质,其中所述方法包括:利用单目相机采集车辆前方的道路场景图像;利用训练好的轻量级卷积神经网络对道路场景图像进行像素分割,得到车辆可行驶区域图像,其中轻量级卷积神经网络包括若干个由逐点卷积层和金字塔膨胀卷积层所组成的深层卷积模块和二维卷积模块;利用Canny边缘检测算法从车辆可行驶区域图像中提取出边缘图像,再将边缘图像进行逆透视变换得到鸟瞰图;根据鸟瞰图获取车辆与其所在道路之间的最小距离,且在最小距离低于预设距离阈值时,控制车辆报警器对驾驶员进行车辆偏离告警。本发明通过搭建轻量级卷积神经网络可以提高图像处理的实时性,确保预警精度。


    Access

    Download


    Export, share and cite



    Title :

    Lane departure early warning method, system and equipment based on monocular camera and medium


    Additional title:

    基于单目相机的车道偏离预警方法、系统、设备及介质


    Contributors:
    YAN FUWU (author) / CHEN YONGXIANG (author) / YIN ZHISHUAI (author) / QIN GUOYU (author) / YANG XIETIAN (author)

    Publication date :

    2022-10-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / 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 / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



    Lane departure early warning method and lane departure early warning system

    HAN CHAO / SHI GANG / WU LIJUN et al. | European Patent Office | 2015

    Free access

    Lane recognition and departure early warning method under monocular vision

    JIN HUI / SHI JINHU | European Patent Office | 2020

    Free access

    LANE DEPARTURE WARNING METHOD AND LANE DEPARTURE WARNING SYSTEM

    LI JUNHUA / GUO DAOYAN | European Patent Office | 2022

    Free access

    Lane departure early warning method, device, equipment and medium

    CHENG SHUO | European Patent Office | 2024

    Free access

    Lane departure early warning method, device, equipment and medium

    FU RENTAO / JIANG ZIMING / LIU KEWANG | European Patent Office | 2023

    Free access