CN103978978A - Inversion projection transformation based lane keeping method - Google Patents
Inversion projection transformation based lane keeping method Download PDFInfo
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- CN103978978A CN103978978A CN201410226149.1A CN201410226149A CN103978978A CN 103978978 A CN103978978 A CN 103978978A CN 201410226149 A CN201410226149 A CN 201410226149A CN 103978978 A CN103978978 A CN 103978978A
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- 230000009466 transformation Effects 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000000605 extraction Methods 0.000 abstract description 2
- 206010039203 Road traffic accident Diseases 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- CXENHBSYCFFKJS-OXYODPPFSA-N (Z,E)-alpha-farnesene Chemical compound CC(C)=CCC\C(C)=C\C\C=C(\C)C=C CXENHBSYCFFKJS-OXYODPPFSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
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- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to an inversion projection transformation based lane keeping method. The inversion projection transformation based lane keeping method mainly comprises the following steps of performing inversion projection transformation on shot perspective drawings according to intrinsic parameters of a camera and converting into vertical views; detecting lane lines and extracting lane central lines based on the vertical views and computing and setting distance between corresponding endpoints of area central lines; judging whether an automobile has lane departure or not due to compare between the distance and threshold values. The inversion projection transformation based lane keeping method has the advantages of overcoming a traditional lane keeping system disadvantage that the lane lines are not benefited to judge due to direct extraction of the vertical views, accurately judging whether the automobile has lane departure or not and achieving lane keeping.
Description
Technical field
The present invention relates to traffic safety ancillary technique, relate in particular to a kind of lane keeping method based on contrary projective transformation.
Background technology
Along with social development, automobile has become the indispensable vehicle of modern society, and it has not only promoted the progress of human culture, also in the life that changes at leisure people.The universal urban roads safety that makes of automobile becomes a focus attracting people's attention.Recent years, automobile enters the paces of family to be accelerated gradually, and current Chinese motor vehicles for civilian use recoverable amount has exceeded 100,000,000, exceedes Germany, is only second to the U.S..Meanwhile, Chinese population is numerous, and each big city population density is very high, Che Yuche, and the contradiction of people and car is also sharp-pointed especially, Frequent Accidents on road, the quantity that traffic accident occurs is much higher than developed country, also higher than other developing countries.Learn according to Public Security Department and State Statistics Bureau's statistics, China is annual because traffic accident direct economic loss reaches billions of units, but also is ascendant trend year by year.Along with the development of computer technology, image processing techniques and computer vision technique are so more and more that to be applied to vehicle electric field.Intelligent driving also becomes a current popular topic.Lane Keeping System can allow automobile produce while keeping travelling when tired not run-off-road at chaufeur, or automobile travels in master control remains on lane mark, improves the comfort level of driving.
It is low that camera has cost, and high integration and be easy to the advantages such as maintenance is widely used, especially in Lane Keeping System in automobile active safety system.Show according to an investigation of doing in Europe, 39% unexpected traffic accident is at run-off-road unintentionally and produce.Along with the development of intelligent transportation, travelling of automobile is more and more intelligent, and safety when this can not only increase running car also can improve the comfort level of navigating mate.When driver's operation is unskilled or when fatigue driving, automobile generation deviation can cause serious traffic accident.And Lane Keeping System can not only keep automobile normally to travel in lane mark, can also allow when needed automobile independently travel, improve the traveling comfort of chaufeur.
Summary of the invention
The technical problem to be solved in the present invention is for defect of the prior art, and a kind of lane keeping method based on contrary projective transformation is provided.
The technical solution adopted for the present invention to solve the technical problems is: a kind of based on intrinsic parameters of the camera the lane keeping method against projective transformation, comprise the following steps:
(1) to being arranged on camera calibration, and calculate camera inner parameter; Camera inner parameter comprises focal distance f c, principal point coordinate cc, inclination factor alpha_c, distortion factor kc;
(2) obtain the road ahead information that calibrated camera is taken, coloured image is converted into gray level image, and gray level image is carried out to denoising;
(3) according to contrary projective transformation principle, utilize camera inner parameter, the area-of-interest A of photographic images is reduced to birds-eye view; Described area-of-interest A is the rectangular area of vehicle front road 10m × 5m.
(4) in birds-eye view, utilize hough change detection identification lane mark, and calculate the end points coordinate of track line of centers;
(5) in birds-eye view, calculate lane mark line of centers and area-of-interest A line of centers end-point distances B1 and the B2 in area-of-interest A, and judge threshold value C B1 and B2 and that whether exceed setting;
(6) if B1 and B2 and exceed the threshold value C of setting, handle to turn to actuating unit to turn to adjust and make B1 with B2's and lower than the threshold value of setting;
(7) if distance does not exceed the threshold value C of setting, the detection that enters next frame image.
Press such scheme, photographic images carried out to the method that contrary projective transformation is converted to birds-eye view and comprise:
3.1) projective transformation:
Be located at the coordinate of spatial point P in the camera reference system of putting centered by camera
Make x=X
c/ Z
c; Y=Y
c/ Z
c; r
2=x
2+ y
2;
Projective transformation is in the following ways:
Wherein, dx is tangential distortion vector:
3.2) be pixel coordinate by the coordinate transformation after projection:
If pixel coordinate X_pixel is
Pixel coordinate X_pixel and normalized coordinate vector X
dconversion formula as follows:
Wherein KK is that world coordinates is tied to camera Conversion Matrix of Coordinate
The beneficial effect that the present invention produces is: the inventive method has overcome in traditional vehicle lane keeping system directly extracts the shortcoming that lane mark in transparent view is unfavorable for judgement, can judge more accurately whether automobile deviation occurs, and then realize lane keeping.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the method flow diagram of the embodiment of the present invention;
Fig. 2 is transparent view and the area-of-interest of pick up camera actual photographed in the embodiment of the present invention;
Fig. 3 is the lane information figure obtaining through contrary projective transformation in the embodiment of the present invention;
Fig. 4 is the lane mark information of utilizing hough conversion to extract in the embodiment of the present invention;
Fig. 5 is the information of track line of centers and region of interest centers line in the embodiment of the present invention;
Fig. 6 is that in the embodiment of the present invention, schematic diagram is not departed from track;
Fig. 7 is deviation schematic diagram in the embodiment of the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, a kind of lane keeping method based on contrary projective transformation, comprises the following steps:
1) utilize Camera Calibration Toolbox for Matlab software to carry out camera calibration, and calculate camera inner parameter, inner parameter comprises focal distance f c (2x1 vector), principal point coordinate cc (2x1 vector), inclination factor alpha_c (scalar), distortion factor kc (5x1 vector).
2) utilize calibrated camera to take road ahead information, this information is transparent view, as shown in Figure 2; Coloured image is converted into gray level image;
3) gray level image is processed, kept basic style characteristic, and remove noise;
According to contrary projective transformation principle, utilize camera inner parameter to reduce to the area-of-interest A of photographic images, wherein area-of-interest A is the rectangular area of vehicle dead ahead road 10m × 5m; Need in world coordinate system, measure the actual coordinate # of area-of-interest point P
If x
nfor normalized image projection:
Make r
2=x
2+ y
2.
Consider cam lens distortion, new normalized point coordinate x
dbe defined as follows:
Wherein dx is tangential distortion vector:
If pixel coordinate X_pixel is
Pixel coordinate X_pixel and normalized coordinate vector X
drelation as follows:
Wherein KK is that world coordinates is tied to camera Conversion Matrix of Coordinate
Utilize above formula the point P in world coordinate system can be reverted to the corresponding point (x in contrary projective transformation image
p, y
p), go back original image as shown in Figure 3.
4) as shown in Figure 4, utilize hough transfer pair birds-eye view to carry out detection and the extraction of lane mark, calculate the end points coordinate of track line of centers;
5) area-of-interest is parallel to the line of centers end points coordinate (as shown in Figure 5) of travel direction, then calculates distance B1 and B2 between track line of centers and the corresponding end points of region of interest centers line;
5.1) utilize hough change detection against the lane mark in image after projective transformation, and the end points coordinate of lane mark is obtained, and calculate the end points coordinate of track line of centers by the method for calculating mean value;
5.2) calculate the line of centers end points coordinate that area-of-interest A is parallel to travel direction.
5.3) calculate distance B1 and the B2 between track line of centers and the corresponding end points of region of interest centers line.
5.4) minimum value of B1+B2 while showing by experiment that track is actual and depart from, as threshold value C;
5.5) by judging that actual pixels is apart from the relation between B1+B2 and threshold value C, judge whether automobile has the risk departing from, and then make subsequent operation.
If B1+B2<C, there is not deviation in automobile, carries out the processing of next frame image, as shown in Figure 6; If B1+B2>C, judges automobile generation deviation, need operation to turn to actuating unit to carry out steering operation, as shown in Figure 7.
6) if automobile has the risk departing from, control and turn to actuating unit to carry out the control of automobile steering, continue the relation between monitoring B1+B2 and threshold value C;
If the risk that automobile does not depart from, or turning to distance B1+B2 after actuating unit running to be less than threshold value C, enter the processing of next frame image.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improvement and conversion all should belong to the protection domain of claims of the present invention.
Claims (2)
1. the lane keeping method against projective transformation based on intrinsic parameters of the camera, is characterized in that, comprises the following steps:
(1) to being arranged on camera calibration, and calculate camera inner parameter; Camera inner parameter comprises focal distance f c, principal point coordinate cc, inclination factor alpha_c, distortion factor kc;
(2) obtain the road ahead information that calibrated camera is taken, coloured image is converted into gray level image, and gray level image is carried out to denoising;
(3) according to contrary projective transformation principle, utilize camera inner parameter, the area-of-interest A of photographic images is reduced to birds-eye view; Described area-of-interest A is the rectangular area of vehicle dead ahead road 10m × 5m;
(4) in birds-eye view, utilize hough change detection identification lane mark, and calculate the end points coordinate of track line of centers;
(5) in birds-eye view, calculate lane mark line of centers and area-of-interest A line of centers end-point distances B1 and the B2 in area-of-interest A, and judge threshold value C B1 and B2 and that whether exceed setting;
(6) if B1 and B2 and exceed the threshold value C of setting, handle to turn to actuating unit to turn to adjust and make B1 with B2's and lower than the threshold value of setting
(7) if distance does not exceed the threshold value C of setting, the detection that enters next frame image.
2. lane keeping method according to claim 1, is characterized in that, photographic images is carried out to the method that contrary projective transformation is converted to birds-eye view and comprise:
3.1) projective transformation:
Be located at the coordinate of spatial point P in the camera reference system of putting centered by camera
Make x=X
c/ Z
c; Y=Y
c/ Z
c; r
2=x
2+ y
2;
Projective transformation is in the following ways:
Wherein, dx is tangential distortion vector:
3.2) be pixel coordinate by the coordinate transformation after projection:
If pixel coordinate X_pixel is
Pixel coordinate X_pixel and normalized coordinate vector X
dconversion formula as follows:
Wherein KK is that world coordinates is tied to camera Conversion Matrix of Coordinate
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CN201410226149.1A CN103978978B (en) | 2014-05-26 | 2014-05-26 | Track keeping method based on Inverse projection |
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CN201410226149.1A CN103978978B (en) | 2014-05-26 | 2014-05-26 | Track keeping method based on Inverse projection |
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CN103978978A true CN103978978A (en) | 2014-08-13 |
CN103978978B CN103978978B (en) | 2016-06-22 |
Family
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Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104309606A (en) * | 2014-11-06 | 2015-01-28 | 中科院微电子研究所昆山分所 | 360-degree panorama based lane departure warning method |
CN105930800A (en) * | 2016-04-21 | 2016-09-07 | 北京智芯原动科技有限公司 | Lane line detection method and device |
CN106127787A (en) * | 2016-07-01 | 2016-11-16 | 北京美讯美通信息科技有限公司 | A kind of camera calibration method based on Inverse projection |
CN106682563A (en) * | 2015-11-05 | 2017-05-17 | 腾讯科技(深圳)有限公司 | Lane line detection self-adaptive adjusting method and device |
CN106980657A (en) * | 2017-03-15 | 2017-07-25 | 北京理工大学 | A kind of track level electronic map construction method based on information fusion |
CN107330376A (en) * | 2017-06-06 | 2017-11-07 | 广州汽车集团股份有限公司 | A kind of Lane detection method and system |
WO2018053833A1 (en) * | 2016-09-26 | 2018-03-29 | 深圳市锐明技术股份有限公司 | Method and apparatus for quickly detecting paired lane lines |
CN107895375A (en) * | 2017-11-23 | 2018-04-10 | 中国电子科技集团公司第二十八研究所 | The complicated Road extracting method of view-based access control model multiple features |
CN109532826A (en) * | 2017-09-21 | 2019-03-29 | 天津所托瑞安汽车科技有限公司 | A kind of radar anticollision method for early warning based on the optimization of lane line Visual identification technology |
CN110795961A (en) * | 2018-08-01 | 2020-02-14 | 新疆万兴信息科技有限公司 | Lane line detection method and device, electronic equipment and medium |
CN111376902A (en) * | 2018-12-29 | 2020-07-07 | 浙江吉利控股集团有限公司 | Automatic driving lane keeping method and system |
CN111731188A (en) * | 2020-06-24 | 2020-10-02 | 中国第一汽车股份有限公司 | Panoramic image control method and device and vehicle |
CN112763231A (en) * | 2021-01-19 | 2021-05-07 | 北京罗克维尔斯科技有限公司 | Lane keeping auxiliary system function evaluation method and device, terminal and storage medium |
Families Citing this family (1)
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CN103262139A (en) * | 2010-12-15 | 2013-08-21 | 本田技研工业株式会社 | Lane recognition device |
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Cited By (20)
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---|---|---|---|---|
CN104309606A (en) * | 2014-11-06 | 2015-01-28 | 中科院微电子研究所昆山分所 | 360-degree panorama based lane departure warning method |
CN106682563A (en) * | 2015-11-05 | 2017-05-17 | 腾讯科技(深圳)有限公司 | Lane line detection self-adaptive adjusting method and device |
CN106682563B (en) * | 2015-11-05 | 2018-10-23 | 腾讯科技(深圳)有限公司 | A kind of lane detection self-adapting regulation method and device |
CN105930800A (en) * | 2016-04-21 | 2016-09-07 | 北京智芯原动科技有限公司 | Lane line detection method and device |
CN105930800B (en) * | 2016-04-21 | 2019-02-01 | 北京智芯原动科技有限公司 | A kind of method for detecting lane lines and device |
CN106127787B (en) * | 2016-07-01 | 2019-04-02 | 北京美讯美通信息科技有限公司 | A kind of camera calibration method based on Inverse projection |
CN106127787A (en) * | 2016-07-01 | 2016-11-16 | 北京美讯美通信息科技有限公司 | A kind of camera calibration method based on Inverse projection |
WO2018053833A1 (en) * | 2016-09-26 | 2018-03-29 | 深圳市锐明技术股份有限公司 | Method and apparatus for quickly detecting paired lane lines |
CN106980657A (en) * | 2017-03-15 | 2017-07-25 | 北京理工大学 | A kind of track level electronic map construction method based on information fusion |
CN107330376A (en) * | 2017-06-06 | 2017-11-07 | 广州汽车集团股份有限公司 | A kind of Lane detection method and system |
CN107330376B (en) * | 2017-06-06 | 2020-01-21 | 广州汽车集团股份有限公司 | Lane line identification method and system |
CN109532826A (en) * | 2017-09-21 | 2019-03-29 | 天津所托瑞安汽车科技有限公司 | A kind of radar anticollision method for early warning based on the optimization of lane line Visual identification technology |
CN107895375A (en) * | 2017-11-23 | 2018-04-10 | 中国电子科技集团公司第二十八研究所 | The complicated Road extracting method of view-based access control model multiple features |
CN107895375B (en) * | 2017-11-23 | 2020-03-31 | 南京莱斯电子设备有限公司 | Complex road route extraction method based on visual multi-features |
CN110795961A (en) * | 2018-08-01 | 2020-02-14 | 新疆万兴信息科技有限公司 | Lane line detection method and device, electronic equipment and medium |
CN110795961B (en) * | 2018-08-01 | 2023-07-18 | 新疆万兴信息科技有限公司 | Lane line detection method and device, electronic equipment and medium |
CN111376902A (en) * | 2018-12-29 | 2020-07-07 | 浙江吉利控股集团有限公司 | Automatic driving lane keeping method and system |
CN111376902B (en) * | 2018-12-29 | 2021-07-27 | 浙江吉利控股集团有限公司 | Automatic driving lane keeping method and system |
CN111731188A (en) * | 2020-06-24 | 2020-10-02 | 中国第一汽车股份有限公司 | Panoramic image control method and device and vehicle |
CN112763231A (en) * | 2021-01-19 | 2021-05-07 | 北京罗克维尔斯科技有限公司 | Lane keeping auxiliary system function evaluation method and device, terminal and storage medium |
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