CN106740841A - Method for detecting lane lines, device and mobile unit based on dynamic control - Google Patents
Method for detecting lane lines, device and mobile unit based on dynamic control Download PDFInfo
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- CN106740841A CN106740841A CN201710079303.0A CN201710079303A CN106740841A CN 106740841 A CN106740841 A CN 106740841A CN 201710079303 A CN201710079303 A CN 201710079303A CN 106740841 A CN106740841 A CN 106740841A
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- camera
- lane line
- lane
- line
- image
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Classifications
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
Abstract
The invention discloses a kind of method for detecting lane lines based on dynamic control, device and mobile unit, the method includes：Image in the range of Real-time Collection camera present viewing field；Lane line is recognized in described image and detects whether the center line of the lane line is located at the central area of described image；Unidentified to lane line or when detecting the center line of the lane line positioned at the central area of described image, result according to the identification and/or the detection dynamically adjusts position and/or the angle of the camera, so that the center line of the lane line is located at the central area of the camera view scope.In the technical scheme of the embodiment of the present invention, using adjustable position and/or the camera of angle, cause that lane center impact point is located in the middle of camera view by dynamic regulation means, so as to ensure that the accuracy and validity of lane detection.
Description
Technical field
The invention belongs to Vehicular automatic driving technical field, and in particular to a kind of lane detection side based on dynamic control
Method, device and mobile unit.
Background technology
With the development of vehicle technology, Vehicular automatic driving turns into hot research field.Lane line prison based on camera
Survey is an important research content in automatic Pilot field, and such as the lane line center deviation warning in auxiliary driving and auxiliary are driven
Sail/it is unmanned in lane line center keep function etc., all rely on lane detection result.Lane line based on camera
The elementary object of detection technique is that the image real-time detection photographed according to camera goes out lane line, and car and lane line are obtained accordingly
Relative position, so as to obtain car whether run-off-road line center, to instruct follow-up planning and control so that vehicle can keep
Travelled at lane line center or reasonably evaded.
In the prior art, the lane detection skill of binocular depth camera is also based on whether based on monocular cam
Art, is required for carrying out camera in fixed installation camera and after determining the camera technical parameter such as the angle of pitch, focal length various
Demarcate, and generate corresponding calibrating parameters, with the lane line in passing through calibrating parameters also original image during follow-up traveling
With the real physical relation of vehicle.
But, inventor realize it is of the invention during find, it is this based on fixing camera position in the prior art
Lane detection there are the following problems：First, when vehicle is travelled on the road surface for having fluctuating to jolt, due to lane line and car
Corresponding relation between there occurs change, and the lane detection demarcated based on preset parameter may derive the lane line of mistake
Testing result, although lane detection algorithm and follow-up planning control algorithm can be by this feelings of technical finesse such as filtering
Condition, but all can not fundamentally solve this problem；Secondly as camera installation site and angle are fixed, camera is regarded
Angle is limited, causes that situation of the lane line in right ahead can only be processed mostly in actual applications, when vehicle is larger in curvature
Bend on when travelling, camera will lose detection target, follow lane line central row to sail so as to be unable to guiding vehicle.Use
Wide-angle lens can alleviate above-mentioned 2nd problem to a certain extent, but the visual field of wide-angle lens is after all limited, and due to
There is big deformation in wide-angle lens, can cause that lane detection algorithm is more complicated.
Therefore, how correct track is detected when vehicle is travelled on rough road and the larger road of curvature
Line, becomes for technical problem urgently to be resolved hurrily at present.
The content of the invention
It is an object of the present invention to provide a kind of method for detecting lane lines based on dynamic control, device and mobile unit,
Correct lane line cannot be detected to solve existing fixing camera on the larger road of rough road and curvature
Problem.
In order to solve the above technical problems, in one aspect of the invention, there is provided a kind of lane line based on dynamic control
Detection method, including：
Image in the range of Real-time Collection camera present viewing field；
Lane line is recognized in described image and detects whether the center line of the lane line is located at the center of described image
Region；
Unidentified to lane line or the center line of the lane line is detected positioned at the central area of described image
When, the result according to the identification and/or the detection dynamically adjusts position and/or the angle of the camera, so that described
The center line of lane line is located at the central area of the camera view scope.
Alternatively, methods described also includes：
When lane line is not recognized in described image,
Persistently searched in the adjustable range of the camera,
Until in the range of the camera present viewing field gather image in recognize it is consistent with headstock direction or
Person's lane line consistent with vehicle heading.
Alternatively, methods described also includes：
When recognizing lane line in described image, but the center line of the lane line is detected not positioned at described image
During central area,
Center line according to the lane line is corresponding to the deviation situation of the center line of described image to adjust the camera.
Alternatively, the center line according to the lane line is corresponding to the deviation situation of the center line of described image adjusts
The camera includes：
When having the first offset deviation and/or between the center line and the center line of described image for detecting the lane line
During one angular deviation,
Second displacement is moved in the position for adjusting the camera to the rightabout of first offset deviation,
And/or,
The angle for adjusting the camera to the rightabout of the first angle deviation rotates second angle.
Alternatively, the search lasting in the adjustable range of the camera includes：
The camera is adjusted from current location to scan for；
Or, by the camera rotate to it is consistent with headstock direction or consistent with vehicle heading after,
The camera is adjusted again to scan for；
Or, according to first Lane detection situation, taken the photograph described in adjustment since the position and direction of track heading line off
As head is scanned for；
Or, the track line position predicted according to electronic map is scanned for adjusting the camera.
Alternatively, the adjustment camera scan for for level it is suitable/camera described in rotate counterclockwise searched
Rope.
Alternatively, methods described also includes：
After being corrected to the described image that the camera is gathered, then recognized in described image and/or detect track
Line.
Alternatively, methods described also includes：
According to the identification and/or the result of the detection, judge whether the state of vehicle and position are normal；
When judging abnormal, send prompting message and/or send the state that control signal manipulates the vehicle.
Alternatively, methods described also includes：
Changed according to described image, the judgement and the control signal are carried out in orthographic projection plane after conversion
Decision-making.
Alternatively, methods described also includes：
Aid in carrying out the position of the camera and/or the dynamic of angle by the prediction to road conditions and vehicle condition
Adjustment.
Alternatively, the prediction to road conditions and vehicle condition includes：
According to current vehicle condition and present road situation, the vehicle is in the road in prediction following a period of time
Movement locus；
According to current shooting head status and the movement locus, predict that following a period of time inside lane line deviates described
The position of camera view central area and duration；
Deviate the position of the camera view central area according to the lane line, be adjusted to for the camera by prediction
The time that position needs；
According to the duration and the time for being adjusted in place needs, judge to reach the lane line in the vehicle
When deviateing the position of the camera view central area, if need to adjust camera.
Alternatively, methods described also includes：
When predicting multiple adjacent locations and may occur repeatedly to adjust, in the range threshold of camera adjustment,
It is preferential to be adjusted by the way of the total adjustment amount minimum for causing the multiple adjustment.
In the another aspect of the embodiment of the present invention, a kind of lane detection device based on dynamic control is additionally provided, wrapped
Include：
Image capture module, for the image in the range of Real-time Collection camera present viewing field；
Lane detection module, in described image recognize lane line and detect the lane line center line whether
Positioned at the central area of described image；
Camera control module, for lane line or detecting the center line of the lane line and not being located at unidentified
During the central area of described image, the result according to the identification and/or the detection dynamically adjusts the position of the camera
And/or angle, so that the center line of the lane line is located at the central area of the camera view scope.
Alternatively, described device also includes：
Search module, for when lane line is not recognized in described image, in the adjustable range of the camera
Interior lasting search, it is consistent with headstock direction until being recognized in the image gathered in the range of the camera present viewing field
Or the lane line consistent with vehicle heading.
Alternatively, described device also includes：
Auxiliary adjusting module, for aid in carrying out by the prediction to road conditions and vehicle condition the camera position and/
Or the dynamic adjustment of angle.
Alternatively, described device also includes：
Module is optimized and revised, for when predicting multiple adjacent locations and may occur repeatedly to adjust, in the camera
It is preferential to be adjusted by the way of the total adjustment amount minimum for causing the multiple adjustment in the range threshold of adjustment.
In the another further aspect of the embodiment of the present invention, a kind of mobile unit is additionally provided, including：Camera, head, memory
And one or more processors；Wherein,
The camera is arranged on the head, the figure that the camera is used in the range of Real-time Collection present viewing field
Picture；
The camera is connected with the memory and one or more of processor communications, and the memory storage has
Can by the instruction of one or more of computing devices, the instruction by one or more of computing devices so that institute
State the method that one or more processors can be realized as any one of claim 1-12；
The head is coupled with one or more of processors, described in the signal driving adjustment according to the dynamic adjustment
The position of camera and/or angle.
In the technical scheme of the embodiment of the present invention, using adjustable position and/or the camera of angle, by dynamic tune
Control means come cause lane center impact point be located at camera view in the middle of, so as to ensure that lane detection accuracy and
Validity.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of the method for detecting lane lines based on dynamic control in one embodiment of the invention；
Fig. 2 is the modular structure schematic diagram of the lane detection device based on dynamic control in one embodiment of the invention；
Fig. 3 is the structural representation of mobile unit in one embodiment of the invention.
Specific embodiment
To make those skilled in the art more fully understand technical scheme, below in conjunction with the accompanying drawings and specific embodiment party
Formula is described in further detail to the present invention.
In the prior art, vehicle-mounted camera is usually fixed on target vehicle, and the position of camera and angle are solid
It is fixed, while the calibrating parameters that lane detection algorithm is used are also based on these fixed installation positions.But which is actual only
It is suitable for the situation that vehicle is travelled on straight road surface, when vehicle is on the road surface for having fluctuating to jolt or in the larger bend of curvature
During upper traveling, the corresponding relation between lane line and vehicle can change, or even lane line can disappear from camera view,
Now the calibrating parameters based on fixing camera may result in the lane detection result of mistake or even cannot enter driveway line
Detection.At present, can not effectively be solved the above problems by way of wide-angle camera expands detection zone.
In the technical scheme of the embodiment of the present invention, using adjustable position and/or the camera of angle, by dynamic tune
Control means come cause lane center impact point be located at camera view in the middle of, so as to ensure that lane detection accuracy and
Validity.
Embodiment one：
As shown in figure 1, a kind of method for detecting lane lines based on dynamic control includes disclosed in the embodiment of the present invention：
S1, the image in the range of Real-time Collection camera present viewing field；
Whether S2, recognize lane line and detect the center line of the lane line in described image in described image
Heart district domain；
S3, to lane line or the center line of the lane line is detected positioned at the center of described image unidentified
During domain, the result according to the identification and/or the detection dynamically adjusts position and/or the angle of the camera, so that institute
The center line for stating lane line is located at the central area of the camera view scope.
Wherein, the camera in the embodiment of the present invention is vehicle-mounted camera, and the vehicle-mounted camera can be imaged for monocular
The combination of head, binocular camera or more camera, single camera can using conventional camera lens, wide-angle lens, telephoto lens or
Varifocal mirror is first-class, and camera sensing device can be CCD (Charge-coupled Device, charge coupled device) or CMOS
Sensors, camera such as (Complementary Metal Oxide Semiconductor, complementary metal oxide semiconductors (CMOS))
Type can for polychrome camera (such as RGB color camera) or monochromatic camera (such as black and white camera, infrared camera,
R/G/B monochrome camera) etc., this camera concrete form not as the limitation to embodiment of the present invention.
Alternatively, the vehicle-mounted camera is arranged on the top of vehicle, afterbody, inside rear-view mirror, at outside rear-view mirror or appoints
Anticipate possible installation site, so that the vehicle-mounted camera at least includes part road conditions within sweep of the eye.It is of the invention real
Apply camera in example can its position of adjust automatically and/or angle, alternatively, by driver part that can be programmed, than
The position of camera and/or angle as described in electro-motor etc. carrys out adjust automatically.In one embodiment of the invention, it is described to take the photograph
As head is arranged on head, the angle of the position of the fine-tuning camera of head and/or the rotation adjustment camera；
Alternatively, the head is movably disposed at least one guide rail, by the movement head on the guide rail come big
Width adjusts the position of the camera.In one embodiment of the invention, the camera is stabilization camera；In the present invention
Another embodiment in, the head and/or the guide rail are provided with stabilizer, can keep the camera vehicle travel
And/or the stability during adjustment, such as damping and/or can keep the dynamic equilibrium of the camera.Additionally, for tool
There is the camera of zoom capabilities, can also be by the adjustment to camera focal length/multiplication factor so that the center line of lane line is located at
The central area of camera view scope.
Embodiment two：
In one embodiment of the invention, the identification and detection of driveway line are mainly entered by image procossing mode.
Under normal circumstances, the color of lane line, shape and its position for occurring in the picture are relatively fixed, by what is gathered to camera
Image is processed to can be separated identifies most of track line index.Typically, image procossing and the step of image recognition
Suddenly include：Pretreatment, gray proces, rim detection, image segmentation and feature extraction etc., related algorithm and specific implementation into
It is ripe, will not be repeated here, the detailed process of image procossing and image recognition is not construed as the limitation to embodiment of the present invention.
It should be noted that in the prior art to simplify lane detection, normally only in ROI (the region of of image
Interest, area-of-interest) in be identified and detect.In one embodiment of the invention, it is further with detection
The position of output control adjustment camera and/or angle, preferred pair image is integrally identified and detects, especially unidentified
In the case of lane line, object that may be further to image both sides of the edge carries out emphasis detection.
Wherein, in order to prevent head and/or camera from frequently moving, influence head service life and camera detection it is steady
Qualitative, in an embodiment of the present invention, the central area of image/field range is one has the range areas of one fixed width.
Ideally, the side that the center line of lane line overlaps certainly most useful for wagon control with the center line of image/field range
Formula, but this can bring great pressure to system control, therefore do not Qiang Zhiyaoqiu that two center lines overlap, as long as in lane line
Heart line is located at i.e. acceptable in the certain area of the approximate centerline of image/field range.Therefore in an embodiment of the present invention, if
The range threshold of a central area is equipped with, in lane line center line and the distance and/or angle of the center line of image/field range
Deviation in the range threshold when, that is, think lane line center line be located at image/field range central area, now without
Need to carry out or the adjustment to camera position and/or angle can be terminated；Only when lane line center line and image/field range
When the distance of center line or the deviation of angle exceed the range threshold, just start to perform the adjustment operation of camera.
Embodiment three：
In one embodiment of the invention, the result according to the identification and/or the detection dynamically adjusts institute
The position and/or angle for stating camera include various decision making approach and adjustable strategies.
Typically, when recognizing lane line in the picture, but detect the center line of the lane line and be not located at the figure
During the central area of picture, described in the center line adjustment corresponding to the deviation situation of the center line of described image according to the lane line
Camera.Such as, when the deviation and/or first for having the first displacement between the center line and the center line of image for detecting lane line
During the deviation of angle, second displacement is moved in the position for adjusting camera to the rightabout of the first offset deviation, and/or to first
The angle rotation second angle of the rightabout adjustment camera of angular deviation.Wherein, the first displacement is corresponding with second displacement
The corresponding relation of relation, first angle and second angle is calculated according to camera parameter and calibrating parameters etc..
And when lane line is not recognized in the picture, then need persistently to be searched in the adjustable range of camera, directly
Camera present viewing field scope is appeared in lane line consistent with headstock direction or consistent with vehicle heading
Interior (being confirmed by collection image recognition), then further according to the center line of lane line and the deviation situation of the center line of image is corresponding adjusts
Whole camera (adjustment mode i.e. mentioned above).Alternatively, way of search includes：
From current location, adjustment camera is scanned for；
Or, by camera rotate to it is consistent with headstock direction or consistent with vehicle heading after, then adjust
Whole camera is scanned for；
Or, according to first Lane detection situation, camera is adjusted since the position and direction of track heading line off
Scan for；
Or, the track line position predicted according to electronic map is scanned for adjusting camera.
To improve efficiency, reliability and security, the position that most possibly there is lane line answers override to search for；But simultaneously
The adjustment for being considered as camera is to rely on mechanical part, excessively should not be acted frequently and significantly, and search procedure should try one's best guarantor
Hold brief and smooth.Therefore, in an embodiment of the present invention, preferably tentatively searching for driveway line is entered by horizontally rotating camera
Rope；Further, determined according to vehicle-state, first Lane detection situation, onboard sensor and/or electronic map etc.
Direction of rotation (being clockwise or counterclockwise).Such as, it is preferentially (i.e. clockwise) to the right to rotate to search for when vehicle is turned right；
Or, rightmost side when its straight line is travelled, before the heading line off of track in first field-of-view image is then preferential (i.e. suitable to the right
Hour hands) rotate to search for；Or, when its straight line is travelled, according to certain means, (including but not limited to first lane line is known
The information such as positioning, electronic map or other sensors after not) determine that vehicle is in leftmost side track, then it is preferential (i.e. suitable to the right
Hour hands) rotate to search for.The privileged direction of rotating camera can also be according to more information come comprehensive descision and decision-making, herein not
Enumerate again, relevant technical staff in the field should be appreciated that the specific determination means of direction of rotation are not construed as to the present invention
The limitation of implementation method.
Additionally, relevant technical staff in the field is appreciated that horizontal rotation search is simply more easily searched in theory
Mode, in certain extreme cases, such as road big rise and fall, car accident, lane line are blocked or lane line is interrupted etc.,
Can be scanned for by the way of Omnidirectional rotation and/or dollying head, specific way of search is not construed as to this herein
The limitation of invention embodiment.
Example IV：
Generally, the image that vehicle-mounted camera shoots typically understands some deformations, most typically ground, subject (such as lane line)
Near big and far smaller problem is had, if the deformation using wide-angle lens then objects in images can be more serious, thus it is simple according to taking the photograph
As head gather image directly carry out judge and decision-making may some deviations, can not exactly for automatic Pilot or auxiliary drive
Offer control signal is provided, certain safety problem can be triggered on the contrary.
In one embodiment of the invention, track is used further to after first the image of camera collection being corrected and processed
The decision-making that the detection of line and automatic Pilot/auxiliary drive, to provide more accurate, safe and reliable vehicle control signal.Specifically
Ground, in an embodiment of the present invention, recognizes and/or detects in described image again after being corrected to the image that camera is gathered
Lane line.Typically, the correction is the correction to trapezoidal subject image, i.e., the subject image being taken in echelon by right
The stretching and/or contraction at two ends and to correct be rectangle object image.Further, for wide-angle lens acquired image, first
After carrying out the correction of wide-angle distortion, then carry out trapezoidal subject image to the correction of rectangle object image.Due to different cameras and
Deformation produced by camera lens is not quite similar, and specific correction mode is not construed as the limitation to embodiment of the present invention herein.
In one embodiment of the invention, although image after correction can effective for the identification of lane line with
Detection, but in order to be more accurately controlled to vehicle, further, also process that the related information of vehicle is complete by orthographic projection
Portion is transformed into same orthographic projection plane and carries out comprehensive analysis and decision-making.Typically, according to the image after shooting and/or correction
(can also combine other sensors gathered data and electronic map etc.) is changed, by vehicle, camera and subject etc.
It is transformed into orthographic projection plane (top view i.e. viewed from above), then vehicle running state is judged in orthographic projection plane, is taken the photograph
As head attitude and vehicle/camera and relation (distance, angle etc.) of object etc., so as to decide whether to adjust with
And specifically how to control vehicle-state and/or camera attitude.
In an embodiment of the present invention, corrected by the image that camera shoots, eliminate the deformation in image,
So that Lane detection and the result of detection are more accurately and reliably.Additionally, passing through orthographic projection conversion process so that vehicle and track
The relation of line causes that follow-up decision is more accurate effective closer to actual real conditions.
In an embodiment of the present invention, orthographic projection conversion and follow-up control decision needs accurate data message branch
Hold, data message include but be not limited to speed, travel direction, the side-play amount of camera relative initial position/angle, shooting head height
Degree, track line position, lane line direction and lane line curvature etc., further can also be with the object for recognizing, other sensings
Device and/or the information data of other vehicles collection are combined, such as road sign, milestone, Obstacle Position, GPS location, trailer-mounted radar
This truck position etc. in data, the rear car visual field.By the combinatorial operation of these data messages, can exactly in orthographic projection plane
Obtain current time vehicle position, camera direction, camera position, lane line in the road position and road in the road
Other object situations etc. in road, such that it is able to the image that is gathered according to camera come rationally and accurately control that vehicle carries out must
That wants is motor-driven, realizes that the reliable automatic Pilot of highly effective and safe/auxiliary drives.
Wherein, to make calculating fast accurate, the same data message of vehicle and camera can be using detection demarcation in advance
Mode is set.Specifically, in whole system initial start, that is, before camera carries out IMAQ, will first take the photograph
Adjusted as head to the initial position of acquiescence, checked in advance by more complete facility and means and measurement obtains each item data,
As the related calibrating parameters of camera, then in the course of the work, real-time calling calibrating parameters participate in calculating and/or school
Just, ensureing data accuracy.
Embodiment five：
Because lane detection is that automatic Pilot/auxiliary drives one of most basic technological means, therefore in reality of the invention
Apply in example, primary and foremost purpose is that lane line is tried one's best to be maintained at camera view center, to ensure that maximally effective track can be carried out
Line is detected.Secondly, then it is the result according to lane detection, judges whether the state of vehicle and position are normal, to carry out necessity
Prompting and/or control ensure driving safety.Again, then it is to be carried out reasonably according to road conditions, vehicle-state and position
Decision-making and planning so that vehicle can be travelled persistently under various road conditions in optimum mode automatically, realize real without people
It is unmanned that work is intervened.
Wherein, it is contemplated that the adjustment of camera is mainly based upon mechanical component, from IMAQ to lane detection, again to
Control decision, finally arrive startup adjustment so that be adjusted in place certain time delay, to avoid camera from can not when being adjusted in place
Newest road conditions are adapted to, such as when vehicle is quickly through inner curve, it is likely that camera is not adjusted in place vehicle also just again
Enter to come off into the straightaway；Or to avoid excessively continually adjusting camera, such as when there is continuous fluctuating or inner curve in road, this hair
Also optimize the adjustment of camera in bright embodiment by the prediction to road conditions and vehicle condition.
In an embodiment of the present invention, the adjustment by the prediction to road conditions and vehicle condition to optimize camera includes：
According to current vehicle condition (including but not limited to speed and travel direction etc.) and present road situation (including but not
It is limited to track line position, direction and curvature etc.), motion rail of the vehicle in the road in prediction following a period of time
Mark；
According to current shooting head status (including but not limited to position, angle etc.) and the movement locus, predict described in not
Come position and duration that a period of time inside lane line deviates the camera view central area；
Deviate the position of the camera view central area according to the lane line, be adjusted to for the camera by prediction
The time that position needs；
According to the duration and the time for being adjusted in place needs, judge to reach the lane line in the vehicle
When deviateing the position of the camera view central area, if need to adjust camera.
Further, the method optimized and revised above by prediction can be analysed in depth by the way of iteration, that is,：If
Judge that the situation of the camera, the vehicle and/or the road there occurs change during above-mentioned prediction, then will change
Situation information afterwards substitutes into above-mentioned prediction, to obtain new information of forecasting.
Optionally, in addition, when predicting multiple adjacent locations and may occur repeatedly to adjust, in the range threshold of adjustment
It is interior, it is preferential to be carried out by the way of the total adjustment amount minimum for causing the multiple adjustment.Still optionally further, can be by suitably putting
The wide range threshold reduces total adjustment amount.
Wherein, the present road situation, can also be further in addition to the image gathered according to the camera is identified
According to electronic map, GIS (Geographic Information System, GIS-Geographic Information System) information, other sensors,
The offer such as other vehicles and/or artificial experience information (including but not limited to Lane Narrows, track is widened, lane line is changed, limit
Fast information, information of overtaking other vehicles, indicator lamp information, congestion control information, accident information, mark information etc.) carry out comprehensive analysis, so as to come
Prediction obtains more accurate vehicle movement track.
By look-ahead, embodiments of the invention can carry out effective optimization to the adjustment of camera, so as to ensure
The efficiency and reliability of camera adjustment, it is to avoid influence of the time delay of adjustment to system reliability.Meanwhile, reality of the invention
Applying example can also be by reducing invalid adjustment and reducing frequently adjustment come the life-span of prolonged mechanical component.
Embodiment six：
Based on above-described embodiment, refering to shown in Fig. 2, with the above method correspondingly, in an embodiment of the invention,
A kind of lane detection device based on dynamic control is also provided, including：
Image capture module 10, for the image in the range of Real-time Collection camera present viewing field；
Lane detection module 11, for recognizing lane line in described image and detecting that the center line of the lane line is
The no central area positioned at described image；
Camera control module 12, for lane line or detecting the center line of the lane line not position unidentified
When the central area of described image, the result according to the identification and/or the detection dynamically adjusts the position of the camera
Put and/or angle, so that the center line of the lane line is located at the central area of the camera view scope.
Alternatively, described device also includes：
Search module, for when lane line is not recognized in described image, in the adjustable range of the camera
Interior lasting search, it is consistent with headstock direction until being recognized in the image gathered in the range of the camera present viewing field
Or the lane line consistent with vehicle heading.
Alternatively, the camera control module includes：
Deviation control module, recognizes lane line, but detect the center of the lane line for working as in described image
When line is not positioned at the central area of described image, the deviation feelings of the center line of center line and described image according to the lane line
Condition accordingly adjusts the camera.
Alternatively, the deviation control module includes：
Separate-blas estimation module, for detecting first between the center line of the lane line and the center line of described image
Deviation and/or first angle deviation are moved,
Move position adjusting type modules, the position for adjusting the camera to the rightabout of first offset deviation
Second displacement,
And/or,
Angle adjustment module, the angle for adjusting the camera to the rightabout of the first angle deviation rotates
Second angle.
Alternatively, the search module includes：
Instant search module, scans for for adjusting the camera from current location；
Or, search module in the same direction, for the camera to be rotated into or and vehicle consistent with headstock direction
After travel direction is consistent, then adjusts the camera and scan for；
Or, disappearance position search module, for according to first Lane detection situation, from the position of track heading line off and
Direction starts to adjust the camera and scans for；
Or, forecasting search module adjusts the camera for the track line position predicted according to electronic map and enters
Line search.
Alternatively, in the search module, the adjustment camera scan for for level it is suitable/rotate counterclockwise institute
Camera is stated to scan for.
Alternatively, described device also includes：
Image flame detection module, after being corrected to the described image that the camera is gathered, then in described image
Identification and/or detection lane line.
Alternatively, described device also includes：
Abnormal judge module, for the result according to the identification and/or the detection, judges state and the position of vehicle
It is whether normal；
Vehicle control module, for when judging abnormal, sending prompting message and/or sending control signal manipulation
The state of the vehicle.
Alternatively, described device also includes：
Orthographic projection processing module, for being changed according to described image, institute is carried out in orthographic projection plane after conversion
State the decision-making judged with the control signal.
Alternatively, described device also includes：
Auxiliary adjusting module, for aid in carrying out by the prediction to road conditions and vehicle condition the camera position and/
Or the dynamic adjustment of angle.
Alternatively, the auxiliary adjusting module includes：
Trajectory prediction module, for according to current vehicle condition and present road situation, institute in prediction a period of time in future
State movement locus of the vehicle in the road；
Deviate prediction module, for imaging head status and the movement locus according to current, when predicting described following one section
Between inside lane line deviate position and the duration of the camera view central area；
Time-consuming prediction module, the position for deviateing the camera view central area according to the lane line, prediction
The camera is adjusted in place the time of needs；
Adjustment decision-making module, for according to the duration and the time for being adjusted in place needs, judging described
When vehicle reaches the position of the lane line deviation camera view central area, if need to adjust camera.
Alternatively, described device also includes：
Module is optimized and revised, for when predicting multiple adjacent locations and may occur repeatedly to adjust, in the camera
It is preferential to be adjusted by the way of the total adjustment amount minimum for causing the multiple adjustment in the range threshold of adjustment.
Embodiment seven：
In implementing at one of the invention, a kind of nonvolatile computer storage media is additionally provided, the computer is deposited
Storage media is stored with computer executable instructions, and the computer executable instructions are retouched in can perform above-mentioned any means embodiment
The method stated.
Or, in implementing at one of the invention, additionally provide a kind of computer program product, the computer product
Including computer executable instructions, the computer executable instructions can perform the side described in above-mentioned any means embodiment
Method.
Embodiment eight：
In one embodiment of the invention, for performing the vehicle-mounted of the above-mentioned method for detecting lane lines based on dynamic control
A kind of hardware configuration of equipment is as shown in figure 3, the mobile unit includes：
Camera 530, head 540, one or more processors 510 and memory 520, with a processor in Fig. 3
As a example by 510.
Memory 520 can be used to store non-volatile software journey as a kind of non-volatile computer readable storage medium storing program for executing
Sequence, non-volatile computer executable program and module, the track based on dynamic control such as in present invention
Programmed instruction/module corresponding to line detecting method.Processor 510 is non-volatile in memory 520 by running storage
Software program, instruction and module, so that the various function application of execute server and data processing.
Memory 520 can include storing program area and storage data field, wherein, storing program area can store operation system
Application program required for system, at least one function；Storage data field can store the use according to the device based on double card online
Data for being created etc..Additionally, memory 520 can include high-speed random access memory, non-volatile depositing can also be included
Reservoir, for example, at least one disk memory, flush memory device or other non-volatile solid state memory parts.In some implementations
In example, memory 520 is optional including the memory remotely located relative to processor 510, and these remote memories can pass through
Network connection is to the mobile unit.The example of above-mentioned network includes but is not limited to internet, intranet, LAN, movement
Communication network and combinations thereof.
Camera 530 is arranged on the head 540, and the camera 530 is used in the range of Real-time Collection present viewing field
Image.The camera 530 is communicated to connect with the memory 520 and one or more of processors 510, the communication link
Connecing can be connected by bus, radio communication or other modes, in Fig. 3 as a example by being connected by bus.
The head 540 is coupled with one or more of processors, and the signal according to the dynamic adjustment drives adjustment
The position of the camera and/or angle.
One or more functional module is stored in the memory 520, when by one or more of processors
During 510 execution, the method for detecting lane lines based on dynamic control in above-mentioned any means embodiment is performed.
The method that the executable embodiment of the present invention of the said goods is provided, possesses the corresponding functional module of execution method and has
Beneficial effect.Not ins and outs of detailed description in the present embodiment, reference can be made to the method that the embodiment of the present invention is provided.
The mobile unit of the embodiment of the present invention is preferably realized with vehicle-mounted control device, but is integrated in the vehicle-mounted of vehicle centre console
Unique form of implementation of the control device not embodiment of the present invention.Substantially, the electronic equipment relatively independent with vehicle is same can
Suitable for embodiments of the invention, as long as it can carry out appropriate interacting with vehicle control system and (including but not limited to receiving and carrying
The information of waking up, reception vehicle control signal etc.).Therefore the mobile unit of the embodiment of the present invention can also exist in a variety of forms,
Including but not limited to：
(1) general-purpose computations terminal：The common apparatus of basic computer process ability is provided, is generally included processor and is deposited
Reservoir, completes corresponding function and performs by reading and running computer instruction.This Terminal Type includes：Personal computer, list
Piece machine, embedded device, and it is various for industry, business or civilian small/micro computer etc..
(2) server：The equipment for providing the service of calculating, the composition of server includes that processor, hard disk, internal memory, system are total
Line etc., server is similar with general computer architecture, but due to needing to provide highly reliable service, therefore in treatment energy
The requirement of the aspects such as power, stability, reliability, security, scalability, manageability is higher.
(3) mobile communication equipment：The characteristics of this kind equipment is that possess mobile communication function, and to provide speech, data
It is main target to communicate.This Terminal Type includes：Smart mobile phone (such as iPhone), multimedia handset, feature mobile phone, and it is low
End mobile phone etc..
(4) super mobile personal computer equipment：This kind equipment belongs to the category of personal computer, there is calculating and treatment work(
Can, typically also possess mobile Internet access characteristic.This Terminal Type includes：PDA, MID and UMPC equipment etc., such as iPad.
(5) portable entertainment device：This kind equipment can show and play content of multimedia.The kind equipment includes:Audio,
Video player (such as iPod), handheld device, e-book, and intelligent toy and portable car-mounted navigation equipment.
(6) other have the electronic installation of data interaction function.
In sum, in the technical scheme of the embodiment of the present invention, using adjustable position and/or the camera of angle,
Cause that lane center impact point is located in the middle of camera view by dynamic regulation means, so as to ensure that lane detection
Accuracy and validity.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, the part shown as unit can be or may not be physics list
Unit, you can with positioned at a place, or can also be distributed on multiple NEs.It can according to the actual needs be selected
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each implementation method can
Realized by the mode of software plus required general hardware platform, naturally it is also possible to by hardware.Based on such understanding, on
Stating the part that technical scheme substantially contributes to prior art in other words can be embodied in the form of software product, should
Computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including some fingers
Order is used to so that a computer equipment (can be personal computer, server, or network equipment etc.) performs each implementation
Method described in some parts of example or embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
Modified with to the technical scheme described in foregoing embodiments, or equivalent is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (17)
1. a kind of method for detecting lane lines based on dynamic control, it is characterised in that methods described includes：
Image in the range of Real-time Collection camera present viewing field；
Lane line is recognized in described image and detects whether the center line of the lane line is located at the central area of described image；
Unidentified to lane line or when detecting the center line of the lane line positioned at the central area of described image, root
Position and/or the angle of the camera are dynamically adjusted according to the result of the identification and/or the detection, so that the lane line
Center line be located at the camera view scope central area.
2. method according to claim 1, it is characterised in that methods described also includes：
When lane line is not recognized in described image,
Persistently searched in the adjustable range of the camera,
Until in the range of the camera present viewing field gather image in recognize it is consistent with headstock direction or with
The consistent lane line of vehicle heading.
3. method according to claim 1 and 2, it is characterised in that methods described also includes：
When recognizing lane line in described image, but the center line of the lane line is detected positioned at the center of described image
During region,
Center line according to the lane line is corresponding to the deviation situation of the center line of described image to adjust the camera.
4. method according to claim 3, it is characterised in that the center line and described image according to the lane line
The deviation situation of center line accordingly adjust the camera and include：
When having the first offset deviation and/or first jiao between the center line and the center line of described image for detecting the lane line
During degree deviation,
Second displacement is moved in the position for adjusting the camera to the rightabout of first offset deviation,
And/or,
The angle for adjusting the camera to the rightabout of the first angle deviation rotates second angle.
5. method according to claim 2, it is characterised in that described persistently to be searched in the adjustable range of the camera
Rope includes：
The camera is adjusted from current location to scan for；
Or, by the camera rotate to it is consistent with headstock direction or consistent with vehicle heading after, then adjust
The whole camera is scanned for；
Or, according to first Lane detection situation, the camera is adjusted since the position and direction of track heading line off
Scan for；
Or, the track line position predicted according to electronic map is scanned for adjusting the camera.
6. method according to claim 5, it is characterised in that the adjustment camera scan for for level it is suitable/
Camera is scanned for described in rotate counterclockwise.
7. method according to claim 1, it is characterised in that methods described also includes：
After being corrected to the described image that the camera is gathered, then recognized in described image and/or detect lane line.
8. method according to claim 1, it is characterised in that methods described also includes：
According to the identification and/or the result of the detection, judge whether the state of vehicle and position are normal；
When judging abnormal, send prompting message and/or send the state that control signal manipulates the vehicle.
9. method according to claim 8, it is characterised in that methods described also includes：
Changed according to described image, carried out in orthographic projection plane after conversion it is described judgement and the control signal certainly
Plan.
10. method according to claim 1, it is characterised in that methods described also includes：
Aid in carrying out the dynamic adjustment of the position and/or angle of the camera by the prediction to road conditions and vehicle condition.
11. methods according to claim 10, it is characterised in that the prediction to road conditions and vehicle condition includes：
According to current vehicle condition and present road situation, fortune of the vehicle in the road in prediction following a period of time
Dynamic rail mark；
According to current shooting head status and the movement locus, predict that following a period of time inside lane line deviates the shooting
The position in head central region region and duration；
Deviate the position of the camera view central area according to the lane line, be adjusted in place for the camera and need by prediction
The time wanted；
According to the duration and the time for being adjusted in place needs, judge that reaching the lane line in the vehicle deviates
During the position of the camera view central area, if need to adjust camera.
12. methods according to claim 11, it is characterised in that methods described also includes：
When predicting multiple adjacent locations and may occur repeatedly to adjust, in the range threshold of camera adjustment, preferentially
It is adjusted by the way of the total adjustment amount minimum for causing the multiple adjustment.
13. a kind of lane detection devices based on dynamic control, it is characterised in that the device includes：
Image capture module, for the image in the range of Real-time Collection camera present viewing field；
Lane detection module, for recognizing lane line in described image and detecting whether the center line of the lane line is located at
The central area of described image；
Camera control module, for it is unidentified to lane line or detect the center line of the lane line be not located at it is described
During the central area of image, result according to the identification and/or the detection dynamically the position of the adjustment camera and/or
Angle, so that the center line of the lane line is located at the central area of the camera view scope.
14. devices according to claim 13, it is characterised in that described device also includes：
Search module, for when lane line is not recognized in described image, being held in the adjustable range of the camera
Continuous search, until recognized in the image gathered in the range of the camera present viewing field it is consistent with headstock direction or
Person's lane line consistent with vehicle heading.
15. devices according to claim 13, it is characterised in that described device also includes：
Auxiliary adjusting module, position and/or angle for aiding in carrying out the camera by the prediction to road conditions and vehicle condition
The dynamic adjustment of degree.
16. devices according to claim 15, it is characterised in that described device also includes：
Module is optimized and revised, for when predicting multiple adjacent locations and may occur repeatedly to adjust, in camera adjustment
Range threshold in, it is preferential using cause the multiple adjustment total adjustment amount it is minimum by the way of be adjusted.
A kind of 17. mobile units, it is characterised in that including：Camera, head, memory and one or more processors；Its
In,
The camera is arranged on the head, the image that the camera is used in the range of Real-time Collection present viewing field；
The camera is connected with the memory and one or more of processor communications, and the memory storage has can quilt
The instruction of one or more of computing devices, the instruction by one or more of computing devices so that described one
Individual or multiple processors can realize the method as any one of claim 1-12；
The head is coupled with one or more of processors, and the signal according to the dynamic adjustment drives the adjustment shooting
The position of head and/or angle.
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| CN113643313B (en) * | 2021-08-11 | 2023-09-29 | 深圳市天双科技有限公司 | Vehicle-mounted camera dirt dynamic detection method |
| CN113778081B (en) * | 2021-08-19 | 2022-07-22 | 中国农业科学院农业资源与农业区划研究所 | Orchard path identification method and robot based on laser radar and vision |
| CN113778081A (en) * | 2021-08-19 | 2021-12-10 | 中国农业科学院农业资源与农业区划研究所 | Orchard path identification method and robot based on laser radar and vision |
| CN116001681A (en) * | 2023-02-22 | 2023-04-25 | 江苏集萃道路工程技术与装备研究所有限公司 | Active safety early warning system and method for construction vehicle |
| CN116001681B (en) * | 2023-02-22 | 2023-11-10 | 江苏集萃道路工程技术与装备研究所有限公司 | Active safety early warning system and method for construction vehicle |
| CN116289706A (en) * | 2023-02-24 | 2023-06-23 | 乌海市广纳煤焦化有限公司 | Roadway gate system |
| CN116289706B (en) * | 2023-02-24 | 2024-02-20 | 乌海市广纳煤焦化有限公司 | Roadway gate system |
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