CN106740841B - 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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- CN106740841B CN106740841B CN201710079303.0A CN201710079303A CN106740841B CN 106740841 B CN106740841 B CN 106740841B CN 201710079303 A CN201710079303 A CN 201710079303A CN 106740841 B CN106740841 B CN 106740841B
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The invention discloses a kind of method for detecting lane lines based on dynamic control, device and mobile unit, this method to include：Image in the range of real-time acquisition camera present viewing field；Lane line is identified in described image and whether detects the center line of the lane line positioned at the central area of described image；Unidentified to lane line or when detecting that the center line of the lane line is not located at the central area of described image, position and/or the angle of the camera are adjusted according to the result of the identification and/or detection dynamic, so that the center line of the lane line is located at the central area of the camera view range.In the technical solution of the embodiment of the present invention, using adjustable position and/or the camera of angle, it is located among camera view come lane center target point by dynamic regulation means, so as to ensure that the accuracy of lane detection and validity.
Description
Technical field
The invention belongs to Vehicular automatic driving technical fields, 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 becomes hot research field.Lane line prison based on camera
Survey is an important research content in automatic Pilot field, and the warning of lane line center deviation and auxiliary in being driven such as 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 to detect lane line in real time according to the image that camera takes, and obtains vehicle and lane line accordingly
Relative position, so as to obtain vehicle whether run-off-road line center, to instruct subsequent planning and control so that vehicle can be kept
It travels at lane line center or is reasonably evaded.
In the prior art, whether based on the monocular cam still lane detection skill based on binocular depth camera
Art is required for carrying out camera after camera is fixedly mounted and determines the cameras technical parameters such as pitch angle, focal length various
Calibration, and corresponding calibrating parameters are generated, to pass through the lane line in calibrating parameters also original image in subsequent driving process
With the real physical relationship of vehicle.
But inventor has found in the implementation of the present invention, it is this in the prior art to be based on fixing camera position
Lane detection there are the following problems：First, when vehicle on the road surface for thering is fluctuating to jolt when driving, due to lane line and vehicle
Correspondence between is changed, and the lane detection based on preset parameter calibration may export the lane line of mistake
Testing result, although lane detection algorithm and subsequent planning control algorithm can pass through this feelings of technical finesses such as filtering
Condition, but all cannot fundamentally solve the problems, such as this；Secondly as camera installation site and angle are fixed, camera regards
Angle is limited, leads to that situation of the lane line in right ahead can only be handled mostly in practical applications, when vehicle is larger in curvature
Bend on when driving, camera will lose detection target, lane line central row be followed to sail so as to be unable to guiding vehicle.It uses
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 are big deformation for wide-angle lens, can so that lane detection algorithm is more complicated.
Therefore, how when vehicle is travelled on rough road and the larger road of curvature correct track is detected
Line is become for a technical problem to be solved urgently.
Invention content
The object of the present invention is to provide a kind of method for detecting lane lines based on dynamic control, device and mobile unit,
Correct lane line can not 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, provide a kind of lane line based on dynamic control
Detection method, including：
Image in the range of real-time acquisition camera present viewing field；
Lane line is identified in described image and whether detects the center line of the lane line positioned at the center of described image
Region；
To lane line or detect that the center line of the lane line is not located at the central area of described image unidentified
When, position and/or the angle of the camera are adjusted according to the result of the identification and/or detection dynamic, so that described
The center line of lane line is located at the central area of the camera view range.
Optionally, the method further includes：
When not recognizing lane line in described image,
It is persistently searched in the adjustable range of the camera,
Until recognized in the image acquired in the range of the camera present viewing field it is consistent with headstock direction or
Person's lane line consistent with vehicle heading.
Optionally, the method further includes：
When recognizing lane line in described image, but detect that the center line of the lane line is not located at described image
During central area,
The camera is adjusted according to the center line of the lane line is corresponding to the deviation situation of the center line of described image.
Optionally, 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：
There are the first offset deviation and/or between the center line of center line and described image of the lane line is detected
During one angular deviation,
Second displacement is moved in the position that the camera is adjusted to the opposite direction of first offset deviation,
And/or
The angle that the camera is adjusted to the opposite direction of the first angle deviation rotates second angle.
It is optionally, described that persistently search includes in the adjustable range of the camera：
The camera is adjusted from current location to scan for；
Alternatively, by the camera rotate to it is consistent or consistent with vehicle heading with headstock direction after,
The camera is adjusted again to scan for；
Alternatively, according to first Lane detection situation, taken the photograph described in adjustment since the position and direction of track heading line off
As head scans for；
Alternatively, the track line position predicted according to electronic map scans for adjust the camera.
Optionally, the adjustment camera scan for for it is horizontal it is suitable/rotate the camera counterclockwise and searched
Rope.
Optionally, the method further includes：
After being corrected to the described image of camera acquisition, then track is identified and/or detected in described image
Line.
Optionally, the method further includes：
According to it is described identification and/or the detection as a result, judging whether the state of vehicle and position normal；
When judging to be abnormal, send out prompting message and/or send out the state of vehicle described in control signal handling.
Optionally, the method further includes：
It is converted according to described image, the judgement and the control signal is carried out in orthographic projection plane after conversion
Decision.
Optionally, the method further includes：
By the prediction to road conditions and vehicle condition, to assist carrying out the dynamic of the position of the camera and/or angle
Adjustment.
Optionally, the prediction to road conditions and vehicle condition includes：
According to current vehicle condition and present road situation, predict that the vehicle is in the road in following a period of time
Movement locus；
According to when preceding camera state and the movement locus, predict described in following a period of time inside lane line deviation
The position of camera view central area and duration；
Deviate the position of the camera view central area according to the lane line, predict and be adjusted to the camera
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.
Optionally, the method further includes：
When predicting multiple adjacent locations and may occur repeatedly to adjust, in the range threshold of camera adjustment,
It is preferential to use so that the total adjustment amount least way repeatedly adjusted is adjusted.
In the another aspect of the embodiment of the present invention, a kind of lane detection device based on dynamic control is additionally provided, is wrapped
It includes：
Image capture module, for the image in the range of real-time acquisition camera present viewing field；
Lane detection module, in described image identify 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 that the center line of the lane line is not located at unidentified
During the central area of described image, the position of the camera is adjusted according to the result of the identification and/or detection dynamic
And/or angle, so that the center line of the lane line is located at the central area of the camera view range.
Optionally, described device further includes：
Search module, for when not recognizing lane line 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 acquired in the range of the camera present viewing field
Or the lane line consistent with vehicle heading.
Optionally, described device further includes：
Auxiliary adjustment module, for by the prediction to road conditions and vehicle condition, come assist carrying out the position of the camera and/
Or the dynamic adjustment of angle.
Optionally, described device further includes：
Module is optimized and revised, for when predicting multiple adjacent locations and may occur repeatedly to adjust, in the camera
It is preferential using so that the total adjustment amount least way repeatedly adjusted is adjusted in the range threshold of adjustment.
In the embodiment of the present invention in another aspect, additionally provide a kind of mobile unit, including：Camera, holder, memory
And one or more processors；Wherein,
The camera is mounted on the holder, and the camera is for the figure in the range of acquisition present viewing field in real time
Picture；
The camera is connect with the memory and one or more of processor communications, and the memory is stored with
The instruction that can be performed by one or more of processors, described instruction are performed by one or more of processors, so that institute
Method as described in any one of claim 1-12 can be realized by stating one or more processors；
The holder is coupled with one or more of processors, according to the signal driving adjustment that the dynamic adjusts
The position of camera and/or angle.
In the technical solution of the embodiment of the present invention, using adjustable position and/or the camera of angle, adjusted by dynamic
Control means cause the lane center target point to be located among camera view, so as to ensure that the accuracy of lane detection and
Validity.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments, for those of ordinary skill in the art, without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow diagram 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 structure diagram of mobile unit in one embodiment of the invention.
Specific embodiment
For those skilled in the art is made to more fully understand technical scheme of the present invention, below in conjunction with the accompanying drawings and specific embodiment party
Formula is described in further detail the present invention.
In the prior art, vehicle-mounted camera is usually fixed on target vehicle, and the position of camera and angle are consolidated
It is fixed, while the calibrating parameters that lane detection algorithm uses are also based on these fixed installation positions.But which is practical only
It is suitable for the situation that vehicle travels on straight road surface, when vehicle is on the road surface for having fluctuating to jolt or in the larger bend of curvature
On when driving, the correspondence between lane line and vehicle can change or even lane line can disappear from camera view,
At this time the calibrating parameters based on fixing camera may result in mistake lane detection result even can not be into driveway line
Detection.At present, it can not effectively solve the above problems in a manner that wide-angle camera expands detection zone.
In the technical solution of the embodiment of the present invention, using adjustable position and/or the camera of angle, adjusted by dynamic
Control means cause the lane center target point to be located among camera view, so as to ensure that the accuracy of lane detection and
Validity.
Embodiment one：
As shown in Figure 1, a kind of method for detecting lane lines based on dynamic control disclosed by the embodiments of the present invention includes：
S1, the image in the range of real-time acquisition camera present viewing field；
S2 identifies lane line in described image and detects the center line of the lane line whether in described image
Heart district domain；
S3 to lane line or detects that the center line of the lane line is not located at the center of described image unidentified
During domain, position and/or the angle of the camera are adjusted according to the result of the identification and/or detection dynamic, so that institute
The center line for stating lane line is located at the central area of the camera view range.
Wherein, the camera in the embodiment of the present invention is vehicle-mounted camera, and the vehicle-mounted camera can be that monocular images
The combination of head, binocular camera or more camera, single camera can be used conventional camera lens, wide-angle lens, telephoto lens or
Varifocal mirror head etc., camera sensing device can be CCD (Charge-coupled Device, charge coupled device) or CMOS
Sensors such as (Complementary Metal Oxide Semiconductor, complementary metal oxide semiconductors), camera
Type can be polychrome camera (such as RGB color camera) or monochromatic camera (such as black and white camera, infrared camera,
R/G/B monochromes camera) etc., this camera concrete form not as the limitation to embodiment of the present invention.
Optionally, the vehicle-mounted camera be arranged at the top, tail portion, inside rear-view mirror of vehicle, at outside rear-view mirror or appoint
It anticipates possible installation site, so that the vehicle-mounted camera includes at least 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, optionally, by driving 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
Picture head is mounted on holder, the position of the fine-tuning camera of holder and/or the angle of the rotation adjustment camera；
Optionally, the holder is movably disposed at least one guide rail, by the holder mobile 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 holder and/or the guide rail are equipped with stabilizer, and the camera can be kept to be travelled in vehicle
And/or the stability during adjustment, for example damping and/or can keep the dynamic equilibrium of the camera.In addition, for tool
There is the camera of zoom capabilities, can also pass through the adjustment to camera focal length/amplification factor so that the center line of lane line is located at
The central area of camera view range.
Embodiment two：
In one embodiment of the invention, mainly by image procossing mode come into the identification and detection of driveway line.
Under normal conditions, the color of lane line, the position of shape and its appearance in the picture are relatively fixed, and pass through what camera was acquired
Image, which is handled to separate, identifies most of track line index.Typically, image procossing and the step of image identification
Suddenly include：Pretreatment, gray proces, edge detection, image segmentation and feature extraction etc., related algorithm and specific implementation into
Ripe, details are not described herein, and the detailed process of image procossing and image identification 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 the ROI of image (region of
Interest, area-of-interest) in be identified and detect.In one embodiment of the invention, further to utilize detection
The position of output control adjustment camera and/or angle, are preferably integrally identified and detect to image, especially unidentified
In the case of lane line, may emphasis detection further be carried out to the object of image both sides of the edge.
Wherein, holder and/or camera frequently move in order to prevent, influence holder service life and camera detection it is steady
Qualitative, in an embodiment of the present invention, the central area of image/field range is a range areas with one fixed width.
Ideally, the center line of lane line is overlapped certainly with the center line of image/field range most useful for the side of vehicle control
Formula, but this can control to system and bring great pressure, therefore be not strictly required 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 the distance and/or angle of lane line center line and the center line of image/field range
Deviation in the range threshold when, that is, think that the center line of lane line is located at the central area of image/field range, at this time without
It 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, it is described according to the result of the identification and/or detection dynamic adjustment institute
The position and/or angle for stating camera include a variety of decision making approach and adjustable strategies.
Typically, when recognizing lane line in the picture, but detect that the center line of the lane line is not located at the figure
During the central area of picture, according to the adjustment corresponding to the deviation situation of the center line of described image of the center line of the lane line
Camera.For example, when detecting the deviation for having the first displacement between the center line of lane line and the center line of image and/or first
During the deviation of angle, position movement second displacement to the opposite direction adjustment camera of the first offset deviation and/or to first
The angle rotation second angle of the opposite direction adjustment camera of angular deviation.Wherein, the first displacement is corresponding with second displacement
The correspondence of relationship, first angle and second angle is calculated according to camera parameter and calibrating parameters etc..
And when not recognizing lane line in the picture, then it needs persistently to search in the adjustable range of camera, directly
Camera present viewing field range is appeared in the lane line consistent or consistent with vehicle heading with headstock direction
Interior (by acquisition image recognition and verification) is then adjusted further according to the center line of lane line is corresponding to the deviation situation of the center line of image
Whole camera (adjustment mode i.e. described above).Optionally, way of search includes：
From current location, adjustment camera scans for；
Alternatively, by camera rotate to it is consistent or consistent with vehicle heading with headstock direction after, then adjust
Whole camera scans for；
Alternatively, according to first Lane detection situation, camera is adjusted since the position and direction of track heading line off
It scans for；
Alternatively, the track line position predicted according to electronic map scans for adjust camera.
To improve efficiency, reliability and safety, most possibly there are the positions of lane line to answer override to search for；But simultaneously
The adjustment for being considered as camera is to rely on mechanical part, should not excessively be acted frequently and significantly, search process should protect as possible
It holds brief and smooth.Therefore, in an embodiment of the present invention, preferably searched by rotating horizontally camera into the preliminary of driveway line
Rope；Further, it is determined according to vehicle-state, first Lane detection situation, onboard sensor and/or electronic map etc.
Direction of rotation (being clockwise or counterclockwise).For example, when vehicle is turned right, preferentially rotate to search for (i.e. clockwise) to the right；
Alternatively, the rightmost side of straight line when driving, before the heading line off of track in first field-of-view image, then preferential (i.e. suitable to the right
Hour hands) it rotates to search for；Or straight line (includes but not limited to first lane line to know when driving, according to certain means
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) it rotates to search for.The privileged direction of rotating camera can also be according to more information come comprehensive descision and decision, herein not
It enumerates again, relevant technical staff in the field should be appreciated that the specifically determining means of direction of rotation are not construed as to the present invention
The limitation of embodiment.
In addition, relevant technical staff in the field is appreciated that horizontal rotation search is only theoretically more easily searched for
Mode, in certain extreme cases, for example road big rise and fall, car accident, lane line are blocked or lane line interrupts etc.,
The mode of Omnidirectional rotation and/or dollying head can be used to scan for, specific way of search is not construed as to this herein
The limitation of invention embodiment.
Example IV：
In general, the image of vehicle-mounted camera shooting generally understands some deformations, most typically, subject (such as lane line)
The problem of near big and far smaller 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 acquire image directly carry out judge and decision may some deviations, can not accurately for automatic Pilot or auxiliary drive
Offer control signal is provided, certain safety problem can be caused instead.
In one embodiment of the invention, track is used further to after first the image of camera acquisition being corrected and handled
The decision 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, is identified and/or is detected in described image again after being corrected to the image of camera acquisition
Lane line.Typically, the correction is correction to trapezoidal subject image, i.e., be taken into trapezoidal subject image pass through it is right
The stretching and/or contraction at both ends and correct as rectangle object image.Further, it is first for wide-angle lens acquired image
After the correction for carrying out wide-angle distortion, then carry out correction of the trapezoidal subject image to rectangle object image.Due to different cameras and
Deformation is not quite similar caused by camera lens, 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 lane line identification with
Detection, but in order to more accurately control vehicle, further, also handled by orthographic projection the relevant information of vehicle is complete
Portion, which is transformed into same orthographic projection plane, carries out comprehensive analysis and decision.Typically, according to the image after shooting and/or correction
(can also combine other sensors gathered data and electronic map etc.) is converted, and vehicle, camera and subject etc. is equal
It is transformed into orthographic projection plane (vertical view i.e. viewed from above), then judges vehicle running state in orthographic projection plane, takes the photograph
As head posture and the relationship of vehicle/camera and object (distance, angle etc.) etc., so as to decide whether adjustment with
And specifically how to control vehicle-state and/or camera posture.
In an embodiment of the present invention, by being corrected to the image that camera is shot, the deformation in image is eliminated,
So that Lane detection and the result of detection are more accurately and reliably.In addition, pass through orthographic projection conversion process so that vehicle and track
The relationship of line is closer to practical real conditions, so that follow-up decision is more accurate effective.
In an embodiment of the present invention, orthographic projection conversion and subsequent control decision need accurate data information branch
It holds, data information includes but is not limited to speed, the offset of travel direction, camera relative initial position/angle, camera shooting head height
Degree, track line position, lane line direction and lane line curvature etc., further can also with recognize object, other sensing
Device and/or the information data of other vehicles acquisition combine, such as road sign, milestone, Obstacle Position, GPS positioning, trailer-mounted radar
This truck position etc. in data, the rear car visual field.It, can be accurately in orthographic projection plane by the combinatorial operation of these data informations
Obtain position, camera direction, camera position, the position and road of lane line in the road of current time vehicle in the road
Other object situations etc. in road, the image so as to be acquired according to camera accurately controls vehicle progress come reasonable 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, detection calibration in advance can be used in the same data message of vehicle and camera
Mode is set.Specifically, it in whole system initial start, that is, before camera carries out Image Acquisition, will first take the photograph
As head is adjusted to the initial position of acquiescence, checked in advance by more complete facility and means and measurement obtain each item data,
As the relevant calibrating parameters of camera, then during the work time, real-time calling calibrating parameters participate in calculating and/or school
Just, to ensure data accuracy.
Embodiment five：
Since lane detection is that automatic Pilot/auxiliary drives one of most basic technological means, therefore in the reality of the present invention
It applies in example, primary and foremost purpose is that lane line is maintained to camera view center as possible, to ensure that most effective track can be carried out
Line detects.Secondly, then it is according to lane detection as a result, judging 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 and planning so that vehicle can be travelled persistently under various road conditions in a manner of optimum automatically, be realized really without people
Work intervention it is unmanned.
Wherein, it is contemplated that the adjustment of camera is mainly based upon mechanical component, from Image Acquisition to lane detection, again to
Control decision finally arrives startup adjustment or even is adjusted in place certain time delay, for camera is avoided cannot 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
Into coming off into the straightaway；Or to avoid excessively continually adjusting camera, such as when the continuous fluctuating of road presence or inner curve, this hair
The adjustment of camera is also optimized by the prediction to road conditions and vehicle condition in bright embodiment.
In an embodiment of the present invention, by including to the prediction of road conditions and vehicle condition to optimize the adjustment of camera：
According to current vehicle condition (include 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.), predict movement rail of the vehicle in the road in following a period of time
Mark；
According to when preceding camera state (include but not limited to position, angle etc.) and the movement locus, predicting 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, predict and be adjusted to the camera
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 mode that iteration can be used in the method optimized and revised above by prediction is analysed in depth, that is,：If
The camera, the vehicle and/or the road are judged during above-mentioned prediction has happened variation, then will variation
Situation information afterwards substitutes into above-mentioned prediction, to obtain new predictive information.
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 using so that the total adjustment amount least way repeatedly adjusted carries out.It 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 acquired according to the camera is identified
According to electronic map, GIS (Geographic Information System, GIS-Geographic Information System) information, other sensors,
The offers such as other vehicles and/or artificial experience information (include but not limited to Lane Narrows, track is widened, lane line changes, limits
Fast information, information of overtaking other vehicles, indicator light 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, the embodiment of the present invention can effectively optimize the adjustment of camera, so as to ensure
The efficiency and reliability of camera adjustment, avoids influence of the time delay to system reliability of adjustment.Meanwhile reality of the invention
Applying example can also be by reducing invalid adjustment and reducing frequently adjustment come the service life of prolonged mechanical component.
Embodiment six：
Based on above-described embodiment, as 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 acquisition camera present viewing field；
Lane detection module 11 is for identifying lane line in described image and detecting the center line of the lane line
It is no positioned at the central area of 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 position of the camera is adjusted according to the result of the identification and/or detection dynamic
It puts and/or angle, so that the center line of the lane line is located at the central area of the camera view range.
Optionally, described device further includes：
Search module, for when not recognizing lane line 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 acquired in the range of the camera present viewing field
Or the lane line consistent with vehicle heading.
Optionally, 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 located at the central area of described image, according to the deviation feelings of the center line of the lane line and the center line of described image
Condition accordingly adjusts the camera.
Optionally, 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,
Position adjusting type modules move for adjusting the position of the camera to the opposite direction of first offset deviation
Second displacement,
And/or
Angle adjusts module, is rotated for adjusting the angle of the camera to the opposite direction of the first angle deviation
Second angle.
Optionally, described search module includes：
Instant search module scans for for adjusting the camera from current location；
Alternatively, search module in the same direction, for the camera to be rotated to or and vehicle consistent with headstock direction
After travel direction is consistent, then adjusts the camera and scan for；
Alternatively, disappearance position search module, for according to first Lane detection situation, from the position of track heading line off and
Direction, which starts to adjust the camera, to be scanned for；
Alternatively, forecasting search module, for the track line position predicted according to electronic map adjust the camera into
Row search.
Optionally, in described search module, the adjustment camera scan for for it is horizontal it is suitable/rotate institute counterclockwise
Camera is stated to scan for.
Optionally, described device further includes：
Image flame detection module, after the described image for being acquired to the camera is corrected, then in described image
Identification and/or detection lane line.
Optionally, described device further includes：
Abnormal judgment module, for according to it is described identification and/or the detection as a result, judging state and the position of vehicle
It is whether normal；
Vehicle control module, for when judging to be abnormal, sending out prompting message and/or sending out control signal handling
The state of the vehicle.
Optionally, described device further includes：
For being converted according to described image, institute is carried out in orthographic projection plane after conversion for orthographic projection processing module
State the decision judged with the control signal.
Optionally, described device further includes：
Auxiliary adjustment module, for by the prediction to road conditions and vehicle condition, come assist carrying out the position of the camera and/
Or the dynamic adjustment of angle.
Optionally, the auxiliary adjustment module includes：
Trajectory prediction module, for according to current vehicle condition and present road situation, predicting institute in following a period of time
State movement locus of the vehicle in the road；
Deviate prediction module, work as preceding camera state and the movement locus for basis, when predicting described following one section
Between inside lane line deviate position and the duration of the camera view central area；
Prediction module is taken, for deviateing the position of the camera view central area, prediction according to the lane line
The camera is adjusted in place to the time of needs；
Decision-making module is adjusted, 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.
Optionally, described device further includes：
Module is optimized and revised, for when predicting multiple adjacent locations and may occur repeatedly to adjust, in the camera
It is preferential using so that the total adjustment amount least way repeatedly adjusted is adjusted in the range threshold of adjustment.
Embodiment seven：
In the implementation of the present invention, a kind of nonvolatile computer storage media is additionally provided, the computer is deposited
Storage media is stored with computer executable instructions, which can perform is retouched in above-mentioned any means embodiment
The method stated.
Or in the implementation of the present invention, additionally provide a kind of computer program product, the computer product
Including computer executable instructions, which 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, holder 540, one or more processors 510 and memory 520, with a processor in Fig. 3
For 510.
Memory 520 is used as a kind of non-volatile computer readable storage medium storing program for executing, available for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, such as the track based on dynamic control in present invention
Program instruction/module corresponding to line detecting method.Processor 510 is stored in non-volatile in memory 520 by operation
Software program, instruction and module, various function application and data processing so as to execute server.
Memory 520 can include storing program area and storage data field, wherein, storing program area can store operation system
System, the required application program of at least one function；Storage data field can be stored according to the use of device surfed the Internet based on double card
Data created etc..In addition, memory 520 can include high-speed random access memory, non-volatile deposit can also be included
Reservoir, for example, at least a disk memory, flush memory device or other non-volatile solid state memory parts.In some implementations
In example, memory 520 is optional including relative to the remotely located memory of processor 510, these remote memories can pass through
Network connection is to the mobile unit.The example of above-mentioned network includes but not limited to internet, intranet, LAN, movement
Communication network and combinations thereof.
Camera 530 is mounted on the holder 540, and the camera 530 is acquired for real-time in the range of 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, wireless communication or other modes, in Fig. 3 for being connected by bus.
The holder 540 is coupled with one or more of processors, and adjustment is driven according to the signal that the dynamic adjusts
The position of the camera and/or angle.
One or more function 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 said goods can perform the method that the embodiment of the present invention is provided, and has the corresponding function module of execution method and has
Beneficial effect.The not technical detail 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
Control device is not unique form of implementation of the embodiment of the present invention.Substantially, it is similary with the electronic equipment that vehicle is relatively independent can
Embodiment is suitable for the invention, (including but not limited to receives and carries as long as it can carry out appropriate interaction with vehicle control system
Awake information receives 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, generally include processor and is deposited
Reservoir is completed corresponding function by reading and running computer instruction and is performed.This Terminal Type includes：Personal computer, list
Piece machine, embedded device and various for industry, business or civilian small/micro computer etc..
(2) server：The equipment for providing the service of calculating, the composition of server are total including processor, hard disk, memory, system
Line etc., server is similar with general computer architecture, but due to needing to provide highly reliable service, in processing energy
Power, stability, reliability, safety, scalability, manageability etc. are more demanding.
(3) mobile communication equipment：The characteristics of this kind equipment is that have mobile communication function, and to provide speech, data
It communicates as main target.This Terminal Type includes：Smart mobile phone (such as iPhone), multimedia handset, functional mobile phone and low
Hold mobile phone etc..
(4) super mobile personal computer equipment：This kind equipment belongs to the scope of personal computer, there is calculating and processing work(
Can, generally also have 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 multimedia content.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 function of the electronic device of data interaction.
In conclusion in the technical solution of the embodiment of the present invention, using adjustable position and/or the camera of angle,
It is located among camera view come lane center target point by dynamic regulation means, so as to ensure that lane detection
Accuracy and validity.
The apparatus embodiments described above are merely exemplary, wherein the unit illustrated as separating component can
To be or may not be physically separate, the component shown as unit may or may not be physics list
Member, you can be located at a place or can also be distributed in multiple network element.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Labour 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 embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on such understanding, on
Technical solution is stated substantially in other words to embody the part that the prior art contributes in the form of software product, it should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and (can be personal computer, server or the network equipment etc.) so that computer equipment is used to perform each implementation
Method described in certain 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 is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
To modify to the technical solution recorded in foregoing embodiments or carry out equivalent replacement to which part technical characteristic；
And these modification or replace, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (17)
1. a kind of method for detecting lane lines based on dynamic control, which is characterized in that the method includes：
Image in the range of real-time acquisition camera present viewing field；
Lane line is identified in described image and whether detects the center line of the lane line positioned at the central area of described image；
Unidentified to lane line or when detecting that the center line of the lane line is not located at the central area of described image, root
Position and/or the angle of the camera are adjusted according to the result of the identification and/or detection dynamic, so that the lane line
Center line be located at the central area of the camera view range.
2. according to the method described in claim 1, it is characterized in that, the method further includes：
When not recognizing lane line in described image,
It is persistently searched in the adjustable range of the camera,
Until recognized in the image acquired in the range of the camera present viewing field it is consistent with headstock direction or with
The consistent lane line of vehicle heading.
3. method according to claim 1 or 2, which is characterized in that the method further includes：
When recognizing lane line in described image, but detect that the center line of the lane line is not located at the center of described image
During region,
The camera is adjusted according to the center line of the lane line is corresponding to the deviation situation of the center line of described image.
4. the according to the method described in claim 3, it is characterized in that, center line and described image according to the lane line
The deviation situation of center line accordingly adjust the camera and include：
There are the first offset deviation and/or first jiao between the center line of center line and described image of the lane line is detected
When spending deviation,
Second displacement is moved in the position that the camera is adjusted to the opposite direction of first offset deviation,
And/or
The angle that the camera is adjusted to the opposite direction of the first angle deviation rotates second angle.
5. according to the method described in claim 2, it is characterized in that, described persistently search in the adjustable range of the camera
Rope includes：
The camera is adjusted from current location to scan for；
Alternatively, by the camera rotate to it is consistent or consistent with vehicle heading with headstock direction after, then adjust
The whole camera scans for；
Alternatively, according to first Lane detection situation, the camera is adjusted since the position and direction of track heading line off
It scans for；
Alternatively, the track line position predicted according to electronic map scans for adjust the camera.
6. according to the method described in claim 5, it is characterized in that, the adjustment camera scan for for it is horizontal it is suitable/
The camera is rotated counterclockwise to scan for.
7. according to the method described in claim 1, it is characterized in that, the method further includes：
After being corrected to the described image of camera acquisition, then lane line is identified and/or detected in described image.
8. according to the method described in claim 1, it is characterized in that, the method further includes：
According to it is described identification and/or the detection as a result, judging whether the state of vehicle and position normal；
When judging to be abnormal, send out prompting message and/or send out the state of vehicle described in control signal handling.
9. according to the method described in claim 8, it is characterized in that, the method further includes：
It is converted according to described image, the judgement is carried out in orthographic projection plane after conversion and controls determining for signal with described
Plan.
10. according to the method described in claim 1, it is characterized in that, the method further includes：
By the prediction to road conditions and vehicle condition, to assist carrying out the dynamic of the position of the camera and/or angle to adjust.
11. according to the method described in claim 10, it is characterized 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 following a period of time is predicted
Dynamic rail mark；
According to when preceding camera state and the movement locus, predict that following a period of time inside lane line deviates the camera shooting
The position in head central region region and duration；
Deviate the position of the camera view central area according to the lane line, predicting the camera being adjusted in place needs
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. according to the method for claim 11, which is characterized in that the method further includes：
When predicting multiple adjacent locations and may occur repeatedly to adjust, in the range threshold of camera adjustment, use
So that the total adjustment amount least way repeatedly adjusted is adjusted.
13. a kind of lane detection device based on dynamic control, which is characterized in that the device includes：
Image capture module, for the image in the range of real-time acquisition camera present viewing field；
Lane detection module, for identifying lane line in described image and detecting the center line of the lane line whether be located at
The central area of described image；
Camera control module, for unidentified to lane line or to detect that the center line of the lane line is not located at described
During the central area of image, according to it is described identification and/or the detection result dynamic adjust the camera position and/or
Angle, so that the center line of the lane line is located at the central area of the camera view range.
14. device according to claim 13, which is characterized in that described device further includes：
Search module, for when not recognizing lane line in described image, being held in the adjustable range of the camera
Continuous search, until recognized in the image acquired 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. device according to claim 13, which is characterized in that described device further includes：
Auxiliary adjustment module, for by the prediction to road conditions and vehicle condition, to assist carrying out the position and/or angle of the camera
The dynamic adjustment of degree.
16. device according to claim 15, which is characterized in that described device further includes：
Module is optimized and revised, for when predicting multiple adjacent locations and may occur repeatedly to adjust, being adjusted in the camera
Range threshold in, be adjusted using the total adjustment amount least way repeatedly adjusted is caused.
17. a kind of mobile unit, which is characterized in that including：Camera, holder, memory and one or more processors；Its
In,
The camera is mounted on the holder, and the camera is for the image in the range of acquisition present viewing field in real time；
The camera is connect with the memory and one or more of processor communications, and the memory is stored with can quilt
The instruction that one or more of processors perform, described instruction is performed by one or more of processors, so that described one
A or multiple processors can realize the method as described in any one of claim 1-12；
The holder is coupled with one or more of processors, and the camera is adjusted according to the signal driving of dynamic adjustment
Position and/or angle.
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