CN210515313U - Device for lane line curve fitting method - Google Patents
Device for lane line curve fitting method Download PDFInfo
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- CN210515313U CN210515313U CN201921241394.4U CN201921241394U CN210515313U CN 210515313 U CN210515313 U CN 210515313U CN 201921241394 U CN201921241394 U CN 201921241394U CN 210515313 U CN210515313 U CN 210515313U
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- lane line
- central hole
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- supporting plate
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Abstract
The device for the lane line curve fitting method comprises an automobile and a camera, wherein a round supporting plate is bonded to the top of the automobile, the round supporting plate is fixedly connected with 3 supporting columns with included angles of 120 degrees, the supporting columns are connected through the supporting plate, a central hole is formed in the supporting plate, a rotating plate is arranged on the supporting plate, a concentric central hole is formed in the rotating plate, the central hole and the concentric central hole are fixedly connected through a bolt, the concentric central hole is connected with a reaming hole, the top of the bolt is embedded into the reaming hole, and the camera is placed on the rotating plate and fixed through the bolt.
Description
The technical field is as follows:
the invention relates to a device of a lane line curve fitting method.
Background art:
curve fitting to the lane lines is necessary for better understanding and predicting the surrounding environmental information during vehicle travel. The acquired lane line data are subjected to curve fitting, so that the parameter information of the lane line can be well estimated, and the information such as offset, inclination angle, curvature radius and the like can be obtained, so that the trend of the lane line is predicted, and the help is provided for a driver or an automatic vehicle control system. The method for curve fitting of the lane lines obtains the pixel coordinates of each lane line in the current image from the video, and carries out cubic curve fitting on each lane line, so a device for the method for curve fitting of the lane lines is needed.
The invention content is as follows:
the invention aims to provide a device of a lane line curve fitting method.
The above purpose is realized by the following technical scheme:
the device for the lane line curve fitting method comprises an automobile and a camera, wherein a round supporting plate is bonded to the top of the automobile, the round supporting plate is fixedly connected with 3 supporting columns with included angles of 120 degrees, the supporting columns are connected through the supporting plate, a central hole is formed in the supporting plate, a rotating plate is arranged on the supporting plate, a concentric central hole is formed in the rotating plate, the central hole and the concentric central hole are fixedly connected through a bolt, the concentric central hole is connected with a reaming hole, the top of the bolt is embedded into the reaming hole, and the camera is placed on the rotating plate and fixed through the bolt.
The top of camera bond the fixed block, the fixed block open and to have the through-hole, one side of rotor plate connect the fixed band and use the fix with screw, the fixed band pass the through-hole, fixed band connect the couple, the opposite side connecting screw of rotor plate, the top of screw solid fixed ring has, the couple hang and live solid fixed ring.
Has the advantages that:
the camera can freely rotate on the rotating plate by 360 degrees, has comprehensive shooting, good shooting effect and convenient and flexible rotation.
The camera can be firmly fixed by the fixing band, and the use safety of the camera is ensured.
Description of the drawings:
FIG. 1 is a flow chart of the present invention.
FIG. 2 is a schematic diagram of the structure of the device of the present invention.
The specific implementation mode is as follows:
the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention.
Example 1:
a device for a lane line curve fitting method comprises an automobile 1 and a camera 2, wherein a round supporting plate 3 is bonded to the top of the automobile, the round supporting plate is fixedly connected with 3 supporting columns 4 with included angles of 120 degrees, the supporting columns are connected through supporting plates 5, a central hole 6 is formed in each supporting plate, a rotating plate 7 is arranged on each supporting plate, a concentric central hole 8 is formed in each rotating plate, the central hole and the concentric central hole are fixedly connected through a bolt 9, the concentric central hole is connected with a reaming hole 10, the reaming hole is embedded into the top of the bolt, and the camera is placed on the rotating plate and fixed through screws.
The camera can freely rotate 360 degrees on the rotating plate, the camera is comprehensive in shooting, the camera shooting effect is good, and the camera shooting is convenient and flexible in rotation.
The top of camera bond fixed block 11, the fixed block open and to have through-hole 12, one side of rotor plate connect fixed band 13 and with the fix with screw, the fixed band pass the through-hole, fixed band connect couple 14, the opposite side connecting screw of rotor plate, the top of screw have solid fixed ring 15, the couple hang solid fixed ring fixed.
The camera can be firmly fixed by the fixing band, and the use safety of the camera is ensured.
A lane line curve fitting method mainly comprises the following five steps: the method comprises the steps of firstly obtaining pixel coordinates of each lane line in a current frame and a previous 2-5 frame image from a video and projecting the pixel coordinates onto a bird's-eye view image, secondly performing cubic curve fitting on each lane line by using the coordinates of the bird's-eye view image of the current frame and the previous 2-5 frames by using a least square method, thirdly retaining a part of parameters of a result in the second step and a coefficient matrix used in calculation for each lane line, fourthly combining all the lane lines in all the frames on the basis of the parameters retained in the second step and finally fitting by using the least square method, wherein the matrix required by calculation can be directly obtained from the parameters and the matrix retained in the third step, and fifthly obtaining the final fitting result of each lane line in the current frame through the calculation result in the step (4).
Example 2:
the method for fitting the curve of the lane line in the embodiment 1 comprises 2 steps, wherein in the first step, for each lane line, data of a current frame and data of previous frames are used for fitting, and different from general cubic curve fitting, each coefficient of a cubic curve is considered to have a polynomial relation with time, so that a new algorithm can be designed for fitting.
And in the second step, performing second fitting on all lane lines appearing in the frames on the basis of the calculation result in the previous step. Considering that all the lane lines with the same initial slope have similar shapes at the same time, the parameters of curve fitting (with times higher than the initial slope term) of all the lane lines in the previous step have linear relation with the initial slope term parameters, so that a new algorithm is designed for fitting.
Example 3:
the method for curve fitting of the lane line according to embodiment 1 mainly includes five steps: the method comprises the steps of firstly obtaining pixel coordinates of each lane line in a current frame image and a previous 4 frames image from a video and projecting the pixel coordinates onto a bird's-eye view image, secondly performing cubic curve fitting on each lane line by using the coordinates of the bird's-eye view image of the current frame and the previous 2-5 frames by using a least square method, thirdly keeping a part of parameters of a result in the second step and a coefficient matrix used in calculation for each lane line, fourthly combining all lane lines in all frames on the basis of the parameters kept in the second step and finally fitting by using the least square method, wherein the matrix required by calculation can be directly obtained by the parameters and the matrix kept in the third step, and fifthly obtaining the final fitting result of each lane line in the current frame through the calculation result of the step (4).
Example 4:
the method for curve fitting of the lane line according to embodiment 1 mainly includes five steps: the method comprises the steps of firstly obtaining pixel coordinates of each lane line in a current frame image and a previous 2 frames image from a video and projecting the pixel coordinates onto a bird's-eye view image, secondly performing cubic curve fitting on each lane line by using the coordinates of the bird's-eye view image of the current frame and the previous 2-5 frames by using a least square method, thirdly keeping a part of parameters of a result in the second step and a coefficient matrix used in calculation for each lane line, fourthly combining all lane lines in all frames on the basis of the parameters kept in the second step and finally fitting by using the least square method, wherein the matrix required by calculation can be directly obtained by the parameters and the matrix kept in the third step, and fifthly obtaining the final fitting result of each lane line in the current frame through the calculation result in the step (4).
Example 5:
the method for curve fitting of the lane line according to embodiment 1 mainly includes five steps: the method comprises the steps of firstly obtaining pixel coordinates of each lane line in a current frame image and a previous 5 frames image from a video and projecting the pixel coordinates onto a bird's-eye view image, secondly performing cubic curve fitting on each lane line by using the coordinates of the bird's-eye view image of the current frame and the previous 2-5 frames by using a least square method, thirdly keeping a part of parameters of a result in the second step and a coefficient matrix used in calculation for each lane line, fourthly combining all lane lines in all frames on the basis of the parameters kept in the second step and finally fitting by using the least square method, wherein the matrix required by calculation can be directly obtained by the parameters and the matrix kept in the third step, and fifthly obtaining the final fitting result of each lane line in the current frame through the calculation result in the step (4). The invention ensures the stability of the curve fitting of the lane line in continuous time. The invention ensures the relevance of the curve fitting of the lane line in the adjacent space.
Claims (1)
1. A device for a lane line curve fitting method comprises an automobile and a camera, and is characterized in that a round supporting plate is bonded to the top of the automobile, the round supporting plate is fixedly connected with 3 supporting columns with included angles of 120 degrees, the supporting columns are connected through the supporting plate, a central hole is formed in the supporting plate, a rotating plate is arranged on the supporting plate, a concentric central hole is formed in the rotating plate, the central hole and the concentric central hole are fixedly connected through a bolt, the concentric central hole is connected with a reaming hole, the top of the bolt is embedded into the reaming hole, and the camera is placed on the rotating plate and fixed through the bolt; the top of camera bond the fixed block, the fixed block open and to have the through-hole, one side of rotor plate connect the fixed band and use the fix with screw, the fixed band pass the through-hole, fixed band connect the couple, the opposite side connecting screw of rotor plate, the top of screw solid fixed ring has, the couple hang and live solid fixed ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921241394.4U CN210515313U (en) | 2019-08-02 | 2019-08-02 | Device for lane line curve fitting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921241394.4U CN210515313U (en) | 2019-08-02 | 2019-08-02 | Device for lane line curve fitting method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210515313U true CN210515313U (en) | 2020-05-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921241394.4U Active CN210515313U (en) | 2019-08-02 | 2019-08-02 | Device for lane line curve fitting method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210515313U (en) |
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2019
- 2019-08-02 CN CN201921241394.4U patent/CN210515313U/en active Active
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