Abstract
As autonomous driving technology becomes more and more popular, its safety is also attracting attention. Regarding the automatic driving of vehicles, the detection of road markings is particularly important. This paper improves the lane edge detection part of the Hough transform lane line detection method. Because the traditional Canny operator edge detection method is good for image processing, but the detection time is long, this paper replaces the Canny algorithm with the Robert operator edge detection method. The sub-edge detection method can improve the detection speed of lane line extraction. In MATLAB, by using multiple edge detection operators to perform edge detection on the same image 100 times, and taking the average of the detection time, it is found that the Robert operator takes a shorter time in the detection process than the Canny operator; Then the Robert operator and Canny operator are respectively fused into the Hough transform lane line detection. After 100 times, the same image is detected, and the running time is statistically averaged for comparison and analysis. The Robert operator is better than the Canny operator. The time taken is reduced by 0.15191 s. The simulation results show that the integration of Robert operator in Hough transform lane line detection improves the real-time performance of lane detection.
Highlights
At present, most automobiles in my country are still at the L1~L2 level [1]
The results show that the Robert operator edge detection method is integrated into the Hough transform lane line detection method, and it has little effect on the final image clarity of the lane line detection
Using MATLAB R2019b on the Windows 10 operating system with a CPU of 1.60 GHz and RAM of 8GB, the Robert operator edge detection and Canny operator edge detection methods are integrated into the Hough transform lane line detection method to detect the lane lines
Summary
Most automobiles in my country are still at the L1~L2 level [1]. For vehicles to realize automatic driving, the detection of lane markings is the key content of automatic driving. MAMTA et al [2] proposed a robust edge detection algorithm based on multiple thresholds, which can better deal with the edge continuity and thickness uniformity of the image. HEY et al [9] proposed an image edge detection algorithm based on improved morphological gradient, which can accurately extract image edge information. Tan Yuan et al [11] carried out edge detection on remote sensing image roads based on the improved Sobel operator, JOURNAL OF MEASUREMENTS IN ENGINEERING. In this paper, based on the detection of the lane line of the Hough transform, by comparing several image edge detection methods, a Robert operator edge detection method is found to detect the edge of the lane. The Robert algorithm is integrated into the Hough transform to detect the lane line, so as to shorten the lane line detection time
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