ROAD LANE DETECTION METHOD Russian patent published in 2021 - IPC G05D3/00 G06K9/62 G06N3/04 G06N3/08 G08G1/17 G08G1/54 G08G1/14 

FIELD: computer technology.

SUBSTANCE: method of detecting a road lane involves obtaining an image of a section of the road lane and its processing. The resulting image is simultaneously processed using a convolutional neural network and using a road marking detection algorithm. After that, masks are generated in parallel for two intermediate images obtained as a result of processing. Weighted addition of masks is performed pixel-by-pixel and their conversion to a top view is performed, forming a final mask. Then, the coordinates of the pixels of the final mask are converted from the image coordinate system to the vehicle coordinate system. After that, each pixel of the final mask is assigned a weight coefficient, which is determined by the brightness of the corresponding pixel. Then, the resulting pixels of the final mask are approximated into a polynomial that defines the line of the middle of the road lane, and the deviation of the position of the vehicle relatively to the middle of the road lane is calculated.

EFFECT: improved quality of road lane detection and recognition is achieved.

3 cl, 9 dwg