A method of Stop-line Detection for Autonomous Vehicles

摘要

According to the present invention, a method of stop line detection for an autonomous vehicle rotates an input image in accordance with a steering angle, obtains gradient images in a direction perpendicular to the input image, applies primary and secondary line filters (20-1, 20-2) to the gradient images to designate a stop line candidate area and a non-candidate area, fuses the candidate area and non-candidate area to generate a stop line candidate mask, and allows a stop line to be searched in the stop line candidate mask. By applying a matching method by line filter and Gaussian weight fusion, the method shows an excellent detection result even on a decrepit road where a line segment is not detected. Specifically, a disadvantage of a stop line method of the Hough transform by line segment detection is supplemented.