Method for measuring and pre-warning lane departure distance based on monocular vision

The invention discloses a method for measuring and pre-warning a lane departure distance based on monocular vision, belonging to the technical field of computer imaging processing. The method comprises the following steps of: collecting a video image through a monocular video camera installed in the front of an automobile at first, completing the detection of a lane line after processing through an image processing technology, and extracting geometrical information of the lane line; obtaining vertical distances between the automobile and the lane lines at left and right sides by utilizing thethree-dimensional geometry transformation relation of a pinhole imaging principle; and establishing a departure pre-warning decision method according to the vertical distances measured in real time, and providing effective information for an intelligent assistant driving technology. According to the method disclosed by the invention, when the lane line is detected by utilizing Hough transform, a constraint condition is added, a part of virtual lane line is excluded, and the operation speed and the lane line detection accuracy are increased; simultaneously, the lane departure pre-warning can be realized only by utilizing image information; the measurement influence of a vehicle departure angle on the lane departure distance is low; furthermore, the solving operation speed is high owing to the use of the three-dimensional geometry transform method; and the requirements of the intelligent assistant driving technology can be satisfied.