Linear road marking detection method and linear road marking detection apparatus

摘要

A linear road marking detection method includes the steps of obtaining a u-disparity map including a road surface region (S410); determining a road vanishing point on the u-disparity map (S420); obtaining a first resolution probability distribution diagram of a line in a predetermined region in a vicinity of the road vanishing point, from a first resolution represented by a first predetermined polar point interval and a first predetermined polar angle interval (S430); and determining different types of the linear road marking based on a relation between an actual distance between lines parallel to each other in a physical world and a corresponding polar angle in the first resolution probability distribution diagram of the lines parallel to each other (S440).