CN111199567B - Lane line drawing method, device and terminal equipment - Google Patents

Abstract

The invention provides a lane line drawing method, device and terminal equipment. The method is applied in the field of image processing and includes: acquiring a lane image of a target lane, detecting the lane image of the target lane, and obtaining each lane in the lane image. The pixel coordinates of the line; draw the lane lines of the target lane based on the pixel coordinates of each lane line and the preset pixel interval between each two lane lines. The lane line drawing method, device and terminal equipment provided by the present invention can save the cost of lane line drawing and realize fast and accurate lane line drawing.

Description

Lane line drawing method, device and terminal equipment

Technical field

The present invention belongs to the field of image processing technology, and more specifically, relates to a lane line drawing method, device and terminal equipment.

Background technique

With the rapid development of Baidu Maps, Amap and Google Maps, people's travel has become more and more convenient. These electronic maps can provide users with route planning, electronic navigation and other services. However, the lane lines on which these functions rely are currently not available. It is manually drawn, which requires a huge amount of work, high cost, and is affected by human factors, which is prone to human deviation.

Therefore, how to realize automatic drawing of lane lines and thereby save the cost of drawing lane lines has become an urgent problem to be solved.

Contents of the invention

The object of the present invention is to provide a lane line drawing method, device and terminal equipment to save the cost of lane line drawing.

A first aspect of the embodiment of the present invention provides a method for drawing lane lines, including:

Obtain the lane image of the target lane, detect the lane image of the target lane, and obtain the pixel coordinates of each lane line in the lane image;

The lane lines of the target lane are drawn based on the pixel coordinates of each lane line and the preset pixel interval between each two lane lines.

A second aspect of the embodiment of the present invention provides a lane line drawing device, including:

The lane line detection module is used to obtain the lane image of the target lane, detect the lane image of the target lane, and obtain the pixel coordinates of each lane line in the lane image;

The lane line drawing module is used to draw the lane lines of the target lane based on the pixel coordinates of each lane line and the preset pixel interval between each two lane lines.

A third aspect of the embodiment of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the computer program. Implement the steps of the above lane line drawing method.

A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of the above-mentioned lane line drawing method are implemented.

The beneficial effects of the lane line drawing method, device and terminal equipment provided by the embodiments of the present invention are: compared with the existing technology, the embodiments of the present invention perform automatic drawing of lane lines based on image processing, and obtain the lane image of the target lane. The lane image of the target lane is detected to obtain the pixel coordinates of each lane line in the lane image, and then the lane of the target lane is drawn based on the pixel coordinates of each lane line and the preset pixel interval between each two lane lines. Wire. The lane line drawing method provided by the embodiment of the present invention can not only save labor costs and improve drawing efficiency through automatic drawing, but can also draw based on the pixel coordinates of the lane line, which is more accurate than manual drawing methods.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings in the following description are only illustrative of the present invention. For some embodiments, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic flow chart of a lane line drawing method provided by an embodiment of the present invention;

Figure 2 is a schematic flow chart of a lane line drawing method provided by another embodiment of the present invention;

Figure 3 is a schematic flow chart of a lane line drawing method provided by yet another embodiment of the present invention;

Figure 4 is a schematic flow chart of a lane line drawing method provided by another embodiment of the present invention;

Figure 5 is a schematic flow chart of a lane line drawing method provided by another embodiment of the present invention;

Figure 6 is a schematic flowchart of a lane line drawing method provided by another embodiment of the present invention;

Figure 7 is a schematic flow chart of a lane line drawing method provided by another embodiment of the present invention;

Figure 8 is a structural block diagram of a lane line drawing device provided by an embodiment of the present invention;

Figure 9 is a schematic block diagram of a terminal device provided by an embodiment of the present invention.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

Please refer to Figure 1. Figure 1 is a schematic flow chart of a lane line drawing method provided by an embodiment of the present invention. The method includes:

S101: Obtain the lane image of the target lane, detect the lane image of the target lane, and obtain the pixel coordinates of each lane line in the lane image.

In this embodiment, video data of the target lane can be collected, and multiple frames of images in the video data of the target lane can be extracted as lane images of the target lane.

In this embodiment, the lane image of the target lane can be detected based on the window search method, each lane line in the lane image is detected, and the pixel point coordinates of each lane line in the lane image are obtained.

S102: Draw the lane lines of the target lane based on the pixel coordinates of each lane line and the preset pixel interval between each two lane lines.

In this embodiment, multiple frames of images of the target lane can be spliced based on the pixel coordinates of each lane line and the preset pixel interval between each two lane lines. Among them, the spliced image can be directly output as a completed lane line image, or the spliced image can be scanned, and the scanned image can be output as a completed lane line image.

It can be concluded from the above that the embodiment of the present invention performs automatic drawing of lane lines based on image processing. By obtaining the lane image of the target lane and detecting the lane image of the target lane, the pixel coordinates of each lane line in the lane image are obtained. , and then draw the lane lines of the target lane based on the pixel coordinates of each lane line and the preset pixel interval between each two lane lines. The lane line drawing method provided by the embodiment of the present invention can not only save labor costs and improve drawing efficiency through automatic drawing, but can also draw based on the pixel coordinates of the lane line, which is more accurate than manual drawing methods.

Please refer to FIG. 1 and FIG. 2 together. FIG. 2 is a schematic flowchart of a lane line drawing method provided by another embodiment of the present application. Based on the above embodiment, before acquiring the lane image of the target lane, it may also include:

S201: Collect video data of the target lane.

S202: Extract multiple frames of images from the video data of the target lane to obtain the lane image of the target lane.

In this embodiment, the video data of the target lane can be collected through the driving recorder on the car, and then multiple frames of images in the video data of the target lane can be extracted to obtain the lane image of the target lane.

Please refer to FIG. 1 and FIG. 3 together. FIG. 3 is a schematic flow chart of a lane line drawing method provided by yet another embodiment of the present application. Based on the above embodiments, before detecting the lane image of the target lane, a step of preprocessing the lane image of the target lane may also be included. The steps to preprocess the lane image of the target lane include:

S301: Correct the distorted image in the lane image based on the checkerboard correction method.

S302: Perform perspective transformation and binarization processing on the corrected lane image to obtain a preprocessed lane image of the target lane.

In this embodiment, perspective transformation can be performed on the corrected lane image to extract the ROI region (Region of Inters, region of interest) in the lane image. Among them, the perspective transformation method can be:

First, select a trapezoidal area containing lane lines in the lane image, and use any vertex of the trapezoidal area as the origin of the image coordinates. Then, a perspective transformation is performed on the trapezoidal area based on the origin of the image coordinates, and the lane line image pixels are restored into lane line physical pixels that are parallel to each other and of uniform thickness through a preset perspective transformation matrix.

In this embodiment, the coordinate values of the vertices of the trapezoidal region after perspective transformation can be set in advance, and then the preset perspective transformation matrix is determined based on the coordinate values of the vertices of the trapezoidal region before perspective transformation and the coordinate values after perspective transformation, so that according to the preset The perspective transformation matrix performs perspective transformation on the entire trapezoidal area.

In this embodiment, in order to remove noise and reduce the amount of calculation, after perspective transformation is performed on the corrected lane image, the perspective transformed lane image can be stored as a picture of a preset size. The coverage area of this preset size image is the smallest area that contains all lane lines.

In this embodiment, in order to improve the detection accuracy of lane lines, after perspective transformation of the lane image, pixel detection can be performed on the perspective transformed lane image to classify the lane images, and classify the lane images containing white lane lines. Lane images are separated from lane images containing yellow lane lines.

In this embodiment, after classifying the lane images, the classified lane images can be binarized to facilitate subsequent image processing operations.

Please refer to Figure 1 and Figure 4 together. As a specific implementation of the lane line drawing method provided by the present invention, based on the above embodiment, the lane image of the target lane is detected to obtain each lane line in the lane image. The pixel coordinates of can be detailed as:

S401: Determine the preset length and preset width of the sliding window based on the length of the standard lane line and the width of the lane image of the target lane.

In this embodiment, the preset length of the sliding window can be set to twice the width of a single standard lane line, and the preset width of the sliding window can be set to one-tenth of the lane image width of the target lane.

S402: Search the lane image of the target lane based on a sliding window of preset length and preset width, and during the search process, identify the lane lines in the lane image based on the pixel density of the lane image, and determine each lane in the lane image. The pixel coordinates of the line.

In this embodiment, any vertex of the lane image can be used as the origin, and the edge line of the lane image can be used as the coordinate axis to establish a rectangular coordinate system. In the direct coordinate system, the lane image is searched starting from the origin based on a sliding window of preset length and preset width. During the search process, the lane line area and non-lane line area in the lane image are distinguished based on the pixel density, and the coordinates of each pixel point in the lane line area are determined (that is, the pixel point coordinates of each lane line are determined).

Please refer to Figure 1 and Figure 5 together. As a specific implementation of the lane line drawing method provided by the present invention, based on the above embodiment, step S102 can be described in detail as:

S501: Set n=1 and the number of image frames in the lane image of the target lane to N _max .

S502: Obtain the n-th frame image and the n+1-th frame image in the lane image of the target lane.

S503: Perform morphological processing on the n-th frame image and the n+1-th frame image, and determine whether the upper edge lane line in the n-th frame image is consistent with the lower edge lane line in the n+1-th frame image based on the morphological processing results. Connected.

S504: If the upper edge lane line in the n-th frame image and the lower edge lane line in the n+1-th frame image are connected, then based on the pixel point coordinates of the lane line in the n-th frame image and the n+1-th frame image, the The n frame image and the n+1th frame image are spliced, and the spliced image is used as the n+1th frame image.

S505: If the upper edge lane line in the nth frame image and the lower edge lane line in the n+1th frame image are not connected, based on the pixel point coordinates of the lane line in the nth frame image and the n+1th frame image , the preset pixel interval between each two lane lines determines the transition image between the n-th frame image and the n+1-th frame image. The n-th frame image, the transition image between the n-th frame image and the n+1-th frame image, and the n+1-th frame image are spliced, and the spliced image is used as the n+1-th frame image.

S506: If n+1<N _max , set n=n+1, and return to the step of obtaining the n-th frame image and the n+1-th frame image in the lane image of the target lane. If n+1=N _max , the n+1th frame image is output as the completed lane line image.

In this embodiment, each frame image can be spliced according to the time sequence of each frame image in the target lane image.

In this embodiment, if the upper edge lane line in the nth frame image is connected to the lower edge lane line in the n+1th frame image, it means that the lane line has not moved, that is, the upper edge lane line in the nth frame image is connected. The line and the lower edge lane line in the n+1th frame image are the same lane line. Therefore, the nth frame image and the nth frame image can be directly based on the pixel coordinates of the lane line in the n+1th frame image. +1 frame image for stitching.

In this embodiment, if the upper edge lane line in the nth frame image and the lower edge lane line in the n+1th frame image are not connected, it means that the lane line has moved, that is, the upper edge lane line in the nth frame image is not connected. The edge lane line and the lower edge lane line in the n+1th frame image are not the same lane line. Therefore, it is necessary to determine the distance between the nth frame image and the n+1th frame image based on the preset pixel interval between each two lane lines. The pixel interval between the n-th frame image and the n+1-th frame image needs to be determined, and finally the transition image between the n-th frame image, the n-th frame image and the n+1-th frame image, The n+1th frame image is spliced.

Among them, the preset pixel interval can be set according to "Highway Engineering Technical Standards". For example, the distance between two middle lane lines is 8 meters, and the distance between two dotted lane lines is 9 meters. The distance between lane lines is converted into the number of pixels, and the number of pixels is used as the preset pixel interval between the two lane lines. That is to say, for different types of lane lines, the preset pixel intervals between the two lane lines are different. For this, the corresponding preset pixels between the two lane lines can be selected according to the lane line type of the target lane. interval.

Optionally, please refer to Figure 6. As a specific implementation of the lane line drawing method provided by the embodiment of the present invention, before step S102, it may also include:

S601: Determine the offset vector of each lane line based on the pixel coordinates of each lane line in the lane image.

S602: Correct the lane lines in the lane image of the target lane based on the offset vector of each lane line.

In this embodiment, in order to avoid the lane line image being tilted due to the car changing lanes during the video data collection process, whether the lane line in the lane image is tilted can be detected based on the pixel coordinates of each lane line. If it is detected that the lane line image in the lane image is tilted, the offset vector of each lane line is determined based on the pixel coordinates of each lane line in the lane image, and the lane image of the target lane is calculated based on the offset vector of each lane line. The lane markings in the vehicle are corrected. If it is detected that the lane line image in the lane image is not tilted, the offset vector of the lane line in the lane image is set to zero.

Optionally, please refer to Figure 7. As a specific implementation of the lane line drawing method provided by the embodiment of the present invention, for a certain lane line, step S601 can be described in detail as:

S701: Determine the first line segment based on the starting pixel coordinates of the lane line and the ending pixel coordinates in the vertical direction, and determine the second line segment based on the starting pixel coordinates of the lane line and the ending pixel coordinates in the horizontal direction.

S702: If the angle between the first line segment and the second line segment is greater than the first preset threshold, use the tangent value of the angle between the first line segment and the second line segment as the offset vector of the lane line. If the angle between the first line segment and the second line segment is not greater than the first preset threshold, then the offset vector of the lane line is set to zero.

In this embodiment, if the angle between the first line segment and the second line segment is greater than the first preset threshold, it means that the lane line in the lane image is tilted. The angle between the first line segment and the second line segment can be The tangent value is used as the offset vector of the lane line, and the lane line is corrected according to the offset vector and the pixel point coordinates of the lower edge of the lane line.

In this embodiment, if the angle between the first line segment and the second line segment is not greater than the first preset threshold, it means that the lane line in the lane image is a curved lane line. At this time, the offset corresponding to the lane line is Set the vector to zero.

Optionally, as a specific implementation of the lane line drawing method provided by the embodiment of the present invention, the embodiment of the present invention can also determine the difference between the drawn lane line image and the actual lane size based on the drawn lane line image and the actual lane line size. The proportional relationship of the line, and the statistics of the physical pixels in the completed lane line image are calculated based on this proportional relationship.

Optionally, as a specific implementation of the lane line drawing method provided by the embodiment of the present invention, the drawn lane line image can also be detected to detect whether the lane line in the drawn lane image is complete. If it is incomplete, , then fill in the incomplete lane lines.

Corresponding to the lane line drawing method of the above embodiment, FIG. 8 is a structural block diagram of a lane line drawing device provided by an embodiment of the present invention. For convenience of explanation, only parts related to the embodiments of the present invention are shown. Referring to FIG. 8 , the device includes: a lane line detection module 81 and a lane line drawing module 82 .

Among them, the lane line detection module 81 is used to obtain the lane image of the target lane, detect the lane image of the target lane, and obtain the pixel point coordinates of each lane line in the lane image.

The lane line drawing module 82 is used to draw the lane lines of the target lane based on the pixel point coordinates of each lane line and the preset pixel interval between every two lane lines.

Referring to Figure 8, in another embodiment of the present invention, the lane line drawing device may further include a video processing module 83, which is used to perform the following steps:

Collect video data of the target lane.

Extract multiple frames of images from the video data of the target lane to obtain the lane image of the target lane.

Referring to Figure 8, in yet another embodiment of the present invention, the lane line drawing device may further include an image preprocessing module 84, which is used to perform the following steps:

The distorted image in the lane image is corrected based on the checkerboard correction method.

Perform perspective transformation and binarization processing on the corrected lane image to obtain the preprocessed lane image of the target lane.

Optionally, as a specific implementation of the lane line drawing device provided by the embodiment of the present invention, the lane line detection module 81 is specifically configured to perform the following steps:

Get the lane image of the target lane.

The preset length and preset width of the sliding window are determined based on the length of the standard lane line and the width of the lane image of the target lane.

The lane image of the target lane is searched based on a sliding window of preset length and width, and during the search process, the lane lines in the lane image are identified based on the pixel density of the lane image, and the lane lines in the lane image are determined. Pixel coordinates.

Optionally, as a specific implementation of the lane line drawing device provided by the embodiment of the present invention, the lane line drawing module 82 is specifically configured to perform the following steps:

Set n=1 and the number of image frames in the lane image of the target lane is N _max .

Obtain the n-th frame image and the n+1-th frame image in the lane image of the target lane.

Morphological processing is performed on the nth frame image and the n+1th frame image, and based on the morphological processing results, it is determined whether the upper edge lane line in the nth frame image is connected to the lower edge lane line in the n+1th frame image.

If the upper edge lane line in the nth frame image is connected to the lower edge lane line in the n+1th frame image, then based on the pixel point coordinates of the lane line in the nth frame image and the n+1th frame image, the nth frame The image and the n+1th frame image are spliced, and the spliced image is used as the n+1th frame image.

If the upper edge lane line in the nth frame image and the lower edge lane line in the n+1th frame image are not connected, then based on the pixel coordinates of the lane lines in the nth frame image and the n+1th frame image, each The preset pixel interval between the two lane lines determines the transition image between the n-th frame image and the n+1-th frame image. The n-th frame image, the transition image between the n-th frame image and the n+1-th frame image, and the n+1-th frame image are spliced, and the spliced image is used as the n+1-th frame image.

If n+1<N _max , let n=n+1, and return to the step of obtaining the n-th frame image and the n+1-th frame image in the lane image of the target lane. If n+1=N _max , the n+1th frame image is output as the completed lane line image.

Optionally, please refer to Figure 8. As a specific implementation of the lane line drawing device provided by the embodiment of the present invention, the lane line drawing device may also include a lane line correction module 85, which is used to perform the following: step:

The offset vector of each lane line is determined based on the pixel coordinates of each lane line in the lane image.

The lane lines in the lane image of the target lane are corrected based on the offset vector of each lane line.

Optionally, as a specific implementation of the lane line drawing device provided by the embodiment of the present invention, for a certain lane line, the method of determining the offset vector of the lane line is:

The first line segment is determined based on the starting pixel coordinates of the lane line and the ending pixel coordinates in the vertical direction, and the second line segment is determined based on the starting pixel coordinates of the lane line and the ending pixel coordinates in the horizontal direction.

If the angle between the first line segment and the second line segment is greater than the first preset threshold, then the tangent value of the angle between the first line segment and the second line segment is used as the offset vector of the lane line. If the angle between the first line segment and the second line segment is not greater than the first preset threshold, then the offset vector of the lane line is set to zero.

Referring to Figure 9, Figure 9 is a schematic block diagram of a terminal device provided by an embodiment of the present invention. The terminal 900 in this embodiment as shown in FIG. 9 may include: one or more processors 901, one or more input devices 902, one or more output devices 903, and one or more memories 904. The above-mentioned processor 901, input device 902, output device 903 and memory 904 complete communication with each other through the communication bus 905. Memory 904 is used to store computer programs, which include program instructions. The processor 901 is used to execute program instructions stored in the memory 904. The processor 901 is configured to call program instructions to perform the following operations on the functions of each module/unit in each of the above device embodiments, such as the functions of modules 81 to 85 shown in FIG. 8 .

It should be understood that in the embodiment of the present invention, the so-called processor 901 can be a central processing unit (Central Processing Unit, CPU), and the processor can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), dedicated Integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

The input device 902 may include a touch pad, a fingerprint sensor (used to collect the user's fingerprint information and the direction information of the fingerprint), a microphone, etc., and the output device 903 may include a display (LCD, etc.), a speaker, etc.

The memory 904 may include read-only memory and random access memory and provides instructions and data to the processor 901. A portion of memory 904 may also include non-volatile random access memory. For example, memory 904 may also store device type information.

In specific implementation, the processor 901, input device 902, and output device 903 described in the embodiment of the present invention can execute the implementation described in the first and second embodiments of the lane line drawing method provided by the embodiment of the present invention. In this way, the implementation of the terminal described in the embodiment of the present invention can also be performed, which will not be described again here.

In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, all or all of the methods in the above embodiments are implemented. Part of the process can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by the processor, the computer program can implement the steps of each of the above method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. Computer-readable media may include: any entity or device capable of carrying computer program code, recording media, USB flash drives, mobile hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM, Read-Only Memory), random access Memory (RAM, Random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include They are electrical carrier signals and telecommunications signals.

The computer-readable storage medium may be an internal storage unit of the terminal of any of the aforementioned embodiments, such as a hard disk or memory of the terminal. The computer-readable storage medium can also be an external storage device of the terminal, such as a plug-in hard drive equipped on the terminal, a Smart Media Card (SMC), a Secure Digital (SD) card, or a Flash Card (Flash Card). )wait. Further, the computer-readable storage medium may also include both an internal storage unit of the terminal and an external storage device. Computer-readable storage media are used to store computer programs and other programs and data required by the terminal. Computer-readable storage media can also be used to temporarily store data that has been output or is to be output.

Those of ordinary skill in the art can appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software, or a combination of both. In order to clearly illustrate the relationship between hardware and software Interchangeability, in the above description, the composition and steps of each example have been generally described according to functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered to be beyond the scope of the present invention.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the terminal and unit described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be described again here.

In the several embodiments provided in this application, it should be understood that the disclosed terminal and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented. In addition, the coupling or direct coupling or communication connection between each other shown or discussed may be an indirect coupling or communication connection through some interfaces or units, or may be an electrical, mechanical or other form of connection.

A unit described as a separate component may or may not be physically separate. A component shown as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

In addition, each functional unit in various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or software functional units.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of various equivalent modifications or modifications within the technical scope disclosed in the present invention. Replacement, these modifications or substitutions should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (7)

1. A lane line drawing method, characterized by including: Obtain the lane image of the target lane, detect the lane image of the target lane, and obtain the pixel coordinates of each lane line in the lane image; Determine the offset vector of each lane line based on the pixel coordinates of each lane line in the lane image; Correct the lane lines in the lane image of the target lane based on the offset vector of each lane line; For a certain lane line, the method of determining the offset vector of the lane line is: The first line segment is determined based on the starting pixel coordinates of the lane line and the ending pixel coordinates in the vertical direction, and the second line segment is determined based on the starting pixel coordinates of the lane line and the ending pixel coordinates in the horizontal direction; If the angle between the first line segment and the second line segment is greater than the first preset threshold, then the tangent value of the angle between the first line segment and the second line segment is used as the offset vector of the lane line; if the first line segment is equal to If the angle between the second line segment is not greater than the first preset threshold, then the offset vector of the lane line is set to zero; Draw the lane lines of the target lane based on the pixel coordinates of each lane line and the preset pixel interval between each two lane lines; The method of drawing the lane lines of the target lane based on the pixel coordinates of each lane line and the preset pixel interval between every two lane lines includes: Set n=1 and the number of image frames in the lane image of the target lane is N _max ; Obtain the n-th frame image and the n+1-th frame image in the lane image of the target lane; Perform morphological processing on the n-th frame image and the n+1-th frame image, and determine whether the upper edge lane line in the n-th frame image is connected to the lower edge lane line in the n+1-th frame image based on the morphological processing results; If the upper edge lane line in the nth frame image is connected to the lower edge lane line in the n+1th frame image, then based on the pixel point coordinates of the lane line in the nth frame image and the n+1th frame image, the nth frame The image is spliced with the n+1th frame image, and the spliced image is used as the n+1th frame image; If the upper edge lane line in the nth frame image and the lower edge lane line in the n+1th frame image are not connected, then based on the pixel coordinates of the lane lines in the nth frame image and the n+1th frame image, each The preset pixel interval between the two lane lines determines the transition image between the nth frame image and the n+1th frame image; for the nth frame image, the transition between the nth frame image and the n+1th frame image image and the n+1th frame image are spliced, and the spliced image is used as the n+1th frame image; If n+1<N _max , then let n=n+1, and return to the steps of obtaining the n-th frame image and the n+1-th frame image in the lane image of the target lane; if n+1=N _max , then Output the n+1th frame image as the completed lane line image. 2. The lane line drawing method according to claim 1, characterized in that, before acquiring the lane image of the target lane, it further includes: Collect video data of the target lane; Extract multiple frames of images from the video data of the target lane to obtain the lane image of the target lane. 3. The lane line drawing method according to claim 1, characterized in that, before detecting the lane image of the target lane, it also includes the step of preprocessing the lane image of the target lane; The steps of preprocessing the lane image of the target lane include: Correct the distorted image in the lane image based on the checkerboard correction method; Perform perspective transformation and binarization processing on the corrected lane image to obtain the preprocessed lane image of the target lane. 4. The lane line drawing method according to claim 1, wherein the lane image of the target lane is detected to obtain the pixel point coordinates of each lane line in the lane image, including: Determine the preset length and preset width of the sliding window based on the length of the standard lane line and the width of the lane image of the target lane; The lane image of the target lane is searched based on a sliding window of preset length and width, and during the search process, the lane lines in the lane image are identified based on the pixel density of the lane image, and the lane lines in the lane image are determined. Pixel coordinates. 5. A lane line drawing device, characterized in that it includes: The lane line detection module is used to obtain the lane image of the target lane, detect the lane image of the target lane, and obtain the pixel coordinates of each lane line in the lane image; The lane line correction module is used to determine the offset vector of each lane line based on the pixel coordinates of each lane line in the lane image; Correct the lane lines in the lane image of the target lane based on the offset vector of each lane line; For a certain lane line, the method of determining the offset vector of the lane line is: The first line segment is determined based on the starting pixel coordinates of the lane line and the ending pixel coordinates in the vertical direction, and the second line segment is determined based on the starting pixel coordinates of the lane line and the ending pixel coordinates in the horizontal direction; If the angle between the first line segment and the second line segment is greater than the first preset threshold, then the tangent value of the angle between the first line segment and the second line segment is used as the offset vector of the lane line; if the first line segment is equal to If the angle between the second line segment is not greater than the first preset threshold, then the offset vector of the lane line is set to zero; The lane line drawing module is used to draw the lane lines of the target lane based on the pixel coordinates of each lane line and the preset pixel interval between each two lane lines; The lane line drawing module is specifically used to perform the following steps: Set n=1 and the number of image frames in the lane image of the target lane is N _max ; Obtain the n-th frame image and the n+1-th frame image in the lane image of the target lane; Perform morphological processing on the n-th frame image and the n+1-th frame image, and determine whether the upper edge lane line in the n-th frame image is connected to the lower edge lane line in the n+1-th frame image based on the morphological processing results; If the upper edge lane line in the nth frame image is connected to the lower edge lane line in the n+1th frame image, then based on the pixel point coordinates of the lane line in the nth frame image and the n+1th frame image, the nth frame The image is spliced with the n+1th frame image, and the spliced image is used as the n+1th frame image; If the upper edge lane line in the nth frame image and the lower edge lane line in the n+1th frame image are not connected, then based on the pixel coordinates of the lane lines in the nth frame image and the n+1th frame image, each The preset pixel interval between the two lane lines determines the transition image between the nth frame image and the n+1th frame image; for the nth frame image, the transition between the nth frame image and the n+1th frame image image and the n+1th frame image are spliced, and the spliced image is used as the n+1th frame image; If n+1<N _max , then let n=n+1, and return to the steps of obtaining the n-th frame image and the n+1-th frame image in the lane image of the target lane; if n+1=N _max , then Output the n+1th frame image as the completed lane line image. 6. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that when the processor executes the computer program, the processor implements the claims as claimed in Steps of the method described in any one of 1 to 4. 7. A computer-readable storage medium, the computer-readable storage medium stores a computer program, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented. .