Vehicle line walking method and system based on machine vision

The invention provides a vehicle line walking method and system based on machine vision. The line walking method comprises the following steps: an image acquisition module acquires an RGB color image of a road surface; an image processing module converts the RGB color image into a grayscale image; a binarization module obtains a binarization image to separate a lane line; an edge detection module obtains an edge image containing an inner edge and an outer edge of the lane line; a processor acquires parameters of the lane line to establish a lane line model, acquires lane position data of a vehicle in a world coordinate system through inversely perspective conversion, and determines a driving mode of the vehicle according to road surface image information; parameter adjustment of a steering engine and a motor can be realized by using acquired vehicle corner parameters and distance parameters, adopting the driving mode of the vehicle, and utilizing a sectional adaptive control strategy so as to realize real-time control of driving directions and driving speed of the vehicle. According to the method and system, provided by the invention, the line walking speed in the driving process of the vehicle can be increased, the line walking can be completed within the time of 10 milliseconds, and the stability in the driving process of the vehicle is strong.