Road surface detection method, device, equipment and medium

The invention discloses a road surface detection method, device and equipment and a medium, and the method comprises the steps: obtaining a road surface image through a camera, and recording the shooting angle, position and focal length of the camera; calibrating the camera, and determining a position relation between an image coordinate system and a world coordinate system; carrying out binarization processing on the pavement image; detecting a lane line in the binary image, and calculating the real length of the lane line according to the position relation; detecting the missing condition of the road surface and the lane line in the binary image; the obtained real length of the lane line is more accurate by using the calibration position relation, and the detection accuracy of the length of the lane line is improved; by means of binary image detection, the detection accuracy of the length of the lane line and the missing condition of the road surface and the lane line is improved; the method has real-time p