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Lane detection method and device

A lane detection and lane technology, applied in the field of multi-lane automatic detection, can solve problems such as errors, outdated maps, incompleteness, etc., and achieve the effect of improving safety, fast and accurate detection, and improving capabilities

Active Publication Date: 2016-06-15
FUZHOU HUAYING HEAVY IND MACHINERY
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AI Technical Summary

Problems solved by technology

Even when it comes to human driving, accidents are often caused by outdated, wrong and incomplete maps as drivers rely too heavily on sat nav systems rather than seeing for themselves
Therefore, static high-precision maps are obviously not enough to ensure safe driving

Method used

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  • Lane detection method and device
  • Lane detection method and device

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Embodiment Construction

[0049] In order to describe the technical content, structural features, achieved purpose and effect of the technical solution in detail, the following in conjunction with specific embodiments and cooperate Attached picture Explain in detail.

[0050] 1. General idea

[0051] We define the lane search problem as: using real-time sensor data and prior information (if any), infer the existence of one or more lanes near the car body, and analyze the semantic, Topological and geometric properties. The so-called semantic features refer to the traffic instructions of the lane (go straight, turn left, turn right), the color (white, yellow) and the shape of the lane boundary (single line, double line, solid line, dashed line). The so-called topological characteristics refer to the connectivity of the start, fork, merge or end of each lane within the area. The geometric characteristics of the lane refer to the position of the centerline of the lane and the lateral expansion range. ...

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Abstract

The invention discloses a lane detection method and device. The method comprises the following steps that a region to be detected is determined according to a camera image; a detection result is obtained by detecting lane marks in the region to be detected; the detection result is optimized according to radar data; the positions of center lines of lanes are calculated according to the detection result and curb information detected by a radar; and the calculated positions of the center lines of the lanes are synthesized to obtain a position result of the multiple lanes. According to the lane detection method and device, the lane marks in the two-dimensional image are recognized through a camera, filtration is conducted by the aid of the radar data, and the effect of rapidly and accurately detecting the lane marks is achieved. Moreover, the center lines of the lanes are estimated and traced, so that the capability of dynamically recognizing lane lines of a vehicle is improved, and the automatic driving safety of an automated vehicle is improved.

Description

technical field [0001] The invention relates to the field of automatic driving of unmanned vehicles, in particular to a multi-lane automatic detection method and device. Background technique [0002] In order to achieve safe, human-like driving, an unmanned vehicle must have good perception of its surrounding lanes. [0003] In order to solve the problem of lane detection, predecessors have proposed explorations in different directions: some proposed laying magnetic signs on the road surface, and some proposed using high-grid road maps in the global positioning system for positioning. The former is not feasible at the present stage. The analysis based on the data infrastructure proposed by the latter, we believe that although it is more useful for understanding geographic shape information and loose geometric shape road condition information, we still refuse to use high-density road shape geometric information here. After all, high-precision road maps are still outdated in...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/06G06K9/00G08G1/16
CPCG08G1/167B60W40/06G06V20/647
Inventor 潘晨劲赵江宜
Owner FUZHOU HUAYING HEAVY IND MACHINERY
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