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Method and device for lane detection

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and lane technology, applied in the field of multi-lane automatic detection, can solve problems such as errors, outdated maps, incompleteness, etc., and achieve the effect of improved ability, improved safety, and fast and accurate detection

Active Publication Date: 2018-07-24
FUZHOU HUAYING HEAVY IND MACHINERY
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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Even when it comes to human driving, accidents are often caused by outdated, wrong and incomplete maps as drivers rely too heavily on sat nav systems rather than seeing for themselves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

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  • Method and device for lane detection
  • Method and device for lane detection
  • Method and device for lane detection

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Embodiment Construction

[0049] In order to explain in detail the technical content, structural features, achieved goals and effects of the technical solution, the following will be described in detail in conjunction with specific embodiments and accompanying drawings.

[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

A method and device for lane detection, wherein the method includes the following steps: determining an area to be detected according to a camera image, detecting lane signs in the area to be detected to obtain a detection result, optimizing the detection result according to radar data, and detecting The position of the lane centerline is calculated based on the curb information, and the position of the multi-lane is obtained by combining the calculated positions of the lane centerline. The invention uses a camera to recognize lane marks in a two-dimensional image, assists radar data in filtering, and achieves the effect of quickly and accurately detecting lane marks. It also estimates and tracks the centerline of the lane, which improves the ability of the vehicle to dynamically recognize the lane line and improves the safety of the automatic driving of the unmanned vehicle.

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...

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Application Information

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Patent Type & Authority Patents(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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