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A lane line recognition method and device for an unmanned vehicle

A technology for lane line recognition and unmanned vehicles, which is applied in character and pattern recognition, two-dimensional position/channel control, vehicle position/route/height control, etc. It can solve the problems of inability to press lines or cross lanes, and potential safety hazards, etc. problem, to achieve the effect of improving safety performance

Active Publication Date: 2019-05-21
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the urban environment, the vehicle is required to drive correctly in the lane line along the marked direction during the driving process, and cannot press the line or cross the road. On the contrary, if the vehicle drives chaotically in different lane lines, there will be safety hazards

Method used

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  • A lane line recognition method and device for an unmanned vehicle
  • A lane line recognition method and device for an unmanned vehicle
  • A lane line recognition method and device for an unmanned vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0020] figure 1 It is a flow chart of a lane line recognition method for an unmanned vehicle provided in Embodiment 1 of the present invention. The method of this embodiment can be performed by the lane line recognition device of the unmanned vehicle, which can be realized by hardware and / or software, and the method provided by this embodiment is generally applicable to the correct driving of the unmanned vehicle along the lane line. The case of sexual testing. refer to figure 1 The lane line recognition method for unmanned vehicles provided in this embodiment may specifically include the following:

[0021] S11. Determine the estimated pose information of the unmanned vehicle at the current moment according to the historical pose information and historical motion state information of the unmanned vehicle at historical moments.

[0022] In this embodiment, the pose information of the unmanned vehicle refers to the position information and attitude information of the unmanne...

Embodiment 2

[0039] This embodiment provides a new lane line recognition method for unmanned vehicles on the basis of the first embodiment above. In this embodiment, a method for identifying whether the unmanned vehicle is driving correctly along the lane is specifically provided. Figure 2a It is a flow chart of a lane line recognition method for an unmanned vehicle provided in Embodiment 2 of the present invention. refer to Figure 2a The lane line recognition method for unmanned vehicles provided in this embodiment may specifically include the following:

[0040] S21. Determine the estimated pose information of the unmanned vehicle at the current moment according to the historical pose information and historical motion state information of the unmanned vehicle at historical moments.

[0041] S22. Identify the lane marking images collected by the unmanned vehicle at the historical moment.

[0042] refer to Figure 2b , time t-i is the historical time, time t is the current time, wher...

Embodiment 3

[0054] image 3 It is a structural diagram of a lane line recognition device for unmanned vehicles provided in Embodiment 3 of the present invention, and the device provided in this embodiment can be applied to the situation of testing the correctness of unmanned vehicles driving along lane lines. see image 3 , the specific structure of the lane line recognition device for unmanned vehicles provided in this embodiment can be as follows:

[0055] The pose estimation module 31 is used to determine the estimated pose information of the unmanned vehicle at the current moment according to the historical pose information and historical motion state information of the unmanned vehicle at historical moments;

[0056] An image recognition module 32, configured to recognize the lane line image collected by the unmanned vehicle at the historical moment;

[0057] The lane line recognition module 33 is used to identify whether the unmanned vehicle is along the lane line according to the...

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Abstract

The embodiment of the invention discloses a lane line recognition method and device for an unmanned vehicle. The method includes: determining the estimated pose information of the unmanned vehicle at the current moment according to the historical pose information and historical motion state information of the unmanned vehicle at historical moments; The lane line image; according to the real pose information of the unmanned vehicle at the current moment, the recognition result of the lane line image and the estimated pose information, identify whether the unmanned vehicle is driving correctly along the lane line. The technical solution of the embodiment of the present invention can identify whether the unmanned vehicle is driving correctly along the lane line during the driving process of the unmanned vehicle, which is the prerequisite for the safe driving of the unmanned vehicle and improves the safety performance of the unmanned vehicle.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicles, in particular to a lane line recognition method and device for unmanned vehicles. Background technique [0002] Unmanned vehicles, also known as intelligent mobile robots, are a comprehensive system that integrates environmental perception, dynamic decision-making and planning, and behavior control and execution. It is one of the most active areas of scientific and technological development at present. [0003] In the urban environment, the vehicle is required to drive correctly along the marked direction in the lane line during the driving process, and cannot press the line or cross the road. On the contrary, if the vehicle drives chaotically in different lane lines, there will be safety hazards. Therefore, whether the unmanned vehicle drives correctly along the lane line is an important factor affecting the safety performance of the unmanned vehicle. Contents of the invention [00...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G05D1/02
CPCG05D1/0214G06V20/588
Inventor 谭楚亭
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD