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A monitoring method, device, equipment and medium for lane line recognition results

A technology of lane line recognition and lane line, which is applied in the field of monitoring of lane line recognition results, can solve problems such as inability to accurately monitor lane lines, and achieve accurate monitoring and accurate and intuitive effects

Active Publication Date: 2021-01-05
沈阳中科创达软件有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the inventor found the following defects in the prior art in the process of realizing the present invention: the above-mentioned method cannot intuitively monitor the accuracy of the detected lane lines

Method used

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  • A monitoring method, device, equipment and medium for lane line recognition results
  • A monitoring method, device, equipment and medium for lane line recognition results
  • A monitoring method, device, equipment and medium for lane line recognition results

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Experimental program
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Embodiment 1

[0033] figure 1 It is a flow chart of a method for monitoring lane line recognition results provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of monitoring the accuracy of the identified lane lines, and the method may be implemented by a device for monitoring recognition results of lane lines, and the device may be implemented by means of software and / or hardware. see figure 1 , the method for monitoring the result of lane line recognition provided in this embodiment includes:

[0034] S110. Acquire world coordinate system data based on the lane line detected by the positioning sensor.

[0035] Among them, the world coordinate system data of the lane line is the characteristic data of the lane line and the camera shooting the lane line in the world coordinate system, which may specifically include: the starting point coordinates of the lane line, the end point coordinates, the curvature of the lane line, the rate of change of t...

Embodiment 2

[0053] figure 2 It is a flow chart of a method for monitoring lane line recognition results provided by Embodiment 2 of the present invention. This embodiment is an optional solution proposed on the basis of the foregoing embodiments. see figure 2 , the method for monitoring the result of lane line recognition provided in this embodiment includes:

[0054] S210. Acquire world coordinate system data based on the lane line detected by the positioning sensor.

[0055] S220. According to the coordinates of the starting point and end point of the lane line in the world coordinate system data on the X axis of the world coordinate system, obtain the x coordinate according to the following formula, and use the x coordinate as X in the world coordinate matrix :

[0056] Xv=X_start+n*2, {n=1,2,3...N}, Xv≤X_end

[0057] X=Xv

[0058]Among them, X is the corresponding coordinate of the lane line on the X axis of the world coordinate system; Xv is the x coordinate, X_start is the c...

Embodiment 3

[0093] Figure 4 It is a schematic structural diagram of a monitoring device for lane line recognition results provided by Embodiment 3 of the present invention. see Figure 4 , The device for monitoring lane line recognition results provided in this embodiment includes: an acquisition module 10 , a conversion module 20 and an image generation module 30 .

[0094] Wherein, the obtaining module 10 is used to obtain the world coordinate system data based on the lane lines detected by the positioning sensor; the conversion module 20 is used to obtain the image coordinate system data of the lane lines according to the world coordinate system data; the image generation module 30, It is used to generate a lane line image according to the image coordinate system data.

[0095] Further, the conversion module 20 may include: a first conversion unit and a second conversion unit.

[0096] Wherein, the first conversion unit is configured to obtain a coordinate system conversion matrix ...

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Abstract

The invention discloses a lane line identification result monitoring method and device, equipment and a medium, and belongs to the technical field of machine vision and automatic driving. The method comprises the following steps of: obtaining world coordinate system data of a lane line detected on the basis of a positioning sensor; obtaining image coordinate system data of the lane line accordingto the world coordinate system data; and generating a lane line image according to the image coordinate system data. According to the lane line identification result monitoring method and device, theequipment and the medium provided by the invention, intuitional monitoring for the correctness of detected lane lines is realized.

Description

technical field [0001] Embodiments of the present invention relate to the technical fields of machine vision and automatic driving, and in particular to a monitoring method, device, device and medium for lane line recognition results. Background technique [0002] With the increasing number of cars, traffic problems are becoming more and more serious. The research on the intelligent autonomy, driving safety and assisted driving technology of cars has become a current hot spot. The stable detection and tracking of lane lines is the key to realize the automatic driving or safety of cars. The foundation and key of assisted driving. [0003] In the prior art, the detected lane lines in the world coordinate system are directly applied to the auto-driving or safety-assisted driving functions of the vehicle. Among them, the world coordinate system is a three-dimensional coordinate system describing the positions of cameras and objects in the environment. [0004] However, the inv...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G01S19/42
Inventor 张城
Owner 沈阳中科创达软件有限公司