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A method for lane division of autonomous vehicles in the absence of lane markings

A technology of lane division and automatic driving, which is applied in the traffic control system, instrument, calculation and other directions of road vehicles to achieve the effect of improving driving safety and driving efficiency, and reducing potential safety hazards.

Active Publication Date: 2021-01-05
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

After searching, there is no relevant report at home and abroad on the lane division of self-driving vehicles in the absence of lane lines

Method used

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  • A method for lane division of autonomous vehicles in the absence of lane markings
  • A method for lane division of autonomous vehicles in the absence of lane markings
  • A method for lane division of autonomous vehicles in the absence of lane markings

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Embodiment Construction

[0048]1. Data format related to road conditions

[0049]The road width and cross-section data are obtained in real time by the vehicle-mounted camera. The data format is shown in Table 1.

[0050]Table 1 Data format related to road conditions

[0051] Order Distance from point O (m) W i (m)

Road cross section panel block ………… W23

11521.32 W24

12021.22 W25

12521.42 W26

13021.32 W27

13521.42 …………

[0052]2. Calculation methods and steps

[0053]Refer tofigure 1 , The method of lane division for an autonomous vehicle described in the patent of the present invention is composed of the following five steps:

[0054]Step 1 Determine whether to start the lane division algorithm

[0055]Check whether there is a lane line and determine whether to start the algorithm.

[0056]Step 2 Determine the scope of lane division

[0057]Step 2.1 Preliminarily determine the scope of lane division

[0058]Take 5m as the step length, read the width of the road, and mark W according to the distance from the vehicle from near to fari, I=1...

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Abstract

The patent of the present invention discloses a method for lane division of an automatic driving vehicle under the condition of no lane markings. The specific method includes five steps, that is, first, judging whether to start the lane division algorithm, second, determining the range of lane division, third, dividing the section of the road cross section, fourth, lane division, and fifth, receiving the lane division result. When the method of the present invention detects that there is no lane line on the road, it performs real-time calculation according to the road conditions and divides the lane line, thereby solving the problem that the current self-driving car has no relevant decision-making support on the road section without lanes and cannot regulate the driving trajectory, reducing safety. Hidden dangers, improve driving safety and driving efficiency.

Description

Technical field[0001]The present invention relates to the field of intelligent planning and decision-making of vehicles in an automatic driving environment, and in particular to a method for automatically driving vehicles to divide lanes in the absence of lane lines.Background technique[0002]With the rapid development of the Internet of Things and artificial intelligence, and gradually penetrate into the automotive industry, autonomous vehicles are becoming commercial. If you want to realize automatic driving, from a visual point of view, you must first learn to observe the road. One of the key issues is to observe the lane line. At this stage, the detection of lane lines by autonomous vehicles mainly relies on machine vision, that is, images are collected by cameras, processed and converted into digital signals, so as to realize the perception of the surrounding road environment. However, when the self-driving vehicle travels to a section with blurred lane lines, or when a new road...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G08G1/16G06K9/00
CPCG08G1/167G06V20/588
Inventor 宗芳田勇达张慧永曾梦唐明石蕊焦玉玲潘嵩岩
Owner JILIN UNIV