Lane line generation method, device, equipment and storage medium
A lane line and vehicle technology, applied in image analysis, image enhancement, instruments, etc., can solve the problems that unmanned vehicles cannot collect lane lines and cannot drive
Active Publication Date: 2021-04-06
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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Problems solved by technology
[0005] The embodiment of the present application provides a lane line generation method, device, equipment, and storage medium, which are used to solve the problem that the unmanned vehicle cannot collect clear lane lines and cannot drive according to the lane lines in the above solution
Method used
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Embodiment approach
[0153] The first implementation manner of step 206:
[0154] Step 2061a, generate a fitting line according to each second lane line.
[0155] Step 2062a. Calculate the included angle between each second lane line and the fitting line, and generate the standard deviation of the included angle according to each included angle.
[0156]Step 2063a, according to the angle between the standard deviation and each second lane line, determine the spread value of each second lane line.
[0157] Step 2064a: Determine the second probability value of each second lane line according to the diffusion value of each second lane line, wherein the diffusion value and the second probability value have a negative correlation mapping relationship.
[0158] The second implementation manner of step 206:
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The present application provides a lane line generation method, device, device, and storage medium, wherein the method includes: acquiring road point cloud data, and determining at least one first lane line on the road according to the point cloud data; acquiring a plurality of vehicles trajectory information of multiple vehicles, determine at least one second lane line according to the trajectory information of multiple vehicles; obtain the first probability value of each first lane line, and obtain the second probability value of each second lane line; according to belonging to the same The first probability value of the first lane line and the second probability value of the second lane line in the position area determine the final lane line in each position area. Clear and continuous lane lines can be automatically generated, so that unmanned vehicles can safely drive in the area according to the lane lines, especially in the intersection area.
Description
technical field [0001] The embodiments of the present application relate to the technical field of unmanned vehicles, and in particular to a method, device, device and storage medium for generating lane lines. Background technique [0002] With the development of automobile technology, unmanned vehicles have begun to be applied and developed. During the driving process of unmanned vehicles, it is necessary to provide lane line information for unmanned vehicles. [0003] In the prior art, the unmanned vehicle can collect the lane lines on the road, and the unmanned vehicle drives according to the collected lane lines. [0004] However, in the existing technology, the lane lines on the road will be blurred and broken due to problems such as occlusion and wear, and unmanned vehicles cannot collect clear lane lines and cannot drive according to the lane lines. Contents of the invention [0005] Embodiments of the present application provide a lane line generation method, dev...
Claims
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IPC IPC(8): G06K9/44G06K9/62G06T7/70G06T11/20
CPCG06T7/70G06T11/20G06T2207/10028G06V10/34G06F18/23
Inventor 杨光垚侯瑞杰沈莉霞何雷宋适宇董芳芳彭亮
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD