Lane line generation method and device
A technology of lane lines and lanes, which is applied in the field of intelligent transportation, can solve problems such as broken lines, incomplete lane lines, unsafe driving of unmanned vehicles, etc., and achieve the effect of improving safety performance and ensuring safe travel
Active Publication Date: 2021-06-01
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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Problems solved by technology
However, due to occlusion, wear and other reasons, the lane lines on the road will appear blurred, broken lines, etc.
The lane lines obtained by the existing technology are not complete, and there are problems such as interruption and missing, which lead to unmanned vehicles not being able to drive safely according to the lane lines
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[0053] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0054] The method and device for generating lane lines provided in this embodiment are applicable to various application scenarios such as various unmanned vehicles. In this embodiment, by obtaining the reflection value base map representing the reflection information of the real lane line, and inputting the reflection value base map of the lane l...
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The invention provides a lane line generation method and device. The lane line generating method of the present invention includes: determining the reflection value base map of the lane line, and the reflection value base map is used to represent the reflection information of the lane line; determining a plurality of lane points corresponding to the lane line in the reflection value base map; The graph is input into the pre-trained neural network model, and the attribute information of each lane point is sequentially determined; according to the attribute information of each lane point, the lane line is generated. The invention realizes a continuous and complete lane line generation process, so that the unmanned vehicle can drive safely according to the lane line.
Description
technical field [0001] The invention relates to the technical field of intelligent transportation, in particular to a method and device for generating lane lines. Background technique [0002] With the intelligentization of automobile technology, driverless vehicles came into being. Unmanned vehicles rely on the in-car intelligent pilot to achieve the purpose of unmanned driving. During the driving process of unmanned vehicles, it is necessary to provide lane line information for unmanned vehicles. [0003] The prior art generates lane lines based on semantic segmentation method. However, due to occlusion, wear and other reasons, the lane lines on the road will be blurred and broken. The lane lines obtained by the existing technology are not complete, and there are problems such as interruption and missing, which make the unmanned vehicles unable to drive safely according to the lane lines. Contents of the invention [0004] The present invention provides a lane line g...
Claims
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IPC IPC(8): G06T7/521G06K9/00G06T3/00G06T11/20
CPCG06T7/521G06T11/203G06T2207/10028G06T2207/20081G06T2207/20084G06T2207/30256G06V20/588G06T3/067
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