Lane departure recognition method, device, device and storage medium

A lane departure and recognition method technology, applied in the field of intelligent driving, can solve problems such as difficult to generate lanes, unable to issue lane departure warnings and departure information in time, and achieve the effect of enhancing safety

Active Publication Date: 2021-08-03
APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the above solution needs to recognize the lane line when realizing lane departure discrimination. Due to weather or road conditions, when the lane line cannot be recognized, it is difficult to generate lane departure information, and the lane departure warning cannot be issued in time, causing the vehicle to drive There are security risks

Method used

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  • Lane departure recognition method, device, device and storage medium
  • Lane departure recognition method, device, device and storage medium
  • Lane departure recognition method, device, device and storage medium

Examples

Experimental program
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Embodiment 1

[0028] figure 1 It is a flow chart of a lane departure recognition method provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation where a vehicle using intelligent driving technology recognizes lane departure. The method can be executed by a lane departure recognition device. The device can be realized by means of hardware and / or software, and generally can be integrated in the control system of the intelligent driving vehicle, see figure 1 , the method of the embodiment of the present invention includes:

[0029] Step 101. Determine the target driving line of the vehicle according to the map data, target navigation data and vehicle positioning data.

[0030] Wherein, the map data may be data stored in digital form for representing geographic location relationships, and may include traffic map data and geographical map data, etc. The specific form of map data may be a map database, which may be stored in a cloud server or locally in t...

Embodiment 2

[0045] figure 2 It is a flow chart of a lane departure recognition method provided by Embodiment 2 of the present invention. This embodiment is a specific embodiment based on the above embodiments. Correspondingly, see figure 2 , the method of the embodiment of the present invention includes:

[0046] Step 201, using the vehicle positioning data and the target navigation data as the start point and the end point respectively to generate a standard navigation route.

[0047] Wherein, the standard navigation route may be a navigation route determined based on the accuracy level of the existing map data. For example, if the current map data can be as accurate as the road, then the standard navigation route may be a navigation route with the accuracy of the road.

[0048] Specifically, an existing method for generating a navigation route can be used to generate a navigation route with the vehicle positioning data and the target navigation data as the starting point and the end ...

Embodiment 3

[0091] Figure 4 It is a schematic structural diagram of a lane departure recognition device provided in Embodiment 3 of the present invention, capable of straightening the lane departure recognition method provided in any embodiment of the present invention, and having corresponding functional modules and beneficial effects for executing the method. The device can be implemented by software and / or hardware, and specifically includes: a driving line determination module 301 , a prediction module 302 and an early warning module 303 .

[0092] Wherein, the driving line determination module 301 is used to determine the target driving line of the vehicle according to the map data, target navigation data and vehicle positioning data;

[0093] The prediction module 302 is configured to determine the predicted lane line based on the target driving line and according to the association relationship between the driving line and the lane line, wherein the association relationship is det...

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Abstract

The embodiment of the present invention discloses a lane departure recognition method, device, device and storage medium. The method includes: determining the target driving line of the vehicle according to the map data, target navigation data and vehicle positioning data; based on the target driving line, Determine the predicted lane line according to the correlation between the driving line and the lane line, wherein the correlation is determined by fitting the historical measured lane line and the historical driving line; determine the predicted lane line according to the current vehicle position and the predicted lane line Vehicle lane departure information. The technical solution of the embodiment of the present invention determines lane departure information through map data, target navigation data and vehicle positioning data, reduces the dependence of the lane departure information generation process on image recognition technology, and can reduce the potential safety hazard of vehicle driving.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of intelligent driving, and in particular to a lane departure recognition method, device, device and storage medium. Background technique [0002] With the advent of the 5G era, autonomous driving technology will inevitably develop rapidly. As an important function in the field of autonomous driving, lane departure discrimination has become a research hotspot in the industry. [0003] In the prior art, in order to realize lane departure discrimination, positioning technology is often used to identify the position of the vehicle, and then based on image recognition technology, the actual lane where the vehicle is located is judged to determine whether the vehicle deviates from the current lane. On this basis, the data such as vehicle speed and steering wheel angle are used to predict the vehicle offset, and then give an early warning of the vehicle's departure from the lane. [0004] Ho...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G08G1/16G01C21/34G01C21/28
CPCG08G1/0129G08G1/167G01C21/3415G01C21/3492G01C21/28
Inventor 李映辉周志鹏李冰胡俊霄马瑞兵冯遥
Owner APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECH CO LTD
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