Vehicle navigation method and device based on visual recognition of traffic road markings
A technology of road marking and vehicle navigation, which is applied in the fields of integrated navigation, assisted automatic driving, and computer vision, and can solve the problems of low accuracy, continuity and reliability of vehicle navigation methods
Active Publication Date: 2021-06-04
北京眸星科技有限公司
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Problems solved by technology
[0006] In view of this, the embodiment of the present invention proposes a vehicle navigation method and device based on visual recognition of traffic road markings to solve the following problems in the prior art: by visually recognizing traffic road markings and making full use of traffic road markings The nominal data information of the marking line can accurately obtain the vehicle navigation information such as the driving distance, speed and course change of the vehicle, and solve the problems of low accuracy, continuity and reliability in the existing vehicle navigation methods
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[0024] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the present disclosure will be described in detail below in conjunction with the accompanying drawings and specific embodiments. Embodiments of the present disclosure will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, but are not intended to limit the present disclosure.
[0025] "First", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. Words like "comprising" or "comprising" mean that the elements preceding the word cover the elements listed after the word, and do not exclude the possibility of also covering other elements. "Up", "Down", "Left", "Right" and so on are only used to indicate the relative positional relationship. When the absolute position of the described object changes, ...
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The invention discloses a vehicle navigation method and device based on visual recognition of traffic road markings. The method includes: receiving a ground road image, identifying one or more traffic road markings in the ground road image; obtaining the The pixel coordinate information and geometric measurement information of traffic road markings; according to the geometric measurement information, compare the traffic road marking standards, judge the type of traffic road markings, and obtain the corresponding geometric nominal information; according to the geometric Measure information, geometric nominal information and pixel coordinate information to obtain vehicle navigation information. The method and device of the present invention can provide an accurate, stable and reliable reference for the combined vehicle navigation system, calibrate and correct multiple types of sensor errors online, greatly improve the accuracy and performance of the combined vehicle navigation system, and enable continuous navigation in complex occlusion environments. And reliable, so it has obvious technical advantages in the fields of car navigation, assisted automatic driving and so on.
Description
technical field [0001] The present invention generally relates to the fields of computer vision, integrated navigation, and assisted automatic driving. More specifically, it relates to a vehicle navigation method and device based on visual recognition of traffic road markings. Background technique [0002] Autonomous driving (driverless) technology requires many different types of sensors to work together. Among them, the role of satellite navigation, inertial navigation system (Inertial Navigation System, INS), odometer (Odometry) and other position sensors is to combine and output navigation and positioning results, provide spatial position reference for vehicles, and provide subsequent obstacles, braking, and map matching. , path planning and other series of processing to provide the foundation and basis. [0003] Among various position sensors, sensors such as INS and Odometry are based on Dead Reckoning (DR), which can provide continuous, high-frequency speed and disp...
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IPC IPC(8): G01C21/34G01C21/16G01S19/47
CPCG01C21/165G01C21/3415G01C21/3446G01S19/47
Inventor 姜楠李芳
Owner 北京眸星科技有限公司