Lane line fitting method and system
A technology of lane lines and lanes, applied in the field of lane line fitting methods and systems, which can solve problems such as complex lane lines and achieve high efficiency
Active Publication Date: 2019-10-22
毫末智行科技有限公司
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Problems solved by technology
[0004] In view of this, the present invention aims to propose a lane line fitting method to solve the technical problem that there are multiple and relatively complicated lane lines extracted in the prior art
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[0042] It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.
[0043] In the embodiments of the present invention, "electrical connection" is used to describe a signal connection between two components, such as a control signal and a feedback signal, and an electric power connection between two components. In addition, the "connection" involved in the embodiments of the present invention may be a wired connection or a wireless connection, and the "electrical connection" involved may be a direct electrical connection between two components, or it may be through other components. indirect electrical connection.
[0044] The present invention will be described in detail below with reference to the drawings and in combination with embodiments.
[0045] figure 1 It is a schematic flowchart of a lane line fitting method according to an embodiment of the present invention, and t...
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The invention relates to the field of intelligent transportation, and provides a lane line fitting method and a lane line fitting system. The lane line fitting method comprises the steps of: acquiringmap information for a current position of a vehicle, wherein the map information comprises a number of lanes, a road width and line point information of two side lane lines of the vehicle; determining the one side lane line, in the same direction shown by at least one of a lane changing direction side, a vehicle driving coordinate system reference side, a road width invariant side and a lane continuous side, of the two side lane lines to be a lane line offset reference for lane line fitting; and performing offset to generate a plurality of lane lines of the vehicle based on the lane line offset reference, and carrying out curve fitting on a set of line points on the plurality of generated lane lines to obtain a corresponding lane line equation. The lane line fitting method provided by theinvention solves the problems that the number of lane lines extracted in the prior art is numerous and the lane lines are relatively complicated.
Description
technical field [0001] The invention relates to the field of intelligent transportation, in particular to a lane line fitting method and system. Background technique [0002] At present, vehicles with an autonomous driving system (ADS for short) have begun to be gradually introduced to the market, which has greatly promoted the development of intelligent transportation. ADS uses the environment perception system installed on the vehicle to perceive the surrounding environment in real time, and determines the driving area of the vehicle through the data returned by the sensor. The content of environmental perception can be divided into two parts, namely road information and target information. Among them, the lane line information in the road information can provide the vehicle with driving path information, which facilitates the realization of functions such as lane changing and lane keeping in lateral control. In addition, the lane line information can also provide a be...
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IPC IPC(8): G01C21/34G01C21/30
CPCG01C21/343G01C21/30G01C21/3819G01C21/3658G01C21/3461B60W2556/50G01C21/3889B60W30/12
Inventor 甄龙豹葛建勇韩汝涛李龙李卫高健张凯和林张露
Owner 毫末智行科技有限公司