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A lane line instance detection method and device, automatic driving vehicle

A lane line and category technology, which is applied in the field of automatic driving vehicles and lane line instance detection, can solve problems such as unrecognized lane line instances, and achieve the effect of improving processing speed and processing efficiency

Active Publication Date: 2021-04-23
BEIJING TUSEN WEILAI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the embodiment of the present application provides a lane line instance detection method and device, a storage device and an automatic driving vehicle to solve the problem that the lane line instance cannot be effectively identified from image data in the prior art

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  • A lane line instance detection method and device, automatic driving vehicle
  • A lane line instance detection method and device, automatic driving vehicle
  • A lane line instance detection method and device, automatic driving vehicle

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Embodiment Construction

[0041] In order to enable those skilled in the art to better understand the technical solutions in the present invention, 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 The embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0042] In automatic driving technology, it is necessary to perform real-time image processing on a large amount of image data acquired by the camera, and identify lane line instances from the image data. In the technical solution provided by the embodiment of the present application, a multi-classification task model is obtained through p...

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Abstract

Embodiments of the present application provide a lane line instance detection method and device, and an automatic driving vehicle. The method includes: in the processing process, identifying lane line pixels in feature data to obtain lane line pixel data; identifying the lane line position category to which the pixel belongs in the feature data to obtain lane line position category data, one lane line position category corresponds to Based on a predetermined lane line position; compare the lane line pixel data and the lane line position category data, assign the lane line position category corresponding to a lane line pixel to the lane line pixel to obtain the lane line instance data, the lane line instance data includes at least A lane marking instance, each lane marking instance includes multiple lane marking pixels with the same lane marking location class.

Description

technical field [0001] The present invention relates to the field of machine vision, in particular to a lane line instance detection method and device, a storage medium and an automatic driving vehicle. Background technique [0002] In automatic driving technology, an automatic driving control system usually includes multiple processing subsystems, such as a decision-making subsystem, a path planning subsystem, an image processing system, and a control subsystem. These processing subsystems perform real-time processing on the large amount of received sensor data and other input data, which is characterized by a heavy processing burden and a short available processing time. The safety and utility of autonomous vehicles, as well as the safety of passengers, depend on the ability of these processing subsystems in autonomous vehicles to function as needed. These processing burdens can be addressed by equipping self-driving vehicles with energy-intensive processing systems and e...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W40/06B60W30/18
CPCB60W30/18009B60W40/06
Inventor 李天王泮渠陈鹏飞
Owner BEIJING TUSEN WEILAI TECH CO LTD