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Lane line smoothing method and system

A technology for smoothing and lane lines, applied in image data processing, instruments, calculations, etc., can solve the problems of reduced driving safety and comfort, and achieve the effect of high robustness, simple and fast execution

Pending Publication Date: 2020-05-22
WUHAN ZHONGHAITING DATA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides a lane line smoothing method, which is used to solve the problem that the driving safety and comfort of the intelligent driving vehicle may be continuously changed slightly when driving on a high-precision map, which reduces the driving safety and comfort.

Method used

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  • Lane line smoothing method and system
  • Lane line smoothing method and system

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Embodiment Construction

[0035] 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 described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the Some, but not all, embodiments are invented. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0036] Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The occurrences of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alte...

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Abstract

The embodiment of the invention provides a lane line smoothing method and system, and the method comprises the steps: reading generated lane line data, and determining the positions of sharp corner data points from the lane line data; determining the tangent length from the sharp corner to the arc based on the sharp corner data point position; and performing arc smoothing based on the tangent length from the sharp corner to the arc, and outputting the smoothed data. According to the lane line smoothing method and system, the sharp corner part in the lane line can be eliminated, the lane line feature shape points with good smoothness areobtained, better support is provided for subsequent vehicle guiding, and the method is easy, convenient and rapid to implement, high in robustness, capableof adapting to 2D and 3D lane line shape point data and capable of adapting to sharp corner scenes of various distances.

Description

technical field [0001] Embodiments of the present invention relate to the field of automatic driving, and in particular, to a lane line smoothing method and system. Background technique [0002] In the field of autonomous driving, in order to accurately control the driving of vehicles, the drawing of high-precision maps is often involved. In the process of drawing high-precision maps, the lane alignment point data of the road surface is needed to provide lane-level driving guidance for autonomous vehicles. When the sensors of the self-driving vehicle fail due to severe weather such as heavy fog, hail, and heavy rain, the vehicle can learn the basic road conditions around it through the high-precision map data stored in the vehicle for subsequent driving. At the same time, high-precision maps can also allow self-driving vehicles to process road condition information beyond the normal field of vision. Since the generated high-precision map is composed of multiple straight seg...

Claims

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Application Information

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IPC IPC(8): G06T5/00G06T7/11G06T7/62
CPCG06T7/11G06T7/62G06T2207/30256G06T5/70
Inventor 肖德雨朱紫威秦峰尹玉成刘奋
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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