Special line type lane line detection method and system
A lane line detection and lane line technology, applied in the direction of instruments, character and pattern recognition, computer components, etc., can solve the problems of complex calculation, poor robustness, narrow application range, etc., to solve the problem of poor robustness Effect
Active Publication Date: 2020-06-09
MOMENTA SUZHOU TECH CO LTD
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Problems solved by technology
A large number of studies have found that: although the straight line model is simple and fast, it is not suitable for the detection of curved lane lines, and its application range is narrow; the parabolic model is easily affected by the complex road environment, and its robustness is not good; although the cubic spline model It is better, but the algorithm is complex and the amount of calculation is large
In addition, existing lane line detection methods cannot solve the problem of special line types such as Y-line detection well
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[0037] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the embodiments and accompanying drawings. Here, the exemplary embodiments and descriptions of the present invention are used to explain the present invention, but not to limit the present invention.
[0038] The examples of this application provide a training method for a special-line lane line detection model and a special line-type lane line detection method based on the special line-type lane line detection model. The above-mentioned special line type lane line detection model and special line type lane line detection method may be applied to a terminal, a server or a combination of the two. Among them, the terminal can be any existing, under-developed or future-developed device capable of interacting with the server through any form of wired and / or wireless connection (for example, Wi-Fi...
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The invention relates to the technical field of intelligent driving, in particular to a special line type lane line detection method and system. In the prior art, the detection problem of a special line type such as a Y-shaped line cannot be well solved. Based on a deep convolutional neural network, lane line detection is formalized into normal lane line and Y-shaped line detection, the two linesare directly combined to represent the Y-shaped line, branch separation is carried out, one branch is responsible for predicting the normal line type, and the other branch focuses on predicting the Y-shaped line, so that the problem of Y-shaped line detection can be well solved.
Description
technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a lane line detection method and system. Background technique [0002] With the development of science and technology, emerging concepts such as autonomous driving and unmanned vehicles have emerged as the times require. Lane detection technology is an important element in the road scene analysis of advanced driver assistance systems and an indispensable part of automatic driving technology. Specifically, sensors such as the camera of the vehicle can obtain the visual image of the current environment of the vehicle, and the lane line detection technology is used to process the image information of the road ahead or behind the vehicle acquired by the sensor, and the position of the lane line in the image can be obtained, thereby guide the driving of the vehicle. Normal lane markings are usually marked on the road surface in the form of marking lines of various styles...
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IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 张驰蒋竺希陈佳辉
Owner MOMENTA SUZHOU TECH CO LTD