Lane line fusion system and method based on intelligent camera and high-precision map positioning
A technology of smart camera and fusion method, applied in the field of lane line fusion system based on smart camera and high-precision map positioning, can solve the problems of limited field of view, unguaranteed performance, easy to be blocked by obstacles, etc., to prevent lane line jumping. change, prevent abnormal jumps, and improve the effect of safety and experience
Active Publication Date: 2022-08-09
CHONGQING CHANGAN AUTOMOBILE CO LTD
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However, the camera is also vulnerable to weather, light, etc., has a limited field of view, and is easily blocked by obstacles.
The performance of the current video image detection and recognition technology cannot be guaranteed under special conditions such as curves, road shadows, and complex road markings.
Due to these characteristics of current cameras, the driving safety of autonomous vehicles cannot be guaranteed under complex driving conditions
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[0032] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.
[0033] High-precision maps are maps dedicated to autonomous driving, with higher accuracy and richer information, storing lane-level road information, as well as information on fixed landmarks such as signs and poles. The positioning algorithm integrates the input signals of sensors such as GPS, IMU, wheel speed and camera to achieve precise positioning at the lane level of the vehicle. The lane-level environmental information corresponding to the location is obtained by matching the precise location with the high-precision map.
[0034] see figure 1 As shown, this embodiment discloses a lane line fusion method based on smart camera and high-precision map positioning, and the method includes the following steps:
[0035] (S1) Preprocessing the lane line information output by the smart camera 1 includes: outputting the cubic curve of the lane...
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The invention discloses a lane line fusion method based on intelligent camera and high-precision map positioning. The method includes the following steps: preprocessing the lane line information output by the intelligent camera and the high-precision map positioning controller; Whether the lane line of the smart camera is abnormal; if there is an abnormality, judge whether the lane line of the high-precision map locator is available at this time. If it is available, select the lane line output by the high-precision map locator to assist the automatic driving control; if the lane line of the smart camera is If it is restored and available, the lane lines output by the smart camera are selected to assist the automatic driving control; the fused lane lines are tracked, verified and processed. The invention also discloses a lane line fusion system based on intelligent camera and high-precision map positioning. Through the system and method, under complex driving conditions, the complementary redundancy between the smart camera and the high-precision map locator is realized, and the safety and reliability of automatic driving are improved.
Description
technical field [0001] The invention relates to the technical field of sensor information fusion, in particular to a lane line fusion system and method based on intelligent camera and high-precision map positioning. Background technique [0002] Lane line information is one of the most important environmental perception information for cars to achieve autonomous driving. Only by using the information of the lane lines can the self-driving car keep driving safely in the current lane. At the same time, accurate and smooth lane lines can make the vehicle run more smoothly, improving the experience and safety. [0003] Currently, the way self-driving cars get information about lane lines is through smart cameras. The smart camera can detect and identify the lane line from the video image, and output it to the automatic driving controller in real time. The advantage of the camera is that the perception is real-time and the detection is more accurate. However, the camera also ...
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IPC IPC(8): B60W30/02B60W30/18B60W60/00G08G1/0967G08G1/0962G06V20/58
CPCB60W30/02B60W30/18163B60W60/0015G08G1/09626G08G1/096725G06V20/588
Inventor 汤兆丰熊周兵
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD