Lane line fusion method, lane line fusion device, vehicle and storage medium

A lane line and lane line detection technology, applied in character and pattern recognition, instruments, computer components, etc., can solve the problems of not being able to better deal with driving scenes with bifurcated intersections, insufficient accuracy, and poor versatility , to achieve the effect of improving the versatility and detection accuracy

Pending Publication Date: 2020-12-29
SZ DJI TECH CO LTD
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Problems solved by technology

[0003] Based on this, this specification provides a lane line fusion method, a lane line fusion device, a vehicle, and a storage medium, aiming to solve the problem that the existing lane line detection cannot better deal with driving scenarios with bifurcated intersections and has poor versatility , the accuracy is not high enough and other technical problems

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  • Lane line fusion method, lane line fusion device, vehicle and storage medium
  • Lane line fusion method, lane line fusion device, vehicle and storage medium
  • Lane line fusion method, lane line fusion device, vehicle and storage medium

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[0028] The following will clearly and completely describe the technical solutions in the embodiments of this specification with reference to the drawings in the embodiments of this specification. Obviously, the described embodiments are part of the embodiments of this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this specification.

[0029] The flow charts shown in the drawings are just illustrations, and do not necessarily include all contents and operations / steps, nor must they be performed in the order described. For example, some operations / steps can be decomposed, combined or partly combined, so the actual order of execution may be changed according to the actual situation.

[0030] Some implementations of this specification will be described in detail below with reference to the accompanying drawings. In t...

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Abstract

The present invention relates to a lane line fusion method and device, a vehicle and a storage medium. The lane line fusion method comprises acquiring an environment image around a movable platform, and obtaining an initial lane line set of the movable platform according to the environment image (S110); performing fitting optimization on the initial lane line data in the initial lane line set to obtain a target lane line set, wherein the fitting optimization comprises performing fitting optimization according to the initial lane line data and historical lane line data in a historical lane lineset to obtain a target lane line set (S120), wherein the target lane line set comprises lane lines which are not parallel to each other.

Description

technical field [0001] The present application relates to the field of vehicle assisted driving and automatic driving, and in particular to a lane fusion method, a lane fusion device, a vehicle and a storage medium. Background technique [0002] Lane line detection is one of the main functions that assisted driving (ADAS) and automatic driving technology need to realize. Based on the detected lane line, the mobile platform can be planned, such as the driving plan of the vehicle, to ensure safe and reliable driving. Existing lane line detection methods are mainly based on the environment image around the current vehicle, and cannot optimize the current lane line by integrating the historical lane lines detected at previous moments, and cannot better deal with driving scenarios with bifurcated intersections. Therefore, the existing lane line detection has poor versatility, and the accuracy is not high enough. Contents of the invention [0003] Based on this, this specificat...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/588G06F18/22G06F18/25
Inventor 许睿陈竞
Owner SZ DJI TECH CO LTD
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