Lane line generation method and device

A technology of lane lines and lanes, applied in the field of lane line generation methods and devices, can solve the problems of low efficiency of high-precision map generation and the like

Active Publication Date: 2021-01-19
北京赛目科技有限公司 +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the purpose of this application is to provide a lane line generation me

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  • Lane line generation method and device
  • Lane line generation method and device
  • Lane line generation method and device

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Embodiment Construction

[0053] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only It is a part of the embodiments of this application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without...

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Abstract

The invention provides a lane line generation method and device. The method comprises the steps of obtaining laser point cloud of each frame of a target vehicle in driving according to a preset route;extracting ground point cloud of a preset route through a random consistency sampling algorithm according to the laser point cloud of each frame; according to the reflection intensity of each point in the ground point cloud, screening out points with the reflection intensity exceeding a preset intensity threshold value, and determining the points as lane line point cloud; through a random consistency sampling algorithm, extracting to-be-selected straight lines forming angles within a preset angle threshold with the driving direction of the target vehicle from the lane line point cloud, and determining the vertical feet from the position point of the target vehicle to all the to-be-selected straight lines as to-be-selected lane line points; calculating a distance value from each to-be-selected lane line point to a preset route, and determining a set of the to-be-selected lane line points with the same distance value in all frames as a target lane line point set; and generating lane lines according to the target lane line point set, and generating lane information according to the distances between the lane lines.

Description

technical field [0001] The present application relates to the field of unmanned driving, in particular, to a method and device for generating lane lines. Background technique [0002] At present, as a product of the development of artificial intelligence, driverless cars have attracted the attention of artificial intelligence developers. The unmanned driving simulation system on the unmanned vehicle needs to use high-precision electronic maps as important basic data for simulated driving. [0003] The high-precision maps in the prior art are obtained by importing the collected lidar point cloud data, and then relying on manual marking of lane lines and lanes. Due to the manual annotation by professionals, the obtained high-precision map has certain errors, which has certain safety hazards for the driving of driverless cars, and the efficiency of obtaining high-precision maps through this method is not good. Contents of the invention [0004] In view of this, the purpose ...

Claims

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Application Information

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IPC IPC(8): G01C21/32
CPCG01C21/32
Inventor 何丰顾忆铭杨强薛晓卿陈贞
Owner 北京赛目科技有限公司
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