Lane line fusion and transverse control method and system, vehicle and storage medium

A technology of lateral control and lane lines, applied in the fields of lane line fusion and lateral control, vehicles and storage media, can solve the problems of unfriendly user experience and achieve the effect of ensuring continuity and user-friendly experience

Active Publication Date: 2021-02-19
CHONGQING CHANGAN AUTOMOBILE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the mainstream driving assistance system will exit directly after the camera detects that the lane line is lost, which is very unfriendly to the user experience.

Method used

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  • Lane line fusion and transverse control method and system, vehicle and storage medium
  • Lane line fusion and transverse control method and system, vehicle and storage medium
  • Lane line fusion and transverse control method and system, vehicle and storage medium

Examples

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Embodiment Construction

[0069] The present invention will be further described below in conjunction with accompanying drawing.

[0070] In this embodiment, a base lane fusion and lateral control method includes the following steps:

[0071] Obtain the guardrail information, roadside information, lane line and lane line confidence rate detected by the forward-looking camera;

[0072] Obtain roadside information and guardrail information detected by forward millimeter wave radar;

[0073] Obtain the roadside information and guardrail information detected by the lateral millimeter wave radar;

[0074] Obtain the road curvature and road grade output by the ADAS map;

[0075] Obtain the lane line detected by the surround view camera and the confidence rate of the lane line;

[0076] Based on the lane line, lane line confidence rate, guardrail information, curb information, road curvature and road grade, the lane line is fused, and the fused lane line, lane line type and fusion confidence rate are outpu...

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Abstract

The invention discloses a lane line fusion and transverse control method and system, a vehicle and a storage medium. The method comprises the steps of acquiring guardrail information, road edge information, a lane line and a lane line confidence rate detected by a forward-looking camera; acquiring road edge information and guardrail information detected by a forward millimeter-wave radar; acquiring road edge information and guardrail information detected by a lateral millimeter wave radar; obtaining a road curvature and a road grade output by an ADAS map; acquiring a lane line detected by a look-around camera and a lane line confidence rate; fusing the lane lines based on the lane lines, the lane line confidence rate, the guardrail information, the road edge information, the road curvatureand the road grade, and outputting the fused lane lines, the types of the lane lines and the fusion confidence rate; and performing transverse control on the vehicle according to the fused lane lines, the type of the lane lines and the fusion confidence rate. When the lane line is lost, one lane line can be virtualized, and the system cannot be directly quitted, so that the continuity of controlcan be ensured, and the user experience is friendly.

Description

technical field [0001] The invention belongs to the technical field of lane fusion, and in particular relates to a lane line fusion and lateral control method, system, vehicle and storage medium. Background technique [0002] With the development of automotive intelligent driving technology, more and more driver assistance technologies are mass-produced on passenger cars, and the integration of driver assistance technologies is getting higher and higher. Driving assistance technology is a safety technology that assists the driver in driving, improving driving safety and comfort. With the popularization of driving assistance technology, the continuity of driving assistance technology is constantly improving. [0003] At present, the mainstream driving assistance system will exit directly after the camera detects that the lane line is lost, which is very unfriendly to the user experience. [0004] Therefore, it is necessary to develop a lane fusion and lateral control method...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/18B60W40/02B60W40/06B60W40/00
CPCB60W30/18B60W40/02B60W40/06B60W40/00
Inventor 卢斌任传兵
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD
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