Lane line processing method and device for simulation test
A simulation test and lane line technology, applied in the computer field, can solve the problems of blurred lane lines, affecting the effect of automatic driving simulation test, and lack of lane lines.
Inactive Publication Date: 2021-03-09
北京赛目科技有限公司 +1
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Problems solved by technology
[0003] However, when collecting actual road information, it is often encountered that the collected lane lines are missing due to the occlusion of vehicles or other obstacles, or the blurred or defective lane lines on the ground.
Especially in scenarios where the width of the lane changes or the lane turns, it may affect the simulation test effect of automatic driving
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[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0032] It should be noted that the terms "include" and "have" and any variations thereof in the embodiments of the present invention and drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally further includes For other steps or units inherent in these pr...
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The invention discloses a lane line processing method and device for simulation test, and the method comprises the steps: judging whether there is a missing line segment in a lane line of a road or not according to the collected road information; if yes, judging whether the missing line segment is in a specific state or not; if so, determining a starting point and an end point of the line segmentin the lane line, and determining a plurality of starting point adjacent points near the starting point and a plurality of terminal point adjacent points near the terminal point; determining a first curvature of the starting point according to the starting point adjacent point and the starting point, and determining a second curvature of the terminal point according to the terminal point adjacentpoints and the terminal point; constructing a plurality of Bezier curves according to the midpoint of the connecting line of the starting point and the terminal points, the terminal points and the starting point; determining an optimal Bezier curve from the plurality of Bezier curves, the optimal Bezier curve being in the plurality of Bezier curves and most fitting the first curvature and the second curvature; and complementing the missing line segment based on the optimal Bezier curve. According to the invention, the missing lane line in the road information can be complemented.
Description
technical field [0001] The present invention relates to the field of computer technology, in particular to a processing method and device for lane lines used in simulation tests. Background technique [0002] In order to test various performances of autonomous driving, road scenarios need to be established for simulation testing. In order to ensure that the test environment of autonomous driving is close to the actual application scene, the road scene in the simulation test is established based on the collected lane lines of the actual road. [0003] However, when collecting actual road information, it is often encountered that the collected lane lines are missing due to the occlusion of vehicles or other obstacles, or the blurred or missing lane lines on the ground. Especially in scenarios where the width of the lane changes or the lane turns, it may affect the simulation test effect of automatic driving. Contents of the invention [0004] The present invention provides...
Claims
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CPCG06T11/203
Inventor 何丰王铁锋郝运泽陈贞薛晓卿
Owner 北京赛目科技有限公司