Lane line recognition method and device, computing equipment and computer storage medium

A lane line recognition and lane line technology, applied in the field of vehicles, can solve the problems of inability to provide accurate lane line pose data, low stability and reliability, misrecognition, etc. accurate effect

Pending Publication Date: 2021-03-12
AIWAYS AUTOMOBILE SHANGHAI CO LTD
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  • Description
  • Claims
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Problems solved by technology

However, in the case of uneven road structure, changing lighting conditions or many obstacles on the road surface, the lane line recognition method based only on machine vision is prone to misrecognition problems, and its stability and reliability are low, which cannot provide vehicles with Accurate lane line pose data

Method used

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  • Lane line recognition method and device, computing equipment and computer storage medium
  • Lane line recognition method and device, computing equipment and computer storage medium
  • Lane line recognition method and device, computing equipment and computer storage medium

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Embodiment Construction

[0023] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0024] figure 1 shows a schematic flow chart of a lane line recognition method according to an embodiment of the present invention, as figure 1 As shown, the method includes the following steps:

[0025] Step S101, acquire the motion state data of the vehicle at the current time t, and predict the pose of the lane line at the time t+Δt according to the motion state data at the time t, and obtain the predicted data of the lane line...

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Abstract

The invention discloses a lane line recognition method and device, computing equipment and a computer storage medium, and the method comprises the steps: obtaining the motion state data of a vehicle at a current moment t, predicting the pose condition of a lane line at a moment t+deltat, and obtaining the lane line pose prediction data at the moment t+deltat; when the t+deltat moment is reached, obtaining lane line pose observation data at the t+deltat moment according to a lane line parameter equation determined based on the road image at the t+deltat moment; performing fusion processing on the lane line pose prediction data at the t+deltat moment and the lane line pose observation data at the t+deltat moment to obtain target lane line pose data at the t+deltat moment; and fitting the pose data of the target lane line at the t+deltat moment to obtain a fusion parameter equation of the lane line at the t+deltat moment. According to the scheme, visual detection and motion state data ofthe vehicle are fully fused, and high-precision and high-robustness lane line identification is realized.

Description

technical field [0001] The present invention relates to the technical field of vehicles, in particular to a lane line recognition method, device, computing device and computer storage medium. Background technique [0002] As the navigation path of intelligent vehicles, lane lines can be identified and tracked quickly and accurately, which is an important guarantee for the realization of unmanned driving. Most of the existing lane line recognition methods belong to typical machine vision applications. Each frame of image is obtained through a visual sensor, and the image is preprocessed, edge detected, and sampling point curve fitting is processed to obtain the curve parameters of the lane line. However, in the case of uneven road structure, changing lighting conditions or many obstacles on the road surface, the lane line recognition method based only on machine vision is prone to misrecognition problems, and its stability and reliability are low, which cannot provide vehicle...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06N3/08G06N20/00
CPCG06N3/084G06N20/00G06V20/588
Inventor 唐卓人胡燚
Owner AIWAYS AUTOMOBILE SHANGHAI CO LTD
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