Ground marking fusion method and system based on road structure, server and medium

Abstract

The invention discloses a ground marking fusion method and system based on a road structure, a server and a medium, and the method comprises the steps: segmenting a vehicle track to form a plurality of segmented roads, and determining the segmented roads where a ground marking is located according to the central point of the ground marking and the central points of the segmented roads; determininga lane where the ground marking line is located according to the center point of the ground marking line and the center point of each lane line in the segment road where the ground marking line is located; adjusting the central point of the ground marking line according to the projection of the central point of the ground marking line on the lane central line of the lane; and finally, clusteringthe adjusted central points of the same ground marked line to obtain a clustering central point, and obtaining a final ground marked line position according to a position relationship between the clustering central point and two long-strip edges of the ground marked line, thereby realizing fusion of the ground marked line based on nearby map elements, enabling the output ground marked line to havebetter position precision, and providing help for a vehicle driving decision well.

Description

technical field [0001] The present invention relates to the technical field of vehicle automatic driving, in particular to a road structure-based ground marking fusion method and system, a server and a medium. Background technique [0002] In the field of autonomous driving, in order to accurately control the driving of vehicles, it often involves the drawing of high-precision maps, and the ground marking data drawn from high-precision maps participates in the driving decision-making of autonomous vehicles. When the sensors of the self-driving vehicle fail under the influence of severe weather such as heavy fog, hail, and heavy rain, the vehicle can make decisions about driving behavior based on the ground marking data in the known high-precision map. Due to the position error of the collected ground markings due to factors such as equipment during the ground marking collection process, if the ground markings with large deviations are not moved to the correct position or fil...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, propose a road structure-based ground marking fusion method and system, server and medium, and solve the problem of errors caused by factors such as equipment in the existing ground marking collection process, thereby causing The problem of entering the wrong lane when the self-driving car is driving

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