Lane line detection method, device and equipment and computer storage medium

A lane line detection and lane line technology are applied in the fields of equipment and computer storage media, lane line detection methods, and devices, and can solve the problems of inability to effectively extract lane line features and inconspicuous lane line markings, so as to improve accuracy and guarantee The effect of driving safety

Pending Publication Date: 2021-03-23
FATRI DIYAN BEIJING TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the above method cannot effectively extract the features of the lane line during the detection process due to the influence of factors such as illumination, obstacle occlusion, insufficient lane markings, lack of lane markings, and the surface of the lane line being covered by water.
[0004] In summary, the accuracy of the lane line detection method in the prior art needs to be improved, so as to ensure the safety of the vehicle

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  • Lane line detection method, device and equipment and computer storage medium
  • Lane line detection method, device and equipment and computer storage medium
  • Lane line detection method, device and equipment and computer storage medium

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Embodiment Construction

[0025] The characteristics and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only intended to explain the present invention rather than limit the present invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by showing examples of the present invention.

[0026] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operati...

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Abstract

The embodiment of the invention provides a lane line detection method, device and equipment and a computer storage medium, relates to the field of automatic driving, and is used for improving the accuracy of lane line detection so as to guarantee the driving safety of a vehicle. The method comprises the following steps: collecting an image data set and a point cloud data set in a road preset area;training a preset neural network model according to the image data set to obtain the probability of a lane line to which each pixel point belongs in the image data set, and determining first positioninformation of the lane line according to the probability; obtaining coordinates and intensity information of each point in the point cloud data set according to the point cloud data set, and determining second position information of the lane line according to the intensity information; and fusing the first position information and the second position information, and determining the position information of the fused lane line.

Description

technical field [0001] The invention belongs to the field of automatic driving, and in particular relates to a lane line detection method, device, equipment and computer storage medium. Background technique [0002] In recent years, autonomous driving has provided a new development trend for cars, and the perception module is an important part of autonomous driving. The perception module can simulate human eyes through sensors such as cameras, millimeter-wave radars, and lidars, and perceive the surrounding environment, such as the detection of lane lines. [0003] The detection of the lane line in the perception module can be used to assist the automatic driving of the vehicle. The detection method of the lane line in the prior art is to extract the edge of the front view or the top view, then perform the Hough transform, and finally pass the spline curve or segmented iterative model Fit the binary image region to determine the location of the lane markings. However, the ...

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): G06K9/00G06K9/32G06K9/62G06N3/04G06N3/08
CPCG06N3/08G06V20/588G06V10/25G06N3/045G06F18/2415G06F18/25
Inventor聂泳忠赵银妹
OwnerFATRI DIYAN BEIJING TECH CO LTD