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Method, device and equipment for calibrating lane line information based on radar and storage medium

A technology of radar calibration and radar equipment, which is applied in the directions of instruments, calculations, character and pattern recognition, etc. It can solve problems such as camera interference, misrecognition, and inaccurate detection of two cameras, and achieve the effect of improving accuracy and reducing costs

Pending Publication Date: 2021-04-27
WEICHAI POWER CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this function only relies on a single forward-facing camera to perceive lane information. Blurred and damaged lane lines on the actual road will cause great interference to the camera, and sometimes misidentification will occur, which will cause great danger in high-speed situations.
There is also a solution based on dual-camera recognition. The dual-camera not only increases the cost, but also recognizes lane line information. If the lane line is damaged, the detection of the two cameras will not be accurate, so the two cameras cannot be very good. redundant design

Method used

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  • Method, device and equipment for calibrating lane line information based on radar and storage medium
  • Method, device and equipment for calibrating lane line information based on radar and storage medium
  • Method, device and equipment for calibrating lane line information based on radar and storage medium

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Embodiment Construction

[0045] The following description and drawings illustrate specific embodiments of the invention sufficiently to enable those skilled in the art to practice them.

[0046] It should be clear that the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0047] When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of systems and methods consistent with aspects of the invention as recited in the appended claims.

[0048] In the description of...

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Abstract

The invention discloses a method, device and equipment for calibrating lane line information based on a radar and a storage medium. The method comprises the steps of obtaining static target information at the two sides of a road through radar equipment installed on a vehicle; clustering the static target information, and carrying out curve fitting on the classified clusters; and performing feature matching on the fitted curve and lane line information recognized by the camera, if matching succeeds, executing a normal vehicle control instruction, and if matching fails, calibrating the lane line information according to the fitted curve. According to the method for calibrating the lane line information provided by the embodiment of the invention, the millimeter wave radar is adopted to extract the road information, mutual verification with the lane line information identified by the camera can be carried out under the condition of not increasing a system sensor, and the lane line identification accuracy is greatly improved.

Description

technical field [0001] The present invention relates to the technical field of smart cars, in particular to a method, device, equipment and storage medium for calibrating lane line information based on radar. Background technique [0002] Accurately identifying the lane line information of the road is an important technical issue in the field of intelligent driving vehicles. At present, LKA (Lane Keeping Assistance) is mainly based on a single-camera solution. The single-camera on the vehicle recognizes the lane line, and finally calculates the deviation between the vehicle and the center of the lane. By controlling the steering, the deviation is reduced to achieve the centering of the vehicle. purpose of driving. However, this function only relies on a single forward-facing camera to perceive lane information. Blurred and damaged lane lines on the actual road will cause great interference to the camera, and sometimes misidentification will occur, which will cause great dan...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/588G06V10/757G06F18/2321Y02T10/40
Inventor 代尚猛于永基宫永玉谢小忠
Owner WEICHAI POWER CO LTD
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