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Lane line fitting method and device, medium and electronic equipment

A lane line and curve fitting technology, applied in the field of computer vision, can solve problems such as complex lane lines

Active Publication Date: 2021-05-18
BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the lane lines of some roads are relatively complicated at present. For example, factors such as changes in the number of lanes, vehicle convergence, ups and downs, bus stations, and large curvature curves have increased the complexity of the lane lines.

Method used

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  • Lane line fitting method and device, medium and electronic equipment
  • Lane line fitting method and device, medium and electronic equipment
  • Lane line fitting method and device, medium and electronic equipment

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Embodiment Construction

[0024] Example embodiments according to the present disclosure will be described in detail below with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited by the exemplary embodiments described here.

[0025] It should be noted that relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0026] Those skilled in the art can understand that terms such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc. necessary logical sequence.

[0027] It should also be understood that in the embodiments of the present disclosure, "plurality...

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Abstract

The invention discloses a lane line fitting method and device, a medium and equipment. The method comprises the following steps: acquiring a plurality of sampling points of a lane line; determining segmented sampling points in the plurality of sampling points and segmented area sampling points belonging to segmented areas of the lane line, wherein the plurality of sampling points are divided into two parts by the segmented sampling points, one part is positioned on one side of the segmented sampling points, and the other part is positioned on the other side of the segmented sampling points; according to the segmented sampling points and the segmented area sampling points, determining constraint conditions of a first curve to be fitted and a second curve to be fitted at the positions of the segmented sampling points, wherein the first curve to be fitted and the second curve to be fitted are located on the two sides of the segmented sampling points; and according to sampling points at two sides of the segmented sampling point and the constraint condition, performing curve fitting processing to obtain a first curve and a second curve for representing the lane line. According to the technical scheme provided by the invention, the accuracy of the fitted lane line can be improved.

Description

technical field [0001] The present disclosure relates to computer vision technology, in particular to a lane line fitting method, a lane line fitting device, a storage medium and electronic equipment. Background technique [0002] Lane line fitting is an important link in assisted driving technologies such as automatic driving. Accurate realization of lane line fitting is conducive to enabling the vehicle to accurately determine the current road conditions, thereby improving the safety of the vehicle. However, the lane lines of some roads are relatively complicated at present. For example, factors such as changes in the number of lanes, vehicle convergence, ups and downs, bus stations, and large curvature curves have increased the complexity of the lane lines. [0003] How to achieve lane line fitting, so that the lane line fitting result can more accurately describe the lane lines in the road, is a technical issue worthy of attention. Contents of the invention [0004] ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 熊焕剑
Owner BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD