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Lane structure detection method and device

A structure detection and lane technology, which is applied to traffic control systems, instruments, and traffic control systems of road vehicles. It can solve problems such as map failure, high-precision map failure, and inability to obtain lane structure information.

Pending Publication Date: 2021-08-31
HUAWEI TECH CO LTD
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Problems solved by technology

However, the high-precision map has a certain degree of coverage. When the vehicle travels to an area without a high-precision map, the road structure cannot be obtained, and the lane line merge point and separation point information cannot be known.
At the same time, the high-precision map still has the problem of failure. Due to urban reconstruction or construction, the map may become invalid after a certain period of time, so that the vehicle cannot obtain accurate lane structure information.

Method used

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  • Lane structure detection method and device
  • Lane structure detection method and device

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Embodiment Construction

[0055] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0056] With the advent of smart driving, smart cars have become the focus of research by major manufacturers.

[0057] Intelligent driving includes assisted driving and automatic driving. The key technologies for its realization include: perception and positioning, planning and decision-making (such as path planning, motion planning, etc.), executive control, etc. For example, in automatic driving and assisted driving, intelligent vehicles need to perceive the surrounding environment. On smart vehicles, the typical sensors used include millimeter-wave radar, camera and lidar, etc. The vehicle can detect and classify the surrounding environment of the vehicl...

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Abstract

The invention provides a lane structure detection method and device which is used for improving the accuracy of obtaining the lane structure information. The method comprises the following steps of acquiring the lane boundary information, wherein the lane boundary information comprises the position information of a left side lane boundary and a right side lane boundary; acquiring the position information corresponding to at least two time points of a vehicle; for each time point, determining the distance between the vehicle and the left lane boundary and the distance between the vehicle and the right lane boundary according to the position information corresponding to the vehicle at the time points; determining a first distance change between the vehicle and the left lane boundary at the at least two time points and a second distance change between the vehicle and the right lane boundary at the at least two time points; and determining a lane change based on the first distance change and the second distance change. By judging the change of the lane structure according to the distance change between the vehicle and the lane boundary, the accuracy of lane structure detection can be improved.

Description

technical field [0001] The present application relates to the field of automatic driving, and in particular to a lane structure detection method and device. Background technique [0002] On the driving road, road separation and merging are often accompanied by lane changes. Therefore, in the driving process, road merging or separation has a very important impact on driving decisions and needs to be detected in advance. [0003] At present, lane structure information can be obtained through high-precision maps, and lane separation and merging information can be obtained. However, the high-precision map has a certain degree of coverage. When the vehicle travels to an area without a high-precision map, the road structure cannot be obtained, and the lane line merge point and separation point information cannot be known. At the same time, the high-precision map still has the problem of failure. Due to urban reconstruction or construction, the map may become invalid after a certa...

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Application Information

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IPC IPC(8): G08G1/16G08G1/0967
CPCG08G1/167G08G1/096708G08G1/0967G08G1/16
Inventor 周伟
Owner HUAWEI TECH CO LTD
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