A Lane Recognition Method Based on Vehicle-Road Coordination

Abstract

The invention discloses a lane recognition method based on vehicle-road coordination, which collects the distance between the vehicle and the roadside units on both sides of the road in real time, and performs matching filtering on the distance difference between the vehicle and the roadside units on both sides of the road to obtain the peak value of the distance difference , and determine the driving lane of the vehicle according to the pre-calibration data; when the peak value after the distance difference filtering cannot be obtained, the camera is used to judge whether there is a vehicle in the same lane as the own vehicle in front of the vehicle, and the wireless communication between the own vehicle and other vehicles Obtain the lane of the vehicle in front as the lane recognition result. The method proposed by the invention has high accuracy in identifying lanes, good real-time performance, and is easy to realize engineering practice.

Description

A Lane Recognition Method Based on Vehicle-Road Collaboration technical field The present invention relates to the field of intelligent traffic intelligent vehicles, in particular to a lane recognition method based on vehicle-road collaboration. Law. Background technique [0002] With the rapid development of 5G communication and vehicle networking technologies, autonomous driving technology has become a research hotspot. Autopilot The core technologies in the field include intelligent environment perception, automatic navigation and positioning, driving behavior decision-making and intelligent path planning control. In the process of autonomous driving, it is necessary to judge the lane in which the vehicle is driving, so as to make decisions and intelligently for the subsequent driving behavior. Path planning control improves the foundation. [0003] Conventionally, in order to determine the lane in which the own vehicle is traveling, a technique has been disclosed ...

AI Technical Summary

Problems solved by technology

However, in the above system, it is more effective to perform lane recognition when the lane boundary line can be accurately recognized. However, there is a problem that lane recognition cannot be performed when the lane line cannot be recognized due to weather conditions or lane line wear.

[0004] When the lane line cannot be recognized, the laser radar and the surrounding environment device can be used to detect the surrounding environment of the vehicle to determine the lane in which the vehicle is located. However, when the road environment changes and does not match the pre-stored road structures inside the vehicle, the There is a situation where it is not possible to detect the lane in which the vehicle is located

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