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Lane line determination method and device and storage medium
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A determination method and technology of lane lines, applied to instruments, character and pattern recognition, computer components, etc., can solve problems such as inaccurate prediction of long-distance lane lines
Active Publication Date: 2021-11-23
CHINA AUTOMOTIVE INNOVATION CORP
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[0004] In order to solve the technical problem of inaccurate prediction of long-distance lane markings in the prior art, the present invention proposes a lane marking determination method, determination device and storage medium. The present invention is specifically implemented by the following technical solutions
Method used
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Embodiment 1
[0052] combine Figure 1 to Figure 3 As shown, a lane line determination method provided in Embodiment 1 includes:
[0053] Step S101: Determine the vehicle coordinate system according to the positioning information of the user's vehicle;
[0054] Step S102: Obtain the lane line information of the current road where the user's vehicle is located;
[0055] Step S103: Determine the lane line coordinate system according to the lane line information and the vehicle coordinate system. The origin of the lane line coordinate system is used to represent the position of the user's vehicle on the current road, and the ordinate direction of the lane line coordinate system is used to represent the extension of the current road direction;
[0056] Step S104: determining the target vehicle among the vehicles ahead driving in front of the user's vehicle;
[0057] Step S105: Obtain relative driving information between the target vehicle and the user's vehicle;
[0058] Step S106: Determine ...
Embodiment 2
[0114] combine Figure 4 As shown, Embodiment 2 provides a device for determining lane lines, which is used to implement the method for determining lane lines in Embodiment 1. The device includes:
[0115] The first determination module 10 is used to determine the vehicle coordinate system according to the positioning information of the user's vehicle;
[0116] The first obtaining module 20 is used to obtain the lane line information of the current road where the user's vehicle is located;
[0117] The second determining module 30 is configured to determine the lane line coordinate system according to the lane line information and the vehicle coordinate system, the origin of the lane line coordinate system is used to represent the position of the user's vehicle on the current road, and the ordinate direction of the lane line coordinate system is used for Represents the extension direction of the current road;
[0118] A third determining module 40, configured to determine th...
Embodiment 3
[0126] Embodiment 3 provides a computer-readable storage medium, at least one instruction or at least one program is stored in the computer-readable storage medium, and at least one instruction or at least one program is loaded and executed by a processor to implement as in Embodiment 1. Lane line determination method.
[0127] Optionally, in this embodiment 3, the above-mentioned storage medium may include but not limited to: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, Various media that can store program codes, such as magnetic disks or optical disks.
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Abstract
In order to solve the technical problem of inaccurate remote lane line prediction, the invention provides a lane line determination method and device and a storage medium. The method comprises: determining a vehicle coordinate system; acquiring lane line information of a current road where the user vehicle is located; determining a lane line coordinate system according to the lane line information and the vehicle coordinate system, using he original point of the lane line coordinate system for representing the position of the user vehicle in the current road, and using the vertical coordinate direction of the lane line coordinate system for representing the extension direction of the current road; determining a target vehicle among preceding vehicles traveling in front of the user vehicle; acquiring relative driving information between the target vehicle and the user vehicle; determining a first motion function of the target vehicle in a vehicle coordinate system according to the relative driving information; determining a second motion function of the target vehicle in a lane line coordinate system according to the relative driving information; and determining target lane line information according to a mapping relation between the second motion function and the first motion function.
Description
technical field [0001] The invention relates to the field of automatic driving, in particular to a lane line determination method, a determination device and a storage medium. Background technique [0002] Lane line prediction is a very important aspect in automatic driving. The basic function of the lateral direction is to control the vehicle based on the information of the current lane line; the lane line is also one of the main factors affecting the prediction of the lane line position of the target vehicle. The current lane line information mainly comes from visual sensors, but the detection range of visual sensors that can guarantee accuracy is usually about 50m. Although it can be applied to lateral control, it cannot meet the judgment of lane relationship of long-distance targets, which usually leads to longitudinal function. If the ACC target selection is inaccurate, frequent target switching or target missed detection, it is easy to cause accidents in high-speed dri...
Claims
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Application Information
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