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Model training and lane line prediction method and device and automatic driving vehicle

A technology for model training and lane markings, applied in character and pattern recognition, instruments, computer components, etc., can solve problems such as cumbersome processing and achieve the effect of improving efficiency

Pending Publication Date: 2022-02-11
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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Problems solved by technology

The current lane line vectorization scheme generally includes two stages of image perception recognition and recognition result post-processing, and the processing process is relatively cumbersome.

Method used

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  • Model training and lane line prediction method and device and automatic driving vehicle
  • Model training and lane line prediction method and device and automatic driving vehicle
  • Model training and lane line prediction method and device and automatic driving vehicle

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Embodiment Construction

[0038] The exemplary embodiments of the present disclosure will be described below, including various details of the embodiments of the present disclosure to facilitate understanding, and they should be considered simply exemplary. Accordingly, it will be appreciated by those skilled in the art that various changes and modifications can be made without departing from the scope and spirit of the disclosure. Also, for the sake of clarity and concise, the following description is omitted in the following description.

[0039] figure 1 A schematic diagram of a model training method according to an embodiment of the present disclosure is shown. like figure 1 As shown, the method includes:

[0040] Step S110, the curve is fitted based on the lane line pixel set in the sample image, and the labeling parameters corresponding to the lane line in the sample image are obtained;

[0041] Step S120, based on the polynomial label parameters, the label data of the sample image is obtained;

[0...

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Abstract

The invention provides a model training and lane line prediction method and device and an automatic driving vehicle, and relates to the technical field of artificial intelligence, in particular to the field of deep learning, image processing and automatic driving. According to the specific implementation scheme, curve fitting is carried out based on a lane line pixel set in a sample image, and a polynomial labeling parameter corresponding to a lane line in the sample image is obtained; the method also includes obtaining annotation data of the sample image based on the annotation parameters of the polynomial; and based on the sample image and the annotation data of the sample image, training to obtain a lane line prediction model.

Description

Technical field [0001] The present disclosure relates to artificial intelligence technology, in particular to deep learning, image processing, and automatic driving areas. Background technique [0002] The lane line identifies an important perceptual technology for automatic driving scenes. In order to apply the identified lane information, it is often necessary to simulate the identified lane lines into a curve characterized by polynomial. The current lane line vectorization scheme generally includes two phases of image sensation knowledge and identification results, and the processing process is more cumbersome. Inventive content [0003] The present disclosure provides a model training and lane prediction method, device, and automatic driving vehicle. [0004] According to an aspect of the present disclosure, a model training method includes: [0005] The curve fit is made based on the lane line pixel set in the sample image, and the labeling parameters corresponding to the l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/56G06K9/62G06V10/774
CPCG06F18/214
Inventor 何雷
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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