Lane line extraction method and device, vehicle and storage medium

An extraction method and lane line technology, applied in the field of lane line detection, can solve the problem of low accuracy of lane line recognition, and achieve the effect of improving the recognition accuracy and reducing constraints.

Pending Publication Date: 2022-02-25
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention provide a lane line extraction method, device, vehicle, and storage medium, so as to realize the extraction of lane lines based on high-precision maps, and solve the traditional method of identifying lane lines on the ground through image acquisition equipment, which is affected by weather and ground conditions. Constraints of light reflection and wear of lane lines, the problem of low accuracy of lane line recognition, can be used alone or in combination with traditional lane line recognition methods to reduce the constraints of lane line recognition and improve the accuracy of lane line recognition

Method used

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  • Lane line extraction method and device, vehicle and storage medium
  • Lane line extraction method and device, vehicle and storage medium
  • Lane line extraction method and device, vehicle and storage medium

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Embodiment 1

[0024] figure 1 This is a flowchart of a method for extracting lane lines provided in Embodiment 1 of the present invention. This embodiment is applicable to the case of extracting lane lines based on a high-precision map, and the method can be executed by the apparatus for extracting lane lines in this embodiment of the present invention. The apparatus can be implemented in software and / or hardware.

[0025] like figure 1 As shown, the method specifically includes the following steps:

[0026] S110: Acquire a current position point of the vehicle and high-precision map data, where the high-precision map data includes lane line data and planned path data of the vehicle.

[0027] High-precision map refers to a map with high precision and fine definition, and its accuracy can reach the decimeter level and can distinguish each lane. The refined definition refers to the various traffic elements in the traffic scene using the formatted storage method of the high-precision map, t...

Embodiment 2

[0042] figure 2 This is a flowchart of a method for extracting a lane line in Embodiment 2 of the present invention. This embodiment is based on the above-mentioned embodiment. For step S120, based on the current position point and the planned path data, the lane line data is extracted from the lane line data. The target lane line data within the set lane line length in front of the lane where the vehicle is located is extracted and optimized.

[0043] like figure 2 As shown, the method of this embodiment specifically includes the following steps:

[0044] S210: Acquire the current position point of the vehicle and high-precision map data, where the high-precision map data includes lane line data and planned path data of the vehicle.

[0045] S220: Extract the current lane line layer data from the lane line data, where the current lane line layer data is the lane line layer data corresponding to the current lane determined based on the current position point and the planne...

Embodiment 3

[0083] image 3 This is a schematic structural diagram of a lane line extraction device provided in Embodiment 3 of the present invention. This embodiment can be applied to the case of extracting lane lines based on high-precision maps, the device can be implemented in software and / or hardware, and the device can be integrated in a vehicle, such as image 3 As shown, the lane line extraction device specifically includes: an acquisition module 310 , an extraction module 320 and a fitting module 330 .

[0084] Wherein, the acquisition module 310 is used to acquire the current position point of the vehicle and high-precision map data, and the high-precision map data includes lane line data and planned path data of the vehicle;

[0085] An extraction module 320, configured to extract, from the lane line data of the high-precision map data, based on the current position point and the planned path data, target lane line data within a set lane line length in front of the lane where ...

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Abstract

The invention discloses a lane line extraction method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring a current position point of a vehicle and high-precision map data, wherein the high-precision map data comprises lane line data and planned path data of the vehicle; based on the current position point and the planned path data, extracting target lane line data within a set lane line length in front of a lane where the vehicle is located from the lane line data; and performing curve fitting on the target lane line data to obtain a lane line. Through the technical scheme of the invention, the lane line can be extracted based on the high-precision map, and the problem that the lane line identification accuracy is not high due to the constraint of weather, ground light reflection and lane line wear degree in the traditional method for identifying the lane line on the ground through image acquisition equipment is solved. The invention can be independently used or used in combination with a traditional lane line recognition method, and the effects of reducing the constraint conditions of lane line recognition and improving the lane line recognition accuracy are achieved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of lane line detection, and in particular, to a lane line extraction method, device, vehicle, and storage medium. Background technique [0002] With the development of artificial intelligence technology, autonomous driving technology has developed rapidly. In the field of autonomous driving, vehicles automatically collect environmental information and drive automatically according to the environmental information. Lane line detection is an essential basic function in autonomous vehicles. [0003] At present, the lane line recognition system based on machine vision mainly collects the image of the road ahead through image sensors such as cameras installed in front of the vehicle, and performs lane line recognition and extraction on the image. In the process of lane line recognition, due to the influence of weather, ground light reflection or the degree of wear of the lane lines, the pro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/58G06V10/40
CPCG06V10/40G06V20/58
Inventor 陈丹丹崔茂源孙连明厉健峰谭明伟姜云鹏宋林桓刘洋
Owner CHINA FIRST AUTOMOBILE
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