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Method and device for generating road structure based on lane line

A road structure and lane line technology, applied in the direction of instruments, scene recognition, calculation, etc., can solve the problems of reduced driving safety and comfort, incomplete road structure, etc., to achieve accurate location, high robustness, simple and fast execution Effect

Pending Publication Date: 2022-05-06
WUHAN ZHONGHAITING DATA TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the lack of part or all of the collected lane line data, the road structure is incomplete, which may cause the self-driving vehicle to enter the wrong lane during driving, which greatly reduces driving safety and comfort.

Method used

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  • Method and device for generating road structure based on lane line
  • Method and device for generating road structure based on lane line
  • Method and device for generating road structure based on lane line

Examples

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Embodiment Construction

[0035] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

[0036] figure 1 It is a schematic flowchart of a method for generating a road structure based on lane lines provided by an embodiment of the present invention. like figure 1 As shown, the method includes:

[0037] S1, obtain the set of lane lines L={l j ,j=1,2,...,m}, lane line l j Consists of multiple shape points q, l j The lane alignment points in are sorted by collection time.

[0038] S2, choose a lane line l j , and based on the selected lane line l j A rectangular frame is drawn, and the lane lines located in the rectangular frame are extracted according to the positional relationship between the shape points of all the lane lines and the rectangular frame.

[0039] Specifically include the following ...

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PUM

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Abstract

The invention relates to a method and device for generating a road structure based on lane lines, and the method comprises the steps: obtaining a lane line set L = {lj, j = 1, 2,..., m}; one lane line lj is selected randomly, a rectangular frame is drawn based on the selected lane line lj, and the lane lines located in the rectangular frame are extracted according to the position relation between the shape points of all the lane lines and the rectangular frame; randomly selecting one lane line lk in the rectangular frame, and drawing a segment road structure according to the relative position relationship between other lane lines in the rectangular frame and the lane line lk; and sliding the rectangular frame, drawing a plurality of segment road structures along the road direction until all the lane lines participate in the drawing of the road structures, and outputting a complete road structure set formed by the segment road structures. The complete road structure is generated by means of the lane lines, and help is better provided for vehicle driving decision making.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and device for generating road structures based on lane lines. Background technique [0002] In the field of autonomous driving, in order to accurately control the driving of vehicles, the drawing of high-precision maps is often involved. In the process of drawing high-precision maps, complete road structure data is required to provide lane-level driving guidance for autonomous vehicles. When the sensors of the self-driving vehicle fail due to severe weather such as heavy fog, hail, and heavy rain, the vehicle can use the high-precision map data stored in the vehicle for subsequent driving. At the same time, high-precision maps can also allow self-driving vehicles to process road condition information beyond the normal field of vision. Due to the lack of part or all of the collected lane line data, the road structure is incomplete, which may cause the self-dri...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/58G06T17/05
CPCG06T17/05
Inventor 肖德雨
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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