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Lane center guide line generation method and device, electronic equipment and medium

A technology of guiding lines and lanes, applied in the field of artificial intelligence, can solve the problems that the guiding line of the lane center deviates from the center of the lane, and the accuracy is poor, so as to achieve the effect of improving the driving experience, with a small amount of calculation and high precision

Pending Publication Date: 2022-07-22
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The above-mentioned method 2 has high computational efficiency and real-time computing capability, and can satisfy the constraints of smoothness and continuous curvature. However, in scenarios such as right-angle bends and other road curvature mutations or large curvature changes, the generated lane center guideline deviates more from the lane center and has lower accuracy. Difference

Method used

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  • Lane center guide line generation method and device, electronic equipment and medium
  • Lane center guide line generation method and device, electronic equipment and medium
  • Lane center guide line generation method and device, electronic equipment and medium

Examples

Experimental program
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Effect test

Embodiment 1

[0031] figure 1 It is a first schematic flow chart of the method for generating lane center guide lines provided by the embodiment of the present application. The method may be executed by a device or electronic device for generating lane center guide lines, and the device or electronic device may be implemented by software and / or hardware. The device or electronic device can be integrated into any smart device with network communication function. like figure 1 As shown, the generation method of the lane center guideline may include the following steps:

[0032] S101. Generate an initial lane center point set according to the left lane line and the right lane line.

[0033] In this step, the electronic device may generate an initial lane center point set according to the left lane line and the right lane line. Specifically, the electronic device can first discretize the left lane line and the right lane line into a left lane line point set sequence and a right lane line poi...

Embodiment 2

[0040] figure 2 This is a second schematic flowchart of the method for generating a lane center guide line provided by the embodiment of the present application. Based on the above technical solutions, it is further optimized and expanded, and can be combined with the above-mentioned optional embodiments. like figure 2 As shown, the generation method of the lane center guideline may include the following steps:

[0041] S201. Discrete the left lane line and the right lane line into a left lane line point set sequence and a right lane line point set sequence, respectively.

[0042] In this step, the electronic device may discretize the left lane line and the right lane line into a left lane line point set sequence and a right lane line point set sequence, respectively. Specifically, the left lane line point set sequence is: l 1 ,l 2 ,…,l m ; m is a natural number greater than 1; the right lane line point set sequence is: r 1 ,r 2 ,…,r n ; n is a natural number greate...

Embodiment 3

[0053] image 3 This is a third schematic flowchart of the method for generating a lane center guide line provided by the embodiment of the present application. Based on the above technical solutions, it is further optimized and expanded, and can be combined with the above-mentioned optional embodiments. like image 3 As shown, the generation method of the lane center guideline may include the following steps:

[0054] S301. Discrete the left lane line and the right lane line into a left lane line point set sequence and a right lane line point set sequence, respectively.

[0055] S302, obtaining the current right lane line point matching the current lane line point in the right lane line point set sequence; repeating the above operation until the right lane line point matching each left lane line point in the left lane line point set sequence is obtained line point.

[0056] S303. Generate an initial lane center point set according to the right lane line point matched with...

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Abstract

The invention discloses a method and a device for generating a lane center guide line, electronic equipment and a medium, and relates to the field of artificial intelligence, in particular to an automatic driving technology. According to the specific implementation scheme, an initial lane center point set is generated according to a left lane line and a right lane line; based on the initial lane center point set, respectively constructing a parameterized curve of a lane center guide line in the horizontal coordinate direction and a parameterized curve of the lane center guide line in the vertical coordinate direction; according to the parameterized curve of the lane center guide line in the horizontal coordinate direction and the parameterized curve of the lane center guide line in the vertical coordinate direction, a curvilinear equation of the lane center guide line is obtained through calculation. According to the embodiment of the invention, the lane center guide line which is smooth, continuous in curvature and centered in road can be efficiently generated in real time according to the lane line perceived by the environment, the calculation amount is small, the precision is high, the vehicle is ensured to run in the centered road, the unreasonable swinging of a steering wheel is avoided, and the driving experience of a user is improved.

Description

technical field [0001] The present disclosure relates to the field of artificial intelligence technology, and further relates to automatic driving technology, in particular to a method, device, electronic device and medium for generating a lane center guideline. Background technique [0002] The lane center guidance line is a virtual path generated by the left and right lane lines, which provides a reference path for automatic driving and assisted driving systems to guide the vehicle to drive near the lane center. Limited by the minimum turning radius of the vehicle and considering the driving experience, the lane center guideline needs to be smooth and continuous in curvature. The unreasonable lane center guideline will lead to serious problems such as the vehicle deviates from the lane center, the steering wheel swings too much, and the trajectory is S-shaped. The present application proposes a method for automatically generating lane center guide lines in real time, whil...

Claims

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Application Information

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IPC IPC(8): B60W30/12B60W40/06
CPCB60W30/12B60W40/06Y02T10/40
Inventor 常松涛田贵彬上官蓝田
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD
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