Lane line correlation degree determination method and device, equipment and storage medium

A technology for determining the degree of association and determination method, which is applied in the directions of instruments, scene recognition, calculation, etc., can solve the problem of poor scoring accuracy of lane line association degree, and achieve the effect of improving the accuracy of scoring

Pending Publication Date: 2022-07-26
GUANGZHOU WERIDE TECH LTD CO
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when the overlapping degree and the detection frame are applied to the detection scene of the lane line, there is a problem of poor scoring accuracy of the lane line correlation degree.

Method used

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  • Lane line correlation degree determination method and device, equipment and storage medium
  • Lane line correlation degree determination method and device, equipment and storage medium
  • Lane line correlation degree determination method and device, equipment and storage medium

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Embodiment Construction

[0029] Embodiments of the present invention provide a method, device, device and storage medium for determining the degree of association of lane lines, which are used to improve the detection image of lane lines in every two frames when there is an offset distance between lane lines of different frames and are relatively misaligned. Scoring accuracy of associated lane lines between data.

[0030] The terms "first", "second", "third", "fourth", etc. (if present) in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances so that the embodiments described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof are intended to cover non-exclusive...

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Abstract

The invention relates to the technical field of automatic driving, and discloses a lane line correlation degree determination method and device, equipment and a storage medium, which are used for improving the scoring accuracy of a correlation lane line between every two frames of lane line detection image data when a deviation distance exists between lane lines of different frames and the lane lines are relatively staggered. The lane line correlation degree determination method comprises the following steps: acquiring multiple frames of lane line detection image data, wherein each frame of lane line detection image data comprises multiple detected lane lines; performing lane line discrete point association processing on the multiple frames of lane line detection image data to obtain a plurality of lane line association degree scores between every two frames of lane line detection image data; and determining an associated lane line between every two frames of lane line detection image data according to the plurality of lane line association degree scores.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, and in particular, to a method, device, device and storage medium for determining the correlation degree of lane lines. Background technique [0002] After obtaining the lane lines output by the perception detection model, it is necessary to associate multiple lane line detection results in different frames to construct a local semantic map. The local high-precision semantic map not only includes the image detected by the vehicle in the current frame, but also includes the image detection results at the time or distance before the current time. In order to fuse the detection results of lane lines in different frames at different times, it is necessary to associate and fit the lane lines of different frames into a complete lane line. [0003] The roads that existing autonomous vehicles travel on generally consist of three lane lines and two lanes. Assuming that the visual dista...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/58G06K9/62G06V10/80G06V10/82
CPCG06F18/25
Inventor 杨程博韩旭
Owner GUANGZHOU WERIDE TECH LTD CO
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