A method for road line determination, related apparatus and device
By determining the target sliding box based on the height and quantity characteristics of laser points, and combining denoising processing and spline curve fitting, the accuracy problem of road line determination in autonomous driving is solved, improving the precision and reliability of road lines and enhancing the driving control of autonomous vehicles.
CN114862895BActive Publication Date: 2026-07-07YINWANG INTELLIGENT TECHNOLOGIES CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- YINWANG INTELLIGENT TECHNOLOGIES CO LTD
- Filing Date
- 2021-02-03
- Publication Date
- 2026-07-07
AI Technical Summary
Technical Problem
In the field of autonomous driving, existing technologies face difficulties in selecting grid resolution when determining road lines, resulting in high time complexity or low accuracy, which affects the accuracy of road line determination.
Method used
The target sliding box is determined by the height and number characteristics of the laser points. Combined with denoising and spline curve fitting, the target road line is generated, improving the accuracy of the road line.
Benefits of technology
It improves the accuracy and reliability of road alignment determination, reduces noise impact, and enhances the constraint capability of autonomous vehicles in the driving area.
✦ Generated by Eureka AI based on patent content.
Smart Images
Figure CN114862895B_ABST
Abstract
The embodiment of the application discloses a road line determination method, a related device and equipment, which are used for improving the accuracy of a target road point, and thus improving the accuracy of road line determination. In the method, first, an initial sliding frame set is generated from inside to outside based on a target vehicle trajectory point, each initial sliding frame in the initial sliding frame set is continuous, when the difference between the height of a first initial sliding frame and the height of a second initial sliding frame is greater than a first height threshold, the first initial sliding frame is determined as a to-be-processed sliding frame, the to-be-processed sliding frame is then divided averagely to obtain a candidate sliding frame, the candidate sliding frame with the largest number of laser points is determined as a target sliding frame, and finally, a target road point is determined from the target sliding frame, and the target road point is used to generate a target road line.
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