The application provides a kind of park lane line
perception method and
system based on multi-
source data fusion and prior map constraint, it is related to map and positioning navigation technical field, this method includes: collecting multi-
source data and pre-
processing image;Extract color, edge and
semantic feature for weighted fusion, generate candidate lane line
heat map;Obtain high-precision map
prior information and project to image coordinate
system, spatial screening is carried out to candidate point;Adaptive
model fitting is carried out to effective
point set, and lane line observation value is obtained;Kalman filtering tracking and prediction are carried out in combination with vehicle kinematic model;Comprehensive multi-dimensional index calculates confidence and carries out hierarchical
processing.The application improves the detection robustness in complex environment by multi-
feature fusion, uses map prior to carry out flexible constraint to eliminate
noise, introduces motion tracking to ensure continuity when shielding, and realizes abnormal response through confidence evaluation, effectively solves the
perception problem caused by unclear park lane line feature and variable environment.