The invention relates to the field of automatic driving, and particularly discloses a lane line detection method based on
time sequence curvature and multi-scale context. The method comprises the following specific implementation steps of: giving a
data set image and preprocessing the
data set image; lane features of an image are extracted through a
backbone network, a multi-scale feature map is generated, and the multi-scale feature map is continuously processed by a double-
branch detection framework. According to the framework, two parallel branches of
time sequence modeling and attention enhancement are fused, firstly, a feature map is sent into a multi-scale attention
branch, multi-scale channels and spatial features are fused, and
semantic information is enriched; and meanwhile, the
time sequence optimization
branch captures prior knowledge by using time sequence information, extracts context information and models curvature change. And finally, carrying out weighted fusion on the output features of the two branches and the original
trunk features,
processing and refining lane prediction through a
loss function, and outputting a final result. According to the method, the problems that visual clues of lane lines are lacked in a complex scene and a long-distance dependency relationship is difficult to model in a curve scene are effectively solved, and the robustness and accuracy of the model are enhanced.