Lane Line Fitting Using Offset References at Road Bifurcations
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Solution Overview
Problem
Existing lane line detection systems for autonomous driving vehicles face challenges with multiple and complex lane lines, especially at road bifurcations or junctions, which complicates decision-making and control.
Innovation Solution
A lane line fitting method and system that acquires map information to determine a lane line offset reference based on the vehicle's expected lane changing direction, road width, and lane continuity, using a driving coordinate system to generate and fit lane lines, thereby simplifying the lane line representation and improving processing efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the environment sensing system acquires lane line information around the vehicle, then the lane line detection completeness is improved, but the lane line complexity increases when road changes occur
Solution Approach 1:
The patent segments the complex lane line detection problem by introducing multiple reference line types (first reference line for lane changing direction, second reference line for road width unchanged side, third reference line for lane continuous side). Each reference line handles specific road scenarios, dividing the complex detection task into manageable segments that can be processed independently based on the actual road working condition.
Solution Approach 2:
The patent performs preliminary action by pre-defining multiple reference line types and their selection priorities before actual lane line detection. The system prepares reference lines for different road scenarios (bifurcation, joining, narrowing) in advance, so when road changes occur, the appropriate reference line is already available, avoiding complex real-time decision-making and reducing lane line complexity.
2Adaptability or versatility
If multiple lane lines are detected to cover all road scenarios, then the adaptability is improved, but the decision-making and control efficiency deteriorates
Solution Approach 1:
The patent implements dynamics by making the reference line selection adaptive to actual road working conditions. The system dynamically selects which reference line to use based on detected road scenarios (bifurcation, joining, narrowing, conventional roads). This dynamic adaptation maintains high versatility for different road types while improving efficiency by selecting the most appropriate reference line rather than processing all possible lane lines equally.
Solution Approach 2:
The patent applies local quality by assigning different reference line types to different road scenarios. Each reference line has specialized characteristics suited for specific conditions: first reference line for lane changing scenarios, second for road width constraints, third for lane continuity. This localized optimization allows the system to handle each scenario with the most appropriate reference, improving both adaptability and processing efficiency.
3Loss of information
If the sensor outputs all detected lane lines, then the information completeness is improved, but the processing time increases due to multiple and complex lane lines
Solution Approach 1:
The patent extracts only the necessary reference line information from the complete set of detected lane lines. Instead of processing all detected lane lines, the system identifies and extracts the specific reference line (first, second, or third) that is relevant to the current road scenario. This extraction process maintains information completeness for decision-making while significantly reducing processing time by eliminating unnecessary lane line data.
Data Source
AI summary
A traffic lane line fitting method includes: obtaining map information for a current position of a vehicle, the map information comprising a number of traffic lanes, a road width and line point information of traffic lane lines on both sides of the vehicle; determining, from among the traffic lane lines on both sides of the vehicle, a traffic lane line on one side, consistent with the direction indicated by at least one of the following, to be a traffic lane line offset reference used for traffic lane line fitting; offsetting and generating a plurality of traffic lane lines of the vehicle on the basis of the traffic lane line offset reference; performing curve fitting on a set of line points on the generated plurality of traffic lane lines so as to obtain a corresponding traffic lane line equation.