Lane Line Tracking via World Coordinate Projection
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Solution Overview
Problem
Conventional lane line detection methods in automatic driving systems are prone to sudden changes in single frame images, leading to inaccurate lane line results due to the correlation between preceding and succeeding frames being overlooked.
Innovation Solution
A lane line tracking method that projects lane line detection results from previous frames into a world coordinate system, then back to the camera coordinate system, allowing for the merging, smoothing, and complementing of lane line groups between frames based on distance thresholds, thereby stabilizing lane line tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If single frame detection is used, then detection speed is fast, but detection accuracy deteriorates due to sudden changes and lane line loss
Solution Approach 1:
The patent performs preliminary actions by projecting lane line detection results from previous K frames into the world coordinate system before current frame detection. This pre-processing of historical data enables the system to prepare reference information in advance, reducing the impact of sudden changes in the current frame and improving detection accuracy without significantly increasing real-time computational complexity.
Solution Approach 2:
The patent introduces the world coordinate system as an intermediary between camera coordinate systems of different frames. By transforming lane line detection results from previous frames into the world coordinate system and then back to the current camera coordinate system, the patent creates a stable reference framework that mediates between temporal frames, enabling accurate tracking and reducing detection errors.
2Reliability
If multi-frame projection and merging is performed, then lane line tracking accuracy is improved, but computational complexity increases
Solution Approach 1:
The patent segments the lane line detection process into distinct modules: projection of previous frame results into world coordinate system, detection of current frame, back-projection to current camera coordinate system, and merging of results. This segmentation allows each module to be optimized independently and facilitates parallel processing, reducing overall computational complexity while maintaining high tracking reliability.
Solution Approach 2:
The patent applies partial action by selectively merging lane line groups based on distance thresholds and confidence levels. Instead of processing all possible frame combinations, the system performs merging only when necessary (when distance thresholds are met), reducing unnecessary computations. The parameter K (number of previous frames) can also be adjusted to balance between accuracy and computational load.
3Stability of the object's composition
If lane line groups are merged based on distance threshold, then tracking stability is improved, but risk of incorrect merging increases
Solution Approach 1:
The patent implements feedback mechanisms by calculating distances between lane line groups from previous frames and current frame, comparing these distances against predefined thresholds, and using this comparison to determine whether merging should occur. This feedback loop ensures that merging decisions are based on quantitative criteria, improving both stability and reliability by preventing incorrect merges while maintaining consistent tracking.
Data Source
AI summary
A lane line tracking method and device are provided. The method can include: projecting a lane line detection result of previous K frames preceding a current frame in a camera coordinate system to a world coordinate system, to obtain a first projection result, wherein K is a positive integer greater than or equal to 1, and the previous K frames are consecutive K frames preceding the current frame; projecting the first projection result of the previous K frames in the world coordinate system to a camera coordinate system of the current frame, to obtain a second projection result; and determining, in the camera coordinate system of the current frame, lane line groups of the current frame, according to lane line groups in the second projection result of the previous K frames.