Road Line Determination Using Drivable Area Constraints
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Solution Overview
Problem
Existing vehicle lane detection technologies face challenges in accurately determining road lines, especially when pixel information is insufficient, lane markings are obscured, or road lines are worn out, leading to difficulties in vehicle control and route determination.
Innovation Solution
A method and apparatus that detect road lines using a driving image, determine undetected road lines based on information about the drivable road area, and control vehicle driving accordingly, incorporating a sensor to acquire images and a processor to perform detection, prediction, and correction of road lines within the drivable area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If road line detection is performed using only image processing methods, then the detection process is simple, but detection accuracy deteriorates when pixel information is insufficient or road lines are obscured
Solution Approach 1:
The patent combines image processing methods with map information to determine road lines. When image-based detection fails or is insufficient, the system merges in map data (GPS coordinates, road geometry information) to supplement and verify road line detection, thereby maintaining detection accuracy without significantly increasing system complexity
Solution Approach 2:
The patent introduces map information as an intermediary element between the image processing system and the final road line determination. This intermediary provides additional context and verification, allowing the system to overcome limitations of pure image processing while maintaining a relatively simple overall architecture
2Ease of manufacture
If road line detection relies solely on image data, then the system is simple to implement, but reliability deteriorates in adverse conditions such as obscured lane markings or worn road lines
Solution Approach 1:
The patent performs preliminary verification by checking whether detected road lines match expected road geometry from map information before finalizing the detection results. This preliminary action using map data as a reference increases reliability without requiring complex real-time processing during adverse conditions
Solution Approach 2:
The system uses map information as feedback to verify and correct image-based road line detection. When detection results are ambiguous or unreliable, the map data provides feedback to refine the determination, thereby improving reliability while keeping the system implementation relatively simple
3Productivity
If the system determines road lines without considering drivable road area constraints, then processing is faster, but vehicle control safety deteriorates
Solution Approach 1:
The patent changes the parameter verification approach by incorporating drivable road area constraints as an additional validation criterion. Instead of only checking image-based detection results, the system verifies that determined road lines fall within acceptable drivable areas defined by map data, thereby improving safety without significantly impacting processing speed
Data Source
AI summary
A road line determination method and apparatus is provided. The method includes: performing detection of two road lines of a lane in which the vehicle is driving from a driving image; determining whether at least one road line of the two road lines is not detected; if it is determined that the at least one road line is not detected, determining at least one road line for the at least one undetected road line based on first information about a drivable road area comprising the road; and controlling driving of the vehicle based on the at least one determined road line.