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Lane line detection method and device and computer-readable storage medium

A lane line detection and lane line technology, which is applied in the field of lane line detection, can solve the problem of small detection range of the lane line detection method, achieve the effect of simple algorithm, continuous lane line, and reduce false detection rate

Pending Publication Date: 2018-12-11
SHENZHEN ECHIEV AUTONOMOUS DRIVING TECH CO LTD
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  • Abstract
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Problems solved by technology

[0005] The main purpose of the present invention is to provide a lane line detection method, device and computer-readable storage medium, aiming to solve the technical problem of the small detection range of the lane line detection method in the prior art

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  • Lane line detection method and device and computer-readable storage medium
  • Lane line detection method and device and computer-readable storage medium
  • Lane line detection method and device and computer-readable storage medium

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Embodiment Construction

[0039] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0040] Such as figure 1 as shown, figure 1 It is a schematic diagram of the structure of the lane line detection device in the hardware operating environment involved in the solution of the embodiment of the present invention.

[0041] The lane line detection device in the embodiment of the present invention may be a PC, or a terminal device with a certain data processing capability such as a smart phone, a tablet computer, or a portable computer.

[0042] Such as figure 1 As shown, the lane line detection device may include: a processor 1001 , such as a CPU, a network interface 1004 , a user interface 1003 , a memory 1005 , and a communication bus 1002 . Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display scree...

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Abstract

The invention discloses a lane line detection method and device and a computer readable storage medium. The lane line detection method comprises the following steps: acquiring multi-frame point clouddata; optimizing the pose of the multi-frame point cloud data to obtain the positions of all frame point clouds; obtaining the position of the multi-frame point cloud data; obtaining the position of the multi-frame point cloud data; obtaining a local map by cloud local mapping base on that multi-frame point cloud data; converting the format of the local map into an image format; detecting the lanelines in the local map of the image format, and obtaining the lane line data. The laser measuring principle is adopted to obtain the multi-frame point cloud data for realizing the detection of the lane line, the blind area of the field of vision when the lane line is detected by the single frame image or the single frame point cloud can be avoided, the lane line data in a larger range can be detected, and the algorithm is relatively simple.

Description

technical field [0001] The present invention relates to the technical field of lane line detection, in particular to a lane line detection method, device and computer-readable storage medium. Background technique [0002] An unmanned intelligent driving vehicle is a complex intelligent control system, including multiple modules such as mechanical control, path planning, path decision-making, and environmental perception. Lane line detection is an important part of the environment perception module, which can provide early warning for vehicle deviation and provide decision information for lane change. [0003] Autonomous driving technology has developed rapidly in recent years. If an unmanned vehicle wants to achieve automatic driving, it must first learn to observe the road from a visual point of view, specifically, to detect lane lines. Including identifying the positional relationship between the lane line and the car, whether it is a solid line or a dashed line, etc. ...

Claims

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Application Information

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IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 刘新宋朝忠陈潇秦华平
Owner SHENZHEN ECHIEV AUTONOMOUS DRIVING TECH CO LTD
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