Fusion system for lane lines and fusion method for lane lines

Abstract

The invention discloses a fusion system for lane lines based on multiple sensor data. The fusion system comprises a data receiving module, a data converting module, an own vehicle lane judging module,a target vehicle lane judging module and a target vehicle lane dividing module; the data receiving module is used for receiving target vehicle data and lane line data; the data converting module is used for converting the target vehicle data and the lane line data into the data under a preset coordinate system so as to form a lane line equation under the preset coordinate system and sequencing the lane lines formed by the lane line equation under the preset coordinate system; the own vehicle lane judging module is used for judging the lane on which the own vehicle locates according to the sequence data of the lane lines; the target vehicle lane judging module is used for substituting a target vehicle coordinate under the preset coordinate system into the lane line equation and judging which two lane lines the target vehicle locates between according to the target vehicle coordinate; and the target vehicle lane dividing module is used for judging the number of the lane on which the target vehicle locates according to the number of the lane on which the own vehicle locates. The invention also discloses a fusion method for lane lines. According to the invention, lane line dividing can be realized; diversity of surrounding information acquired by intelligent driving can be increased; and higher accuracy of lane line detection can be provided.

Description

technical field [0001] The invention relates to the field of automobiles, in particular to a lane line fusion system based on multi-sensor target level data. The invention also relates to a lane line fusion method based on multi-sensor target level data. Background technique [0002] Intelligent driving vehicles are the best carrier for the scientific research achievements of various universities and the implementation of technology of various enterprises, and it is also one of the hottest research topics today. The environment perception algorithm is one of the necessary technologies for intelligent driving cars. It uses multi-sensors to detect target-level data or point clouds and image data (which will eventually be processed into target-level data). How to efficiently process and utilize the obtained environmental information also become particularly important. Multi-sensor target-level data fusion has also become a key technology in environmental perception. The exist...

AI Technical Summary

Problems solved by technology

Multi-sensor target-level data fusion has also become a key technology in environmental perception. The existing simple target position and speed fusion can no longer meet the current technical requirements, and lane line fusion has become a new technical topic.

[0003] In intelligent driving, if the target and lane information of the lane where the vehicle is located and adjacent lanes cannot be obtained, it will seriously affect the realization of decision-making and control tasks such as lane change warning, forward collision warning, tracking automatic driving and fully automatic driving. There is no mature method for lane line fusion

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