Lane reference line construction method and device and storage medium

A construction method and reference line technology, applied in the direction of instrumentation, calculation, and extraction of basic elements, can solve the problems of low accuracy of reference lines, failure to draw and reconstruct lane lines, etc., and achieve the effect of reducing lane collection errors

Active Publication Date: 2019-09-27
WUHAN ZHONGHAITING DATA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the construction of lane lines often uses cluster analysis to obtain lane reference lines, but the accuracy of the reference lines obtained through cluster analysis is low, and the reconstruction of lane line drawing at the lane level cannot be achieved.

Method used

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  • Lane reference line construction method and device and storage medium
  • Lane reference line construction method and device and storage medium
  • Lane reference line construction method and device and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0027] see figure 1 , a schematic flowchart of a lane reference line construction method provided in an embodiment of the present invention, including:

[0028] S101. Collect the original lane trajectory, and select any lane trajectory as the initial line;

[0029] The original lane trajectories are the original lane markings or trajectories obtained by crowdsourcing data collection vehicles. There may be multiple lane trajectories for the same lane, and the extracted lane trajectories may be discontinuous and messy. If the original lane trajectories are directly clustered, the lane will be represented by a line from the cluster, and the lane division and other features in the lane will not be represented. In this embodiment, according to the original lane trajectory, the lane reference line can be constructed and the lane marking can be reconstructed.

[0030] S102. Divide the original lane track line according to a predetermined distance along the direction of the initial ...

Embodiment 2

[0048] image 3 A schematic structural diagram of a lane reference line construction device provided in Embodiment 2 of the present invention, including:

[0049] The collection module 310 is used to collect the original lane trajectory, and select any lane trajectory as the initial line;

[0050] Calculation module 320, used to divide the original lane track line according to a predetermined distance along the direction of the initial line, calculate the heading angle of the head and tail points of the original lane track line segment in each distance interval after division, and calculate all the original lane track line segments in each distance interval mean heading angle;

[0051] The obtaining module 330 is used to obtain the original lane trajectory line segment and the corresponding minimum difference value in each distance interval and the interval heading angle mean value difference is the smallest;

[0052] The selection module 340 is used to compare the minimum g...

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Abstract

The invention relates to a lane reference line construction method and device and a storage medium, and belongs to the field of automatic driving. The method comprises the following steps of: collecting original lane trajectories, dividing original lane track lines according to a certain distance; calculating a course angle of an original lane track line segment in each distance interval after division; solving a course angle mean value of the track line segment; obtaining a track line segment with the minimum difference with the mean value of the interval course angles and a corresponding minimum difference value; selecting the minimum value in the minimum difference values of the distance intervals, taking the track line segment corresponding to the minimum value as an initial reference line, and selecting the track line segment to be spliced with the initial reference line according to the course angle deviation between the initial reference line and the track line segment in the adjacent distance interval to obtain a lane reference line. According to the scheme, the accuracy of the lane reference line can be improved, and accurate drawing of the lane marking line is facilitated.

Description

technical field [0001] The present invention relates to the field of automatic driving, in particular to a lane reference line construction method, device and storage medium. Background technique [0002] In the process of high-precision map production, since crowdsourcing updates can reduce the cost of collection and update, it is widely used in the production and update of high-precision maps for autonomous driving. However, crowdsourcing data is multi-vehicle collection, and there are differences in collection equipment and methods, resulting in errors in the final extracted lane lines, and the extracted lane markings have unclear contours, scattered and missing line segments, which is difficult to meet the construction of high-precision lanes . [0003] By constructing the reference line of the lane line, the original lane marking can be reconstructed, which is convenient for lane division and high-precision map drawing. At present, the construction of lane lines often...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T11/20
CPCG06T11/206
Inventor 覃飞杨尹玉成王璇刘奋
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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