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Lane line drawing method and device and storage medium

A lane line and data technology, applied in the computer field, can solve the problems of high point cloud data processing requirements of acquisition equipment, high cost of lane line drawing, and errors, etc., to reduce the cost of data collection, reduce data accuracy requirements, guarantee accurate effect

Active Publication Date: 2019-11-08
WUHAN ZHONGHAITING DATA TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] If the lane lines are drawn directly by hand, not only the efficiency is low, but also there are errors. However, the acquisition of high-precision point clouds by surveying and mapping vehicles and the extraction of lane lines from high-precision point cloud data can guarantee the accuracy of lane lines, but the acquisition equipment And point cloud data processing requirements are high, resulting in high cost of lane line drawing

Method used

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  • Lane line drawing method and device and storage medium
  • Lane line drawing method and device and storage medium

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Experimental program
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Embodiment 1

[0026] see figure 1 , a schematic flowchart of a lane line drawing method provided in an embodiment of the present invention, including:

[0027] S101. Collect lane line data, where the lane line data includes lane line images, GPS data, inertial measurement data, and mileage data;

[0028] The lane line image is a lane image captured by a vehicle-mounted camera, and the lane contains clearly identifiable lane lines. The inertial measurement data is the measurement data in the IMU (Inertial Measurement Unit, Inertial Measurement Unit), which can obtain vehicle roll, pitch and yaw data, and at the same time facilitate the extraction of vehicle speed and acceleration. The mileage data is the body odometer measurement data. The lane line images, GPS data, inertial measurement data, and mileage data can all be collected by cheap equipment or sensors, and there is no high requirement for data measurement accuracy.

[0029] Further, collect the lane line image, the inertial measu...

Embodiment 2

[0051] figure 2 A schematic structural diagram of a lane drawing device provided in Embodiment 2 of the present invention, including:

[0052] A collection module 210, configured to collect lane marking data, the lane marking data including lane marking images, GPS data, inertial measurement data and mileage data;

[0053] Optionally, the collection of lane line data also includes:

[0054] Collecting the lane line image, the inertial measurement data, and the mileage data, and adding a time stamp based on the GPS data collection time to the lane line image, the inertial measurement data, and the mileage data.

[0055] The extraction module 220 is used to detect the lane line image based on deep learning to extract the lane line, and calculate the three-dimensional scatter point of the lane line in the camera coordinate system;

[0056] Optionally, the calculation of the three-dimensional scatter points of the lane line in the camera coordinate system is specifically:

[0...

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Abstract

The invention, which belongs to the technical field of computers, relates to a lane line drawing method and device and a storage medium. The method comprises: collecting lane line data; extracting a lane line based on depth learning and calculating three-dimensional scatter points of the lane line in a camera coordinate system; according to inertial measurement data and vehicle mileage data, calculating relative postures between the lane line images; on the basis of the relative postures between the lane line images, splicing the three-dimensional scatter points to obtain a lane line, and associating the spliced lane line to a corresponding GPS position; and clustering the spliced lane line and carrying out fitting on the clustered lane line. Therefore, the crowdsourcing data collection cost can be lowered while the high accuracy of the lane line drawing is ensured.

Description

technical field [0001] The present invention relates to the field of computer technology, in particular to a lane line drawing method, device and storage medium. Background technique [0002] In the field of autonomous driving, in order to accurately control vehicles and provide reliable reference for vehicle trajectory planning, it is often necessary to draw high-precision maps. High-precision map drawing needs to be accurate to the lane line level, and when making maps, drawing based on crowdsourcing data requires high data accuracy. [0003] If the lane lines are drawn directly by hand, not only the efficiency is low, but also there are errors. However, the acquisition of high-precision point clouds by surveying and mapping vehicles and the extraction of lane lines from high-precision point cloud data can guarantee the accuracy of lane lines, but the acquisition equipment And point cloud data processing requirements are high, resulting in high cost of lane line drawing. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/32G01S19/45G01S19/47
CPCG01C21/32G01S19/45G01S19/47
Inventor 胡铮铭白海江杨贵陶靖琦刘奋
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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