Lane line detection method and device, computer equipment and storage medium

Abstract

The invention relates to a lane line detection method and device, computer equipment and a storage medium. The method comprises the following steps: receiving a to-be-detected lane line image and a frame sequence number thereof; calling a pre-trained segmentation network, inputting the to-be-detected lane line image into a backbone network of the segmentation network, and extracting sharing features of the to-be-detected lane line image; when it is determined that the to-be-detected lane line image is not the key frame image according to the frame sequence number, obtaining a lane line instance clustering image corresponding to the key frame image according to the frame sequence number; inputting the shared features into a semantic segmentation branch network of a segmentation network, andperforming semantic segmentation on the to-be-detected lane line image through the semantic segmentation branch network to obtain a binary lane line image corresponding to the to-be-detected lane line image; and performing instance classification on the binary lane line image according to the lane line instance clustering image of the key frame image to obtain an instance lane line image. The method can improve precision and reduce time consumption.

Description

technical field [0001] The present application relates to the technical field of automatic driving, in particular to a lane line detection method, device, computer equipment and storage medium. Background technique [0002] With the continuous improvement of computer software and hardware capabilities and the general improvement of the accuracy of various sensors, autonomous driving technology has become an important research field and has attracted extensive attention from academia and industry. In the assisted driving system, when the vehicle deviates from the driving lane and does not turn on the turn signal, the Lane Departure Warning System (Lane Departure Warning System, LDWS) will use the result of lane line detection to issue a departure warning signal. The Lane Keeping Assist System (LKAS) will link the detection results of the lane line with the basic control unit of the vehicle. When the vehicle deviates from the driving lane, the system will automatically control...

AI Technical Summary

Problems solved by technology

However, detection algorithms based on artificial features are usually not well adapted to complex environments, so they cannot work stably in real scenes

At the same time, since the back-projection transformation is very easily affected by the external road conditions, it is easy to cause problems in the subsequent processing, resulting in reduced detection accuracy.

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