Visual and laser radar multi-level fusion-based lane detection method and system

Abstract

The invention discloses a visual and laser radar multi-level fusion-based lane detection method and system, the method is realized by installing a laser radar and a vehicle-mounted camera on a vehicle, and the method comprises the following steps: calibrating obtained point cloud data and video images; fusing the height information of the point cloud data, the reflection intensity information andthe RGB information of the video image to construct a point cloud clustering model, obtaining a lane point cloud based on the point cloud clustering model, performing least square fitting on the lanepoint cloud to obtain a lane curved surface, and obtaining a first lane candidate area; fusing the reflection intensity information in the point cloud data with the RGB information of the video imageto obtain four-channel road information; inputting a pre-trained semantic segmentation network 3D-LaneNet, and outputting an image of a second lane candidate region; and fusing the first lane candidate region and the second lane candidate region, and taking a union set of the two lane candidate regions as a final lane region. According to the method, the accuracy of lane detection in a complex road scene is improved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a lane detection method and system based on multi-level fusion of vision and laser radar. Background technique [0002] Lane detection in road scenes is a key technical link to realize automatic driving of vehicles to ensure that vehicles drive within the lane limits and avoid collisions with targets such as pedestrians outside the lane due to crossing the lane. And the subsequent detection of lane lines in the effective lane area will be faster and more accurate, so that the vehicle can safely and automatically drive in the correct lane. [0003] It is relatively easy for humans to identify lanes on the road, but in complex scenes such as strong light, heavy fog, and night, human lane identification capabilities are still limited. In order to realize automatic driving, it is necessary to realize accurate detection of lanes in complex scenes. Most existing lane detect...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art, and propose a lane detection method based on the multi-level fusion of vision and laser radar, which combines the laser radar point cloud and camera image for lane detection, and uses the point cloud as image space information It uses images to make up for the defect of low sampling density of point clouds, and improves the robustness of lane detection algorithms in complex road scenes such as uphill lanes, uneven lighting, heavy fog, and night

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