Lane center line determining method and device

A centerline and lane technology, applied in the field of lane centerline determination methods and devices, can solve problems such as driving behavior conflicts, driving risks, and ineffective solutions, and achieve the effects of reducing dependence, avoiding driving risks, and improving safety.

Active Publication Date: 2021-03-05
HUAWEI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this solution is highly dependent on the existence and driving behavior of the tracking vehicle ahead. When there is no tracking vehicle ahead, the solution will not be effective, or, when the tracking vehicle makes unconventional driving behavior, If the following vehicle suddenly cuts into the lanes on both sides, if the current vehicle is still driving along the track of the following vehicle, that is, if the same lane-changing operation is performed to forcibly follow the following vehicle, it will most likely cause conflict with other vehicles. Conflicting driving behavior, which may lead to driving risks

Method used

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  • Lane center line determining method and device
  • Lane center line determining method and device
  • Lane center line determining method and device

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Embodiment Construction

[0042] Embodiments of the present application provide a method and device for determining a lane centerline, which are used to accurately determine the lane centerline, so as to improve vehicle driving safety.

[0043] Embodiments of the present application are described below in conjunction with the accompanying drawings.

[0044] At present, when controlling the vehicle for automatic driving, the vehicle with the closest distance directly in front of the current vehicle is usually selected as the tracking vehicle, and the current vehicle is controlled to drive along the track of the tracking vehicle. Behavioral dependence is strong, which is likely to bring driving risks.

[0045] In order to solve the above problems, the present application provides a method for determining the centerline of a lane. First, obtain the driving trajectory points representing the position information of the vehicles located around the target vehicle during driving, and then, for every two adjac...

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Abstract

The embodiment of the application discloses a lane center line determining method and device which is applied to the field of automatic driving, and is used for accurately determining a lane center line so as to control an intelligent automobile to safely drive. The method provided by the embodiment of the invention comprises the following steps: firstly, obtaining driving track points representing position information of vehicles around a target vehicle in a driving process, then carrying out data processing on every two driving track points which are adjacent in time and belong to the same vehicle so as to respectively determine corresponding straight lines; determining the target equation parameter according to the determined equation parameter corresponding to each straight line; and finally, accurately determining the lane center line according to the target equation parameter.

Description

technical field [0001] The present application relates to the technical field of automatic driving, in particular to a method and device for determining a lane centerline. Background technique [0002] As intelligent systems are applied to the field of vehicle driving, more and more vehicles are equipped with automatic driving systems that can realize automatic driving functions or assisted driving functions. In order to realize the automatic driving function or assisted driving function, the automatic driving system on the vehicle usually needs to recognize the centerline of the lane from the road environment around the vehicle to determine the driving lane around the vehicle, so that it can make appropriate behavior decisions and control the vehicle Drive safely. [0003] At present, there are usually two methods for the automatic driving system to determine the lane line: one is to obtain the lane line information pre-stored in the high-precision map by querying the high...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W60/00G06F17/11G06K9/62
CPCB60W60/0015B60W60/0027G06F17/11G06F18/23B60W60/00G06F30/00G06F18/00
Inventor 熊健晖丁洁云陶永祥
Owner HUAWEI TECH CO LTD
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