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Lane line separation drawing method and device in confluence scene

A technology of lane lines and scenes, applied in the field of lane line separation and drawing, can solve problems such as errors in extracting lane lines, and achieve the effect of improving accuracy and map accuracy.

Pending Publication Date: 2021-12-10
WUHAN ZHONGHAITING DATA TECH CO LTD
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Problems solved by technology

However, in the confluence area of ​​the diversion belt, the two lane lines will be connected into one. According to the usual method, the extraction of lane lines will cause errors

Method used

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  • Lane line separation drawing method and device in confluence scene
  • Lane line separation drawing method and device in confluence scene
  • Lane line separation drawing method and device in confluence scene

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Embodiment Construction

[0045] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

[0046] Such as figure 1 As shown, the embodiment of the present invention provides a lane separation drawing method in a confluence scene, including the following steps:

[0047] S1, training semantic segmentation model, input image 3 As shown in the original image, the output Figure 4 The mask image shown, and its binary image is extracted according to the gray value label of the lane line, such as Figure 5 shown. Figure 5 The V-shaped lane line in the middle is the lane line in the confluence scene.

[0048] Specifically, S1 includes the following:

[0049] Initialize the semantic segmentation model;

[0050] Label the lane lines in the training dataset;

[0051] Using the labeled training data set to p...

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Abstract

The invention relates to a lane line separation drawing method and a device in a confluence scene. The method comprises the following steps: training a semantic segmentation model, inputting an original image, outputting a mask image, and extracting a binary image according to a gray value label of a lane line; extracting contour points of lane lines in the binary image, and constructing a pixel coordinate set of each lane line; according to the pixel coordinate set of each lane line, extracting a central axis point set of the lane line, and judging whether points on the central axis are all located in the contour of the lane line; moving the coordinates of the points, which are not in the lane line contour, on the central axis leftwards and rightwards respectively until the coordinates after left movement or right movement are located in the lane line contour; the points obtained after left shifting and right shifting are used for replacing the points, not in the pixel coordinate set, in the corresponding original central axis, and the central axis of the lane line in the original confluence scene is separated into a left central axis and a right central axis according to the replaced central axis point set and drawn. The confluence area lane line adhesion situation can be effectively solved.

Description

technical field [0001] The invention relates to the technical field of automatic driving and high-precision map production, and in particular to a method and device for drawing separate lane lines in a confluence scene. Background technique [0002] In the field of high-precision map production, the lane line drawing in the road confluence scene is mainly based on the semantic segmentation method, which can classify each pixel in the image, and then output the mask map of the image. Use the findContours function of the opencv tool to extract the outline of each lane line in the mask map. However, in the confluence area of ​​the diversion belt, two lane lines will be connected into one. According to the usual method, the extraction of lane lines will cause errors. Contents of the invention [0003] Aiming at the technical problems existing in the prior art, the present invention provides a lane line separation drawing method and device in a confluence scene, which can effe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/34G06K9/46G06K9/62G06T11/20
CPCG06T11/206G06F18/214Y02T10/40
Inventor 万齐斌王畅刘奋
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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