本发明公开了一种车道线平滑方法、装置和电子设备。本发明的车道线平滑方法包括:获取车道线的原始形点数据,并根据所述原始形点数据进行线形拟合,得到车道线的拟合曲线;从所述拟合曲线上按序提取观测点,对观测点进行曲率检测,检测出曲率跳变点;若所述曲率跳变点不属于原始形点数据,获取所述曲率跳变点的曲率平滑方向对所述曲率跳变点进行曲率平滑。本发明的技术方案在不影响车道线精度的同时,实现了车道线的整体平滑,提高了高精地图中车道线的数据质量,有助于使用高精地图的无人驾驶车辆更好地在道路上自动行驶。

    The invention discloses a lane line smoothing method and device and electronic equipment. The lane line smoothing method comprises the following steps: acquiring original shape point data of a lane line, and performing linear fitting according to the original shape point data to obtain a fitting curve of the lane line; sequentially extracting observation points from the fitted curve, performing curvature detection on the observation points, and detecting curvature jump points; and if the curvature jump point does not belong to the original shape point data, acquiring a curvature smoothing direction of the curvature jump point, and performing curvature smoothing on the curvature jump point. According to the technical scheme of the invention, the accuracy of the lane line is not affected, the overall smoothness of the lane line is realized, the data quality of the lane line in the high-precision map is improved, and an unmanned vehicle using the high-precision map can better and automatically run on a road.


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    Titel :

    一种车道线平滑方法、装置和电子设备


    Erscheinungsdatum :

    2024-05-31


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion