The invention provides a lane recognition data merging method and system, and the method comprises the steps: collecting lane recognition data through a vehicle-mounted camera, carrying out the equal-distance division of the lane recognition data at one side of a road Link, obtaining a group of lane recognition data which is closest to the center of each segment in the longitudinal direction, and enabling the group of lane recognition data to serve as a reference; projecting the lane points, the angle difference between which and the reference lane direction angle is smaller than a first preset value, to the reference lane points, and merging the corresponding lane identification data to the reference to obtain a lane identification set; sorting the transverse offset of each element in the lane identification set according to the size, numbering the sorted elements, and deleting the lane identification data corresponding to the adjacent elements when the transverse offset distance of the adjacent numbered elements is smaller than a second preset value; and traversing the lane identification data of each segment on the two sides of the road Link, and merging all the lane identification data of the segments. Through the scheme, completeness and accuracy of lane identification data can be guaranteed, and map drawing errors are avoided.
本发明提供一种车道识别数据合并方法及系统,该方法包括:通过车载相机采集车道识别数据,将道路Link一侧的车道识别数据等距划分后,获取距离各分段中心纵向偏移最近的一组车道识别数据作为基准,将与基准的车线方向角角度差小于第一预设值的车线点投影至基准的车线点,并将对应的车道识别数据合并到基准得到车线识别集合;将车线识别集合中每个元素的横向偏移进行大小排序,并对排序后的元素进行编号,当相邻编号元素的横向偏移距离小于第二预设值,则将相邻元素对应的车道识别数据删除;遍历道路Link两侧各分段车道识别数据,对所有分段车道识别数据合并。通过该方案可以保障车道识别数据的完整性、准确性,避免地图绘制出现错误。
Lane identification data merging method and system
一种车道识别数据合并方法及系统
2023-08-15
Patent
Elektronische Ressource
Chinesisch