Intersection lane detection is an important functionality that affects the safety and efficient operation of autonomous vehicles. Considering the characteristics of intersection scenarios and lane markings, a multi-modal fusion completion method for lane detection based on intersection scene recognition and road rules is proposed. The proposed method utilizes two types of elements, namely zebra crossings and traffic signals, to recognize intersection scenes. By leveraging the fixed topological structure of intersections and traffic regulations, the lane completion problem is decomposed into straight completion and curve completion. For straight completion, the results from previous frames are directly retained. For curve completion, a curve trajectory model is constructed based on the vehicle's kinematic model. By combining the curve model based on road priors and fixed rules with the curve trajectory model based on the CTRV (Constant Turn Rate and Velocity) model, a multi-modal interaction is performed to complete the curves, ensuring compliance with road boundary constraints. This approach obtains a reliable driving trajectory for intersections, providing decision-making support for autonomous vehicles to drive within safety zones.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Research on lane line multimodal fusion completion algorithm based on intersection scene recognition and road rules


    Beteiligte:
    Liu, Mengge (Autor:in) / Xie, Hui (Autor:in) / Song, Kang (Autor:in) / Jiang, Zihan (Autor:in)


    Erscheinungsdatum :

    27.10.2023


    Format / Umfang :

    4995417 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    ROAD LANE LINE RECOGNITION DEVICE AND ROAD LANE LINE RECOGNITION PROGRAM

    MURATA HIROKI / KUMANO TOSHIYA / SUZUKI SHUNSUKE | Europäisches Patentamt | 2024

    Freier Zugriff

    Rule-based target lane prediction method in intersection scene

    XU CHENGFENG / LUO YUANFU | Europäisches Patentamt | 2023

    Freier Zugriff

    Intersection guide lane line lighting system

    XU LIANGJIE / MA YUKANG | Europäisches Patentamt | 2021

    Freier Zugriff

    Lane line completion method and device

    WANG ZHE / CHEN YUE / WU ZHENG et al. | Europäisches Patentamt | 2025

    Freier Zugriff

    Method and equipment for determining intersection passing scene of road intersection

    ZHANG SHUAI / MA WANLI | Europäisches Patentamt | 2023

    Freier Zugriff