A computer-implemented method, device and system for discretizing lane markings and for generating a lane reference line are disclosed. A polynomial defined over an (x, y) coordinate system is received, the polynomial being representative of at least a portion of a lane boundary line. A length of the polynomial is determined. The polynomial is discretized, comprising determining a plurality of discretization points on the polynomial to represent the polynomial, wherein a first discretization piint is a first end of the polynomial, wherein subsequent discretization points are determined successively until the polynomial is completely discretized, and wherein each discretization point other than the first discretization point is determined based at least in part on a slope of the polynomialat a previous discretization point. Thereafter, a lane reference line comprising a plurality of points is generated based on the discretized polynomial.
公开了用于离散车道标识并生成车道参考线的计算机实施的方法、设备和系统。接收在(x,y)坐标系上定义的多项式,该多项式表示车道边界线的至少一部分。确定多项式的长度。对多项式进行离散,包括确定多项式上的多个离散点来表示多项式,其中,第一离散点是多项式的第一端点,其中,后续的离散点被连续地确定直到多项式被完全离散,并且其中,除第一离散点之外的每个离散点至少部分地基于先前离散点处的多项式斜率来确定。然后,基于离散多项式生成包括多个点的车道参考线。
A MAP-LESS AND CAMERA-BASED LANE MARKINGS SAMPLING METHOD FOR LEVEL-3 AUTONOMOUS DRIVING VEHICLES
用于3级自动驾驶车辆的无地图且基于摄像机的车道标识取样方法
2020-12-04
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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