The invention relates to a lane edge extraction method and device, an automatic driving system, a vehicle and a storage medium. The lane edge extraction method comprises the following steps: receiving a tracking edge point about a lane edge of a frame immediately before an edge image sequence; determining observation edge points about the lane edge of the current frame of the edge image sequence; continuing and correcting the tracking edge points of the immediately preceding frame according to the observation edge points of the current frame so as to obtain temporary tracking edge points of the current frame; fitting a lane edge curve according to the temporary tracking edge points; and excluding abnormal parts in the temporary tracking edge points according to the lane edge curve to form tracking edge points of the current frame. The method can improve the stability and accuracy of lane edge extraction.
本申请涉及车道边沿提取方法和装置、自动驾驶系统、车辆以及存储介质,所述车道边沿提取方法包括步骤:接收边沿图像序列的紧前帧的关于所述车道边沿的跟踪边缘点;确定所述边沿图像序列的当前帧的关于所述车道边沿的观测边缘点;根据所述当前帧的观测边缘点续接并修正所述紧前帧的跟踪边缘点,以得到所述当前帧的临时跟踪边缘点;根据所述临时跟踪边缘点拟合出车道边沿曲线;以及根据所述车道边沿曲线排除所述临时跟踪边缘点中的异常部分,以形成所述当前帧的跟踪边缘点。该方法可以提高车道边沿提取的稳定性和准确率。
Lane edge extraction method and device, automatic driving system, vehicle and storage medium
车道边沿提取方法和装置、自动驾驶系统、车辆以及存储介质
2021-07-16
Patent
Electronic Resource
Chinese
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