The invention provides a lane line tracking method and a lane line tracking system, and relates to the technical field of automatic driving. According to the invention, the CNN-LSTM model is utilized to predict the actual lane line detection result of the previous frame to obtain the first prediction result of the lane line of the current frame, the CNN is utilized to perform feature extraction on the lane line detection result by utilizing the feature extraction advantage of the CNN, and then the extracted feature vector is input into the LSTM network to predict the lane line. According to the embodiment of the invention, the CNN network is combined with the LSTM network, and the convolution layer and the pooling layer are newly added into the original LSTM network, so that the prediction precision of the lane line is improved. And then associating the actual lane line detection result of the current frame with the lane line first prediction result of the current frame by using a Hungary algorithm to obtain a first set, fitting the first set to obtain a lane line tracking result, fusing the predicted lane line and the actually detected lane line into a more accurate lane line, and obtaining a more accurate lane line tracking result. And the lane line tracking effect is improved.
本发明提供了一种车道线跟踪方法及车道线跟踪系统,涉及自动驾驶技术领域。本发明利用CNN‑LSTM模型对上一帧的实际车道线检测结果进行预测,得到当前帧的车道线第一预测结果,利用CNN网络对特征提取的优势,将CNN网络用于对车道线检测结果进行特征提取,然后将提取到的特征向量输入到LSTM网络中对车道线进行预测,该实施例将CNN网络与LSTM网络相结合,在原有的LSTM网络中新加入卷积层和池化层,从而提高了车道线的预测精度。然后利用匈牙利算法对当前帧的实际车道线检测结果和当前帧的车道线第一预测结果进行关联,得到第一集合,并对其进行拟合,从而得到车道线跟踪结果,将预测的车道线和实际检测的车道线融合成更加精准的车道线,提高了车道线跟踪效果。
Lane line tracking method and lane line tracking system
一种车道线跟踪方法及车道线跟踪系统
2023-07-11
Patent
Electronic Resource
Chinese
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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