The invention discloses a method for identifying a lane where a target object is located, and the method comprises the following steps: S1, collecting an image of a road in front of a current vehicle, and fitting a lane line curve in the road image; s2, extracting a target object in the road image, calculating the distances dyleft and dyright from the target object to a left lane line and a right lane line of a lane r where the current vehicle is located, and further calculating the distribution probabilities PL and PR of the target object on the two sides of the left lane line and the two sides of the right lane line of the lane r; s3, the probability P1 of the target object in the lane r is calculated, and if the probability P1 is larger than a probability threshold value, it is judged that the target object is located in the lane r. When the target object approaches the lane line, the probability of the target object in the lane is reduced along with the increase of the standard deviation of the lane line, and the misjudgment probability of the lane where the target object is located can be reduced.

    本发明公开一种目标物所在车道的识别方法,包括如下步骤:S1、采集当前车辆行驶前方的道路图像,拟合道路图像中的车道线曲线;S2、提取道路图像中的目标物体,计算目标物体距当前车辆所在车道r的左车道线、右车道线的距离dyleft、dyright,进而计算目标物在车道r的左车道线两侧、右车道线两侧的分布概率PL、PR;S3、计算目标物体在车道r的概率P1,若概率P1大于概率阈值,则判定目标物体位于车道r内。当目标物靠近车道线时,目标物在该车道的概率随车道线标准差变大而降低,会减低目标物所在车道的误判概率。


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    Title :

    Method and system for recognizing lane where target object is located and automobile


    Additional title:

    一种目标物所在车道的识别方法、系统及汽车


    Contributors:
    WU FAN (author)

    Publication date :

    2024-10-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / 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



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