The invention relates to a preview-based lane center line smoothing method, which comprises the following steps of: firstly, judging whether an original lane center line needs to be smoothed or not, when the original lane center line is smooth, not needing to be smoothed, and when the original lane center line is not smooth, indicating that the original lane center line needs to be smoothed; and smoothing the center line of the lane by using the left and right lane line information of the current lane. The method has the advantages that the lane center line of the complex road condition can be smoothed only by adopting lane line related information provided by the visual camera, the smoothed lane center line serves as a reference line for transverse control, operation is simple and efficient, and the method can be directly deployed to actual mass production automatic driving projects.

    本发明涉及一种基于预瞄的车道中心线平滑方法,先判断原始的车道中心线是否需要进行平滑处理,当原始的车道中心线平滑时,无需进行平滑处理,当原始的车道中心线存在不平滑的情况时,说明原始的车道中心线需要进行平滑处理,再利用当前车道的左右车道线信息对车道中心线进行平滑处理。本发明的优点是只采用视觉摄像头提供的车道线相关信息就能对复杂路况的车道中心线进行平滑处理,作为横向控制的参考线,操作简单高效,可以直接部署到实际量产自动驾驶项目。


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    Title :

    Preview-based lane center line smoothing method


    Additional title:

    一种基于预瞄的车道中心线平滑方法


    Contributors:
    WANG MINGXIAO (author) / ZENG CHAO (author) / ZHANG ZHIDA (author) / YU JIAQIAO (author) / KOYO (author)

    Publication date :

    2024-11-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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