The invention relates to a lane line anomaly detection method, device and equipment, a medium, a product and a vehicle, and the method comprises the steps: building a state space model of a target lane line according to a lane line signal of the target lane line collected in real time after the vehicle starts an intelligent driving function or an automatic driving function, and then obtaining a state space model of the target lane line; generating a state estimation value and a first covariance of the target lane line at the first moment according to the state space model and a Kalman filter, and then generating a state recursion value and a second covariance of the target lane line at the first moment through a state recursion device; and finally, according to the state estimation value, the state recursion value, the first covariance and the second covariance corresponding to the target lane line at the first moment, performing anomaly detection on the target lane line, and generating an anomaly detection result. Wherein the target lane line is the lane line of the lane where the vehicle is located, and the anomaly detection result is used for indicating whether the target lane line is abnormal. According to the invention, the accuracy and robustness of anomaly detection are improved.
本发明涉及一种车道线异常检测方法、装置、设备、介质、产品及车辆,该方法包括:在车辆开启智能驾驶功能或自动驾驶功能后,根据实时采集到的目标车道线的车道线信号,建立目标车道线的状态空间模型,之后,根据状态空间模型和卡尔曼滤波器,生成目标车道线在第一时刻的状态估计值和第一协方差,接着,通过状态递推器,生成目标车道线在第一时刻的状态递推值和第二协方差。最后,根据目标车道线在第一时刻对应的状态估计值、状态递推值、第一协方差和第二协方差,对目标车道线进行异常检验,生成异常检测结果。其中,目标车道线为车辆所在车道的车道线,异常检测结果用于指示目标车道线是否存在异常。本发明提高了异常检测的准确性和鲁棒性。
Lane line anomaly detection method, device, equipment, medium, product and vehicle
车道线异常检测方法、装置、设备、介质、产品及车辆
2024-12-17
Patent
Electronic Resource
Chinese
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