A method includes obtaining, by a processing device, input data derived from a set of sensors of an autonomous vehicle (AV), generating, by the processing device, at least one heat map based on fused bird's-eye view (BEV) features generated from the input data using a set of lane detection classifier heads, obtaining, by the processing device, a set of fold lines using the at least one heat map, wherein each fold line of the set of fold lines corresponds to a respective trajectory of the first set of trajectories of the first frame, and generating, by the processing device, a second set of trajectories of a second frame following the first frame based on a set of extrapolated trajectories of the second frame and a set of trajectory measurements of the second frame by using a statistical filter, wherein each trajectory measurement of the set of trajectory measurements corresponds to a respective updated fold line obtained for the second frame.
一种方法包括由处理设备获得从自主车辆(AV)的一组传感器导出的输入数据,由处理设备使用一组车道检测分类器头部基于从输入数据生成的融合鸟瞰视图(BEV)特征生成至少一个热图,由处理设备使用至少一个热图获得一组折线,其中该组折线中的每个折线对应于第一帧的第一组轨迹中的相应轨迹,以及由处理设备通过使用统计滤波器基于第一帧之后的第二帧的一组外推轨迹和第二帧的一组轨迹测量值来生成第二帧的第二组轨迹,其中所述一组轨迹测量值中的每个轨迹测量值对应于针对第二帧获得的相应更新的折线。
System for implementing autonomous vehicle lane understanding using filter-based lane tracking
使用基于滤波器的车道跟踪实施自主车辆车道理解系统
2025-03-07
Patent
Electronic Resource
Chinese
IMPLEMENTING AUTONOMOUS VEHICLE LANE UNDERSTANDING SYSTEMS USING FILTER-BASED LANE TRACKING
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