The invention relates to a multi-frame dynamic high-precision lane line detection method for automatic driving, and the method comprises the steps: M1, building data information of a historical POI point pool of a road, and obtaining the data information of POI points of each frame of the road in real time; and M2, based on the data information of the POI points of each frame of the road and the data information of the historical POI point pool of the road, updating the historical POI point pool of the road by adopting a time sequence updating algorithm of a lane line to obtain the updated data information of the POI point pool of the road, and representing the track of the lane line of the road by adopting a multi-frame data fusion and track smoothing algorithm of the road. According to the method, key lane line information can be reserved and updated in a multi-frame detection result, the space-time consistency of the detection result is remarkably improved, and the method can adapt to changes of different vehicle speeds and lane widths, so that a more stable detection result is realized in expressways and wide lane scenes.

    本发明涉及一种面向自动驾驶的多帧动态高精度车道线的检测方法,所述方法包括:M1.建立道路的历史POI点池的数据信息,并实时获取道路的每帧的POI点的数据信息;M2.基于所述道路的每帧的POI点的数据信息和所述道路的历史POI点池的数据信息,采用车道线的时序更新算法对道路的历史POI点池进行更新,得到更新后的道路的POI点池的数据信息,采用道路的多帧数据融合与轨迹平滑算法对道路的车道线的轨迹进行表征。本发明不仅能够在多帧检测结果中保留并更新关键的车道线信息,显著提升检测结果的时空一致性,而且能够适应不同车速和车道宽度的变化,从而在高速公路和宽车道场景中实现更为稳定的检测结果。


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    Title :

    Multi-frame dynamic high-precision lane line detection method for automatic driving


    Additional title:

    一种面向自动驾驶的多帧动态高精度车道线的检测方法


    Contributors:
    ZHENG JIGUANG (author) / CAI YING (author) / LUO GENG (author) / ZHOU BOTONG (author) / WANG WENCHAO (author)

    Publication date :

    2025-03-14


    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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