Intersection lane detection is an important functionality that affects the safety and efficient operation of autonomous vehicles. Considering the characteristics of intersection scenarios and lane markings, a multi-modal fusion completion method for lane detection based on intersection scene recognition and road rules is proposed. The proposed method utilizes two types of elements, namely zebra crossings and traffic signals, to recognize intersection scenes. By leveraging the fixed topological structure of intersections and traffic regulations, the lane completion problem is decomposed into straight completion and curve completion. For straight completion, the results from previous frames are directly retained. For curve completion, a curve trajectory model is constructed based on the vehicle's kinematic model. By combining the curve model based on road priors and fixed rules with the curve trajectory model based on the CTRV (Constant Turn Rate and Velocity) model, a multi-modal interaction is performed to complete the curves, ensuring compliance with road boundary constraints. This approach obtains a reliable driving trajectory for intersections, providing decision-making support for autonomous vehicles to drive within safety zones.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Research on lane line multimodal fusion completion algorithm based on intersection scene recognition and road rules


    Contributors:
    Liu, Mengge (author) / Xie, Hui (author) / Song, Kang (author) / Jiang, Zihan (author)


    Publication date :

    2023-10-27


    Size :

    4995417 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    ROAD LANE LINE RECOGNITION DEVICE AND ROAD LANE LINE RECOGNITION PROGRAM

    MURATA HIROKI / KUMANO TOSHIYA / SUZUKI SHUNSUKE | European Patent Office | 2024

    Free access

    Rule-based target lane prediction method in intersection scene

    XU CHENGFENG / LUO YUANFU | European Patent Office | 2023

    Free access

    Intersection guide lane line lighting system

    XU LIANGJIE / MA YUKANG | European Patent Office | 2021

    Free access

    Method and equipment for determining intersection passing scene of road intersection

    ZHANG SHUAI / MA WANLI | European Patent Office | 2023

    Free access

    Lane line completion method and device

    WANG ZHE / CHEN YUE / WU ZHENG et al. | European Patent Office | 2025

    Free access