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1. WO2022001366 - LANE LINE DETECTION METHOD AND APPARATUS

Publication Number WO/2022/001366
Publication Date 06.01.2022
International Application No. PCT/CN2021/092310
International Filing Date 08.05.2021
IPC
G06K 9/00 2006.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
B60W 30/12 2020.1
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
10Path keeping
12Lane keeping
G01S 17/93 2020.1
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems, specially adapted for specific applications
93for anti-collision purposes
CPC
B60W 30/12
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
10Path keeping
12Lane keeping
G01S 17/93
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems specially adapted for specific applications
93for anti-collision purposes
G01S 17/931
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems specially adapted for specific applications
93for anti-collision purposes
931of land vehicles
G01S 7/48
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
48of systems according to group G01S17/00
G01S 7/4802
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
48of systems according to group G01S17/00
4802using analysis of echo signal for target characterisation; Target signature; Target cross-section
G06K 9/00
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
Applicants
  • 华为技术有限公司 HUAWEI TECHNOLOGIES CO., LTD. [CN]/[CN]
Inventors
  • 曹彤彤 CAO, Tongtong
  • 刘冰冰 LIU, Bingbing
  • 李向旭 LI, Xiangxu
Priority Data
202010632014.003.07.2020CN
Publication Language Chinese (zh)
Filing Language Chinese (ZH)
Designated States
Title
(EN) LANE LINE DETECTION METHOD AND APPARATUS
(FR) PROCÉDÉ ET APPAREIL DE DÉTECTION DE LIGNE DE VOIE
(ZH) 车道线的检测方法和装置
Abstract
(EN) A lane line detection method and apparatus. The method comprises: scanning the surrounding environment of a vehicle by using a laser radar, so as to obtain lane line candidate reflection points and road edge information (S410); establishing a road edge coordinate system on the basis of the road edge information (S420); extracting a lane line reflection point from the lane line candidate reflection points on the basis of the coordinates of the lane line candidate reflection points in the road edge coordinate system (S430); and obtaining a lane line on the basis of the lane line reflection point (S440). Therefore, by using road edge information as a priori information, noise in lane line candidate reflection points is effectively filtered out, such that the accuracy and the stability of lane line detection are improved; and the apparatus corresponds to the method.
(FR) Procédé et appareil de détection de ligne de voie. Le procédé consiste à : balayer l'environnement avoisinant d'un véhicule en utilisant un radar laser, de manière à obtenir des points de réflexion candidats de ligne de voie et des informations de bord de route (S410) ; établir un système de coordonnées de bord de route sur la base des informations de bord de route (S420) ; extraire un point de réflexion de ligne de voie parmi les points de réflexion candidats de ligne de voie sur la base des coordonnées des points de réflexion candidats de ligne de voie dans le système de coordonnées de bord de route (S430) ; et obtenir une ligne de voie sur la base du point de réflexion de ligne de voie (S440). Par conséquent, en utilisant des informations de bord de route en tant qu'informations a priori, un bruit dans des points de réflexion candidats de ligne de voie est efficacement filtré, de telle sorte que la précision et la stabilité de détection de ligne de voie sont améliorées ; et l'appareil correspond au procédé.
(ZH) 一种车道线的检测方法和装置,方法包括:利用激光雷达对车辆的周围环境进行扫描,得到车道线候选反射点和道路边缘信息(S410),基于道路边缘信息建立道路边缘坐标系(S420),基于车道线候选反射点在道路边缘坐标系中的坐标,从车道线候选反射点中提取车道线反射点(S430),再基于车道线反射点,得到车道线(S440)。由此利用道路边缘信息作为先验信息,有效滤除车道线候选反射点中的噪声,提高了检测车道线的精度和稳定性;装置与方法相对应。
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