Lane line existence judgment method and system and storage medium
Lane line existence judgment method and system and storage medium
- Neue Suche nach: KOU SHENGJIE
- Neue Suche nach: XU YING
- Neue Suche nach: GUAN DENGSHI
- Neue Suche nach: YANG JINGNING
- Neue Suche nach: TIAN HE
- Neue Suche nach: LU CHANG
- Neue Suche nach: KOU SHENGJIE
- Neue Suche nach: XU YING
- Neue Suche nach: GUAN DENGSHI
- Neue Suche nach: YANG JINGNING
- Neue Suche nach: TIAN HE
- Neue Suche nach: LU CHANG
The invention discloses a lane line existence judgment method, which is based on environmental perception data and comprises the following steps: acquiring the environmental perception data; feature probability distribution under different classifications and the existence probability of a lane to be judged under the condition of observation features FL and the existence probability of an inner lane under the condition of observation features FL are obtained from the data with the features and the labels through a machine learning algorithm, and a sensing lane line is matched with an existing lane boundary; lane boundary types are judged one by one according to whether boundary type feature probability distribution exists under the condition of outer side lanes or not; and calculating the probability of existence of each lane according to the lane lines and the lane line types, and if the probability is greater than a specified threshold, judging that the lane lines exist. According to the method, the lane existence is converted into probability description through the naive Bayesian algorithm, a large number of road data tests show that the method can solve the problem of judging the lane existence accuracy under the condition of sensing data uncertainty, and misjudgment and missed judgment are avoided.
本发明公开了一种车道线存在判断方法，其基于环境感知数据，包括：获取环境感知数据；在带特征和标签的数据中通过机器学习算法得到不同分类下的特征概率分布和是观测特征FL条件下待判断车道存在概率，是观测特征FL条件下内侧车道存在概率将感知车道线与现有车道边界进行匹配；根据是否存在外侧车道条件下边界类型特征概率分布判断逐条判断车道边界类型；根据车道线和车道线类型计算得到各车道存在的概率，若概率大于指定阈值则判断车道线存在。本发明通过朴素贝叶斯算法将车道存在性转换为概率描述，通过大量道路数据测试表明，本发明能够解决感知数据不确定性条件下的车道存在准确性的判断问题，避免发生误判和漏判。
Dokumentinformationen
Lane line existence judgment method and system and storage medium
车道线存在判断方法、系统和存储介质
2023-01-31
Patent
Elektronische Ressource
Chinesisch
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