Automatic driving lane change identification method and device
Automatic driving lane change identification method and device
- New search for: ZHAO FEIXIANG
- New search for: ZHU LEI
- New search for: LEE JUNG-WOOK
- New search for: JIA SHUANGCHENG
- New search for: ZHAO FEIXIANG
- New search for: ZHU LEI
- New search for: LEE JUNG-WOOK
- New search for: JIA SHUANGCHENG
The invention relates to an automatic driving lane change identification method and device. The method comprises the following steps: fitting continuous road pictures in a target time period to obtain lane line expressions; obtaining an initialized road picture, and establishing a corresponding relation between an actual lane line in the initialized road picture and the lane line expression; according to the corresponding relation between the actual lane line in the initialized road picture and the lane line expression, the actual lane line in the Nth picture is recognized; selecting at least one actual lane line, acquiring a first lane line, corresponding to the at least one actual lane line, of the initialized road picture, acquiring an Nth lane line, corresponding to the at least one actual lane line, of the Nth picture, and calculating a displacement difference value between the first actual lane line and the Nth lane line under the same image coordinate system, and under the condition that the displacement difference value accords with a preset displacement difference value, judging that the vehicle changes a lane. According to the scheme provided by the invention, the lane changing behavior of the automatic driving vehicle in the driving process can be accurately identified.
本申请涉及一种自动驾驶车道变换的识别方法及装置。该方法包括：在目标时间段内拟合连续道路图片获取车道线表达；获取初始化道路图片，并建立初始化道路图片中的实际车道线和车道线表达式之间的对应关系；根据初始化道路图片中的实际车道线和车道线表达式之间的对应关系，识别第N张图片中的实际车道线；选取至少一条实际车道线，获取初始化道路图片对应至少一条实际车道线的第一车道线，获取第N张图片对应至少一条实际车道线的第N车道线，在相同图像坐标系下，计算第一实际车道线和第N车道线之间的位移差值，在位移差值符合预设位移差值的情况下，判断车辆发生变道。本申请提供的方案，能够准确识别自动驾驶车辆在行驶过程中的变道行为。
Document information
Automatic driving lane change identification method and device
自动驾驶车道变换的识别方法及装置
2022-05-27
Patent
Electronic Resource
Chinese
| IPC: | 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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