CN109636877B - Lane line adjustment processing method and device and electronic equipment - Google Patents
Lane line adjustment processing method and device and electronic equipment Download PDFInfo
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- CN109636877B CN109636877B CN201811290740.8A CN201811290740A CN109636877B CN 109636877 B CN109636877 B CN 109636877B CN 201811290740 A CN201811290740 A CN 201811290740A CN 109636877 B CN109636877 B CN 109636877B
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Abstract
The embodiment of the invention provides a lane line adjusting and processing method, a lane line adjusting and processing device and electronic equipment, wherein the method comprises the following steps: acquiring information of a lane line to be adjusted, wherein the lane line comprises a plurality of points; determining whether each point on the lane line is a point to be discarded or not according to the curvature information corresponding to each point on the lane line; and discarding the points to be discarded in the lane line to obtain the adjusted lane line. The method can greatly save the time for adjusting the lane line and improve the efficiency for adjusting the lane line. In addition, the method can also reduce the number of points constituting the lane line, thereby reducing the occupation of storage space for storing lane line information.
Description
Technical Field
The present invention relates to computer technologies, and in particular, to a lane line adjustment processing method and apparatus, and an electronic device.
Background
With the development of automobile technology, unmanned vehicles are beginning to be applied and developed. In the process of driving the unmanned vehicle, the information of the lane line needs to be provided for the unmanned vehicle. The lane line has a plurality of points thereon, and the plurality of points are connected to form the lane line. After the lane lines are generated, there may be a difference between the lane lines composed of points and the real lane lines, and the lane lines composed of vector points need to be adjusted.
In the prior art, when a lane line formed by vector points is adjusted, the lane line can be adjusted manually.
However, using the prior art method results in inefficient lane line adjustment.
Disclosure of Invention
The embodiment of the invention provides a lane line adjusting and processing method, a lane line adjusting and processing device and electronic equipment, which are used for solving the problem of low lane line adjusting efficiency in the prior art.
A first aspect of an embodiment of the present invention provides a lane line adjustment processing method, including:
acquiring information of a lane line to be adjusted, wherein the lane line comprises a plurality of points;
determining whether each point on the lane line is a point to be discarded or not according to the curvature information corresponding to each point on the lane line;
and discarding the points to be discarded in the lane line to obtain the adjusted lane line.
Further, the determining whether each point on the lane line is a point to be discarded according to the curvature information corresponding to each point on the lane line includes:
determining first curvature information corresponding to a first point according to the first point on the lane line, and a second point and a third point adjacent to the first point;
determining second curvature information corresponding to the first point according to the first point and a fourth point, wherein the fourth point is a point to be reserved, which is determined on the lane line and is closest to the first point;
and determining the first point as a point to be discarded or a point to be reserved according to the first curvature information and the second curvature information.
Further, the determining, according to a first point on the lane line, and a second point and a third point adjacent to the first point, first curvature information corresponding to the first point includes:
determining a first connecting line according to the first point and the second point;
determining a second connecting line according to the first point and the third point;
determining the first curvature information according to the first connecting line and the second connecting line.
Further, the determining, according to the first point and the fourth point, second curvature information corresponding to the first point includes:
determining a third connecting line according to the first point and the fourth point;
and determining the second curvature information according to the first connecting line and the third connecting line.
Further, the determining, according to the first curvature information and the second curvature information, that the first point is a point to be discarded or a point to be retained includes:
and if the corresponding value of the first curvature information is larger than a first preset value and the corresponding value of the second curvature information is smaller than a second preset value, determining that the first point is a point to be discarded.
Further, before the discarding process is performed on the to-be-discarded point in the lane line, the method further includes:
and if a plurality of continuous points adjacent to the first point are all determined as points to be discarded and the number of the continuous points is greater than a preset number, correcting the first point as a point to be reserved.
Further, the lane line is a lane line in a map;
the discarding the to-be-discarded point in the lane line to obtain the adjusted lane line includes:
and discarding the points to be discarded in the lane lines in the map to obtain the adjusted lane lines in the map.
Further, the method also comprises the following steps:
and marking the adjusted lane line on the map.
A second aspect of an embodiment of the present invention provides a lane line adjustment processing apparatus, including:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring information of a lane line to be adjusted, and the lane line comprises a plurality of points;
the determining module is used for determining whether each point on the lane line is a point to be discarded or not according to the curvature information corresponding to each point on the lane line;
and the discarding module is used for discarding the points to be discarded in the lane line to obtain the adjusted lane line.
Further, the determining module includes:
the first determining unit is used for determining first curvature information corresponding to a first point according to the first point on the lane line and a second point and a third point which are adjacent to the first point;
a second determining unit, configured to determine second curvature information corresponding to the first point according to the first point and a fourth point, where the fourth point is a to-be-reserved point that is determined on the lane line and is closest to the first point;
and a third determining unit, configured to determine, according to the first curvature information and the second curvature information, that the first point is a point to be discarded or a point to be retained.
Further, the root first determining unit is specifically configured to:
determining a first connecting line according to the first point and the second point;
determining a second connecting line according to the first point and the third point;
determining the first curvature information according to the first connecting line and the second connecting line.
Further, the root second determining unit is specifically configured to:
determining a third connecting line according to the first point and the fourth point;
and determining the second curvature information according to the first connecting line and the third connecting line.
Further, the third determining unit is specifically configured to:
and if the corresponding value of the first curvature information is larger than a first preset value and the corresponding value of the second curvature information is smaller than a second preset value, determining that the first point is a point to be discarded.
Further, the method also comprises the following steps:
and the correcting module is used for correcting the first point to be a point to be reserved when a plurality of continuous points adjacent to the first point are all determined to be points to be discarded and the number of the continuous points is greater than a preset number.
Further, the lane line is a lane line in a map;
the discarding module is specifically configured to:
and discarding the points to be discarded in the lane lines in the map to obtain the adjusted lane lines in the map.
Further, the method also comprises the following steps:
and the marking module is used for marking the adjusted lane line on the map.
A third aspect of embodiments of the present invention provides an electronic device, including:
a memory for storing program instructions;
a processor for calling and executing the program instructions in the memory to perform the method steps of the first aspect.
A fourth aspect of the embodiments of the present invention provides a readable storage medium, in which a computer program is stored, the computer program being configured to execute the method according to the first aspect.
According to the lane line adjusting and processing method, the lane line adjusting and processing device and the electronic equipment, whether each point is to-be-discarded or not can be determined according to the curvature information of each point in the lane line, and then the points can be discarded, so that the lane line is adjusted, the adjusting time of the lane line is greatly saved, and the adjusting efficiency of the lane line is improved. In addition, the embodiment of the invention discards partial points on the lane line, can reduce the number of points forming the lane line, and thus reduces the occupation of the storage space for storing the lane line information.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings needed to be used in the description of the embodiments or the prior art, and obviously, the drawings in the following description are some embodiments of the present invention, and those skilled in the art can obtain other drawings according to the drawings without inventive labor.
Fig. 1 is a schematic flow chart of a lane line adjustment processing method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a lane line adjustment processing method according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a lane line adjustment processing method according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a lane line adjustment processing method according to an embodiment of the present invention;
fig. 5 is a block diagram of a lane line adjustment processing apparatus according to an embodiment of the present invention;
fig. 6 is a block diagram of a lane line adjustment processing apparatus according to a second embodiment of the present invention;
fig. 7 is a block diagram of a lane line adjustment processing apparatus according to a third embodiment of the present invention;
fig. 8 is a block diagram of a lane line adjustment processing apparatus according to an embodiment of the present invention;
fig. 9 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the actual application process, because there are many vector points on the lane line, the method in the prior art needs to manually adjust a large number of vector points to adjust the lane line, which results in long adjustment time and low efficiency. Meanwhile, as the number of vector points on the lane line is large and the density is high, a large amount of information of the lane line needs to be stored, and the storage space is large.
The method provided by the embodiment of the invention aims to solve the problems.
The method provided by the embodiment of the invention can be applied to various scenes related to intelligent driving. In an exemplary scenario, when driving, an unmanned vehicle needs to determine a driving route based on a preset map, perform automatic driving, and the like, where the map is collected by a specific collection vehicle in advance, and the collection vehicle collects the map including a lane line composed of a plurality of points. In the scene, the method of the embodiment of the invention can be used for adjusting the lane line in the map collected by the collection vehicle, marking the lane line on the map based on the adjusted lane line, and applying the map marked with the lane line to the unmanned vehicle.
The execution subject of the embodiment of the present invention may be any electronic device having a computing processing capability. In one example, the execution subject of the embodiment of the present invention may be a collection vehicle. In another example, the execution subject of the embodiment of the present invention may be an unmanned vehicle. In another example, the execution subject of the embodiment of the present invention may be an independent device, and the device acquires the map data from the collection vehicle, performs processing such as lane line adjustment and labeling by using the method of the embodiment of the present invention, and provides the processed map data to the unmanned vehicle for use.
Fig. 1 is a schematic flow chart of a lane line adjustment processing method according to an embodiment of the present invention, and as shown in fig. 1, the method includes:
s101, obtaining information of a lane line to be adjusted, wherein the lane line comprises a plurality of points.
Taking the above application scenario as an example, in this step, the information of the lane line to be adjusted may be acquired from the map data acquired by the acquisition vehicle. In the map data, the lane line is composed of a plurality of points, and the plurality of points are connected to form a continuous lane line.
S102, determining whether each point on the lane line is a point to be discarded according to the curvature information corresponding to each point on the lane line.
Optionally, the to-be-discarded points are points that can be discarded from the points that constitute the lane line, and after the points are discarded, the lane line can still be accurately represented by the remaining points.
In addition, in the embodiment of the invention, the points to be reserved are also involved. The point to be reserved refers to a point which cannot be discarded by judgment. For a particular point on the lane line, it can only be one of the point to be discarded or the point to be retained.
Alternatively, each point on the lane line may be calculated by a point close to the point to obtain specific curvature information, and from the curvature information, it may be determined whether the point may be discarded.
In the specific implementation process, the step is executed for multiple times, that is, each point can be traversed one by one starting from the first point forming the lane line, and whether each point is a point to be discarded is determined.
For example, after determining a point as a point to be discarded, a specific mark may be added to the point to indicate that the point is the point to be discarded.
And S103, discarding the points to be discarded in the lane line to obtain the adjusted lane line.
Optionally, after traversing each point on the lane line, all the points to be discarded on the lane line may be obtained, and then, the points may be discarded. Specifically, these points may be deleted from the points constituting the lane line.
In this embodiment, according to the curvature information of each point in the lane line, whether each point is a point to be discarded can be determined, and then the processing can be discarded to these points, thereby realizing the adjustment lane line, greatly saving the time of lane line adjustment, and promoting the efficiency of lane line adjustment. In addition, in the present embodiment, the discarding process is performed on a part of the points on the lane line, and the number of points constituting the lane line can be reduced, thereby reducing the occupation of the storage space for storing the lane line information.
Fig. 2 is a schematic flow chart of a lane line adjustment processing method according to an embodiment of the present invention, and as shown in fig. 2, an optional implementation manner of step 102 includes:
s201, determining first curvature information corresponding to a first point on the lane line according to the first point, and a second point and a third point adjacent to the first point.
The first point described in the embodiment of the present invention is any point on the lane line except for the start point and the end point, and details of the embodiment of the present invention are not described below.
As an alternative, the starting point on the lane line may be directly used as the point to be reserved. The end point on the lane line can also be directly used as a point to be reserved. Alternatively, for an end point on the lane line, the end point may be determined to be a point to be discarded or a point to be reserved according to whether a plurality of points adjacent to the end point are points to be discarded.
Alternatively, for a specific first point, the second point may refer to a point before the first point, i.e., a neighboring point closer to the start point of the lane line than the first point, and the third point may refer to a point after the first point, i.e., a neighboring point closer to the end point of the lane line than the first point.
The first curvature information determined from the first point, the second point, and the third point may be regarded as local curvature information.
And S202, determining second curvature information corresponding to the first point according to the first point and a fourth point, wherein the fourth point is a point to be reserved, which is determined on the lane line and is closest to the first point.
The meaning of the point to be retained can refer to the above embodiments, and is not described herein again.
And the fourth point is the point to be reserved which is closest to the first point on the lane line. Before the first point is judged to be the point to be discarded or the point to be reserved, the points which are positioned before the first point on the lane line are judged, namely the points before the first point are known to be the point to be discarded or the point to be reserved. Further, in this step, the point to be reserved that is closest to the first point is searched forward, and the searched point is the fourth point.
The fourth point and the second point may be the same point, or may not be the same point.
In one example, assume that there are 5 points on the lane line, and the first point is the 4 th point on the lane line. The second point is the 3 rd point on the lane line. If the 3 rd point on the lane line is the point to be reserved, the fourth point is also the 3 rd point on the lane line, namely the fourth point and the second point are the same point. If the 3 rd point on the lane line is not the point to be reserved, the fourth point and the second point are not the same point. For example, if the 3 rd point on the lane line is a point to be discarded, and the 2 nd point is a point to be retained, the fourth point is the 2 nd point on the lane line.
The first curvature information determined from the first point, the second point, and the third point may be regarded as local curvature information.
And S203, determining the first point as a point to be discarded or a point to be reserved according to the first curvature information and the second curvature information.
Optionally, the first curvature information may be regarded as local curvature information, the second curvature information may be regarded as global curvature information, and the first point may be accurately determined to be a to-be-discarded point or a to-be-retained point by combining the local curvature information and the global curvature information. The determined result does not affect the accuracy of the lane line, and the number of points on the lane line can be reduced.
Alternatively, the corresponding value of the first curvature information and the corresponding value of the second curvature information may be determined. The corresponding value of the first curvature information may be a curvature value, and the corresponding value of the second curvature information may also be a curvature value. And if the corresponding value of the first curvature information is larger than a first preset value and the corresponding value of the second curvature information is smaller than a second preset value, determining the first point as a point to be discarded.
The first preset value and the second preset value are obtained in advance through means of statistics, learning and the like, and specific values of the first preset value and the second preset value are not limited in the embodiment of the invention.
Fig. 3 is a schematic flow chart of a lane line adjustment processing method according to an embodiment of the present invention, and as shown in fig. 3, an optional implementation manner of step 201 includes:
s301, determining a first connecting line according to the first point and the second point.
Wherein the first connecting line is a line formed by connecting the first point and the second point.
Optionally, in the map data, the first point and the second point have specific position coordinates, respectively, according to the position coordinates of the first point and the second point. The first connection line can be determined.
And S302, determining a second connecting line according to the first point and the third point.
Alternatively, the second connecting line may be a line connecting the first point and the third point.
Alternatively, in the map data, the first point and the third point each have a specific position coordinate, and the position coordinates of the first point and the third point are based on the specific position coordinates. The second connecting line can be determined.
S303, determining the first curvature information according to the first connection line and the second connection line.
Optionally, after the first connection line and the second connection line are determined, an included angle between the first connection line and the second connection line may be calculated, and the included angle is used as the first curvature information.
Optionally, when the included angle is used to represent the first curvature information, the first curvature information is specifically a curvature value.
Fig. 4 is a schematic flow chart of a lane line adjustment processing method according to an embodiment of the present invention, and as shown in fig. 4, an alternative implementation manner of step 202 includes:
and S401, determining a third connecting line according to the first point and the fourth point.
Wherein the third connecting line is a line connecting the first point and the fourth point.
Alternatively, in the map data, the first point and the fourth point each have specific position coordinates, and the position coordinates of the first point and the fourth point are based on the specific position coordinates. The third connecting line can be determined.
S402, determining the second curvature information according to the first connection line and the third connection line.
Alternatively, in a case where the second point and the fourth point are not the same point, an angle between the first connecting line and the third connecting line may be calculated, and the angle may be used as the second curvature information.
Alternatively, when the second point and the fourth point are the same point, and the third connection line and the first connection line are the same line, it can be considered that an included angle between the first connection line and the third connection line is 0, and further, a curvature value of the second curvature information is also 0.
The above-described embodiment describes a process of determining that a first point is a to-be-retained point or a to-be-discarded point based on the first point, and a second point, a third point, and a fourth point to be retained that is closest to the first point. On this basis, as another optional implementation manner, after determining that the first point is the to-be-discarded point, determining whether the first point satisfies the following condition may be performed, and if so, correcting the first point to be the to-be-retained point:
and if a plurality of continuous points adjacent to the first point are all determined as points to be discarded and the number of the plurality of continuous points is greater than a preset number, correcting the first point as a point to be reserved.
That is, if there are already a plurality of consecutive points to be discarded before the first point, even if the first point is determined as a discarded point, the points are not discarded any more, so that excessive points are avoided being discarded, and the problem of serious information loss caused by too low sampling rate is avoided.
For example, it is assumed that there are 5 points on the lane line, the preset number is 2, the first point is the 4 th point on the lane line, and the point has been determined to be the to-be-discarded point by the method of the above embodiment. If the 2 nd point and the 3 rd point on the lane line are both determined as the points to be discarded, that is, the number of the continuously discarded points reaches the preset number, the 4 th point can be corrected to be the points to be retained, so that excessive points are avoided being discarded, and the problem of serious information loss caused by too low sampling rate is avoided.
It should be noted that the above alternative embodiments may also be combined with the above embodiments in the following manner:
optionally, when traversing to a point on the lane line, first, the method is used to determine whether a plurality of consecutive points adjacent to the point are all determined to be the to-be-discarded points and the number of the plurality of consecutive points is greater than the preset number, if so, the point is directly determined to be the to-be-retained point, and if not, the process of the foregoing embodiment is used to determine that the point is the to-be-discarded point or the to-be-retained point.
In a specific implementation process, a mode of determining the first point as a point to be discarded or a point to be retained can be flexibly selected according to needs.
When the method of the embodiment of the invention is applied to the lane line adjustment of the map, the lane line is the lane line in the map.
Correspondingly, after each point on the lane line in the map is determined to be a point to be discarded or a point to be reserved, the point to be discarded in the lane line in the map can be discarded, and therefore the adjusted lane line in the map is obtained.
Alternatively, the map may be represented by a large amount of map data including data of points constituting the lane line, such as position coordinates of each point. Then, when the discarding process is performed, the data belonging to the point to be discarded in the map data may be deleted, thereby forming the lane line in the adjusted map.
Further, before the map is used by the unmanned vehicle, a lane line needs to be marked on the map. Therefore, in the embodiment of the present invention, after the adjusted lane line is obtained, the adjusted lane line may be marked on the map. For example, the points on the adjusted lane line may be connected by a line of a preset color.
Fig. 5 is a block diagram of a lane line adjustment processing apparatus according to an embodiment of the present invention, and as shown in fig. 5, the apparatus includes:
an obtaining module 501, configured to obtain information of a lane line to be adjusted, where the lane line includes multiple points.
A determining module 502, configured to determine whether each point on the lane line is a point to be discarded according to curvature information corresponding to each point on the lane line.
A discarding module 503, configured to discard the to-be-discarded point in the lane line to obtain an adjusted lane line.
Fig. 6 is a block diagram of a second implementation of the lane line adjustment processing apparatus according to the embodiment of the present invention, and as shown in fig. 6, the determining module 502 includes:
the first determining unit 5021 is configured to determine first curvature information corresponding to a first point on the lane line according to the first point, and a second point and a third point adjacent to the first point.
A second determining unit 5022, configured to determine second curvature information corresponding to the first point according to the first point and a fourth point, where the fourth point is a point to be retained that is determined on the lane line and is closest to the first point.
A third determining unit 5023, configured to determine the first point as a point to be discarded or a point to be retained according to the first curvature information and the second curvature information.
In another embodiment, the root first determining unit 5021 is specifically configured to:
determining a first connecting line according to the first point and the second point;
determining a second connecting line according to the first point and the third point;
determining the first curvature information according to the first connecting line and the second connecting line.
In another embodiment, the second determining unit 5022 is specifically configured to:
determining a third connecting line according to the first point and the fourth point;
and determining the second curvature information according to the first connecting line and the third connecting line.
In another embodiment, the third determining unit 5023 is specifically configured to:
and if the corresponding value of the first curvature information is larger than a first preset value and the corresponding value of the second curvature information is smaller than a second preset value, determining that the first point is a point to be discarded.
Fig. 7 is a block diagram of a lane line adjustment processing apparatus according to an embodiment of the present invention, where as shown in fig. 7, the apparatus further includes:
a correcting module 504, configured to correct the first point to be a to-be-retained point when a plurality of consecutive points adjacent to the first point are all determined to be to-be-discarded points and the number of the consecutive points is greater than a preset number.
In another embodiment, the lane line is a lane line in a map;
the discarding module 503 is specifically configured to:
and discarding the points to be discarded in the lane lines in the map to obtain the adjusted lane lines in the map.
Fig. 8 is a block diagram of a lane line adjustment processing apparatus according to an embodiment of the present invention, where as shown in fig. 8, the apparatus further includes:
and a labeling module 505, configured to label the adjusted lane line on the map.
Fig. 9 is a block diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 9, the electronic device 900 includes:
a memory 901 for storing program instructions.
The processor 902 is used for calling and executing the program instructions in the memory 901, and executing the method steps described in the above method implementation.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A lane line adjustment processing method is characterized by comprising the following steps:
acquiring information of a lane line to be adjusted, wherein the lane line comprises a plurality of points;
determining first curvature information corresponding to a first point according to the first point on the lane line and connecting lines corresponding to a second point and a third point adjacent to the first point, wherein the first curvature information is an included angle between the connecting line of the first point and the second point and the connecting line of the first point and the third point;
determining second curvature information corresponding to the first point according to connecting lines corresponding to the first point and a fourth point, wherein the fourth point is a point to be reserved which is determined on the lane line and is closest to the first point, and the second curvature information is an included angle between the connecting line of the first point and the fourth point and the connecting line of the first point and the second point;
determining the first point as a point to be discarded or a point to be reserved according to the first curvature information and the second curvature information;
and discarding the points to be discarded in the lane line to obtain the adjusted lane line.
2. The method of claim 1, wherein determining the first curvature information corresponding to the first point according to the first point on the lane line and a connecting line corresponding to a second point and a third point adjacent to the first point comprises:
determining a first connecting line according to the first point and the second point;
determining a second connecting line according to the first point and the third point;
determining the first curvature information according to the first connecting line and the second connecting line.
3. The method according to claim 2, wherein the determining second curvature information corresponding to the first point according to the connection lines corresponding to the first point and the fourth point comprises:
determining a third connecting line according to the first point and the fourth point;
and determining the second curvature information according to the first connecting line and the third connecting line.
4. The method of claim 3, wherein determining the first point as a to-be-discarded point or a to-be-retained point according to the first curvature information and the second curvature information comprises:
and if the corresponding value of the first curvature information is larger than a first preset value and the corresponding value of the second curvature information is smaller than a second preset value, determining that the first point is a point to be discarded.
5. The method according to claim 1, wherein before the discarding the to-be-discarded point in the lane line, further comprising:
and if a plurality of continuous points adjacent to the first point on the lane line are all determined as points to be discarded and the number of the continuous points is greater than a preset number, correcting the first point as a point to be reserved.
6. The method according to any one of claims 1-5, wherein the lane lines are lane lines in a map;
the discarding the to-be-discarded point in the lane line to obtain the adjusted lane line includes:
and discarding the points to be discarded in the lane lines in the map to obtain the adjusted lane lines in the map.
7. The method of claim 6, further comprising:
and marking the adjusted lane line on the map.
8. A lane line adjustment processing device, comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring information of a lane line to be adjusted, and the lane line comprises a plurality of points;
the determining module is used for determining first curvature information corresponding to a first point according to the first point on the lane line and a connecting line corresponding to a second point and a third point adjacent to the first point, wherein the first curvature information is an included angle between the connecting line between the first point and the second point and the connecting line between the first point and the third point;
determining second curvature information corresponding to the first point according to connecting lines corresponding to the first point and a fourth point, wherein the fourth point is a point to be reserved which is determined on the lane line and is closest to the first point, and the second curvature information is an included angle between the connecting line of the first point and the fourth point and the connecting line of the first point and the second point;
determining the first point as a point to be discarded or a point to be reserved according to the first curvature information and the second curvature information;
and the discarding module is used for discarding the points to be discarded in the lane line to obtain the adjusted lane line.
9. An electronic device, comprising:
a memory for storing program instructions;
a processor for invoking and executing program instructions in said memory for performing the method steps of any of claims 1-7.
10. A readable storage medium, characterized in that a computer program is stored in the readable storage medium for performing the method of any of claims 1-7.
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| CN101567086B (en) * | 2009-06-03 | 2014-01-08 | 北京中星微电子有限公司 | Method of lane line detection and equipment thereof |
| CN103295420B (en) * | 2013-01-30 | 2015-12-02 | 吉林大学 | A kind of method of Lane detection |
| CN105260713B (en) * | 2015-10-09 | 2019-06-28 | 东方网力科技股份有限公司 | A kind of method for detecting lane lines and device |
| CN105912977B (en) * | 2016-03-31 | 2021-03-30 | 电子科技大学 | Lane line detection method based on point clustering |
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