CN112287842A - Lane line identification method and device and electronic equipment - Google Patents
Lane line identification method and device and electronic equipment Download PDFInfo
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Abstract
The embodiment of the invention provides a method and a device for identifying lane lines and electronic equipment, wherein the method comprises the following steps: acquiring a road image by preset image acquisition equipment; determining a characteristic image matched with the road image in a preset lane line database; the lane line database comprises all first lane lines and characteristic images corresponding to all the first lane lines; and executing transverse control on the current vehicle according to the first lane line corresponding to the matched characteristic image. By the embodiment of the invention, the identification of the lane line where the current vehicle is located is realized, so that the automatic driving safety is ensured, and the application range of the automatic driving safety is enlarged.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a method and a device for identifying a lane line and electronic equipment.
Background
The current automatic driving technology needs to accurately identify the lane line of the current road section for the lateral control of the vehicle. The existing lane line identification method is mainly based on a visual image identification technology.
However, due to the fact that the images of the lane lines are subjected to illumination, shadows, road paving color differences and the like, the image recognition technology based on vision cannot accurately recognize the lane lines under some conditions, so that the automatic driving function cannot be started, and the application range of automatic driving is severely limited.
Disclosure of Invention
The embodiment of the invention aims to provide a method and a device for identifying a lane line and electronic equipment, and aims to solve the problems that the lane line cannot be accurately identified under partial conditions by using a vision-based image identification technology, so that an automatic driving function cannot be started, and the application range of automatic driving is severely limited.
In order to solve the above technical problem, the embodiment of the present invention is implemented as follows:
in a first aspect, an embodiment of the present invention provides a lane line identification method, including:
acquiring a road image through preset image acquisition equipment;
determining a characteristic image matched with the road image in a preset lane line database; the lane line database comprises all first lane lines and characteristic images corresponding to all the first lane lines;
and executing transverse control on the current vehicle according to the first lane line corresponding to the matched characteristic image.
In a second aspect, an embodiment of the present invention provides an apparatus for identifying a lane line, including:
the image acquisition module is used for acquiring a road image through preset image acquisition equipment;
the image matching module is used for determining a characteristic image matched with the road image in a preset lane line database; the lane line database comprises all first lane lines and characteristic images corresponding to all the first lane lines;
and the first lane line identification module is used for executing the transverse control on the current vehicle according to the first lane line corresponding to the matched characteristic image.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete mutual communication through a bus; the memory is used for storing a computer program; the processor is configured to execute the program stored in the memory, and implement the steps of the lane line identification method according to the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the lane line identification method according to the first aspect are implemented.
According to the technical scheme provided by the embodiment of the invention, the embodiment of the invention acquires the road image through the preset image acquisition equipment; determining a characteristic image matched with the road image in a preset lane line database; the lane line database comprises all first lane lines and characteristic images corresponding to all the first lane lines; and executing transverse control on the current vehicle according to the first lane line corresponding to the matched characteristic image. By the embodiment of the invention, the identification of the lane line where the current vehicle is located is realized, so that the automatic driving safety is ensured, and the application range of the automatic driving safety is enlarged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a first flowchart of a lane line identification method according to an embodiment of the present invention;
fig. 2 is a second flowchart of the lane line identification method according to the embodiment of the present invention;
fig. 3 is a third schematic flow chart of the lane line identification method according to the embodiment of the present invention;
fig. 4 is a fourth flowchart illustrating a lane line identification method according to an embodiment of the present invention;
fig. 5 is a fifth flowchart illustrating a lane line identification method according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a first lane line generation method according to an embodiment of the present invention;
fig. 7 is a schematic diagram illustrating a module configuration of a lane line recognition apparatus according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a lane line identification method and device and electronic equipment.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. 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.
As shown in fig. 1, an embodiment of the present invention provides a method for identifying a lane line, which may specifically include the following steps:
and step S01, acquiring a road image through a preset image acquisition device.
In the driving process of the vehicle, the road image is acquired in real time through image acquisition equipment which is arranged on the vehicle in advance.
It should be understood that the number and the positions of the image capturing devices can be set according to actual requirements, and in the following embodiments, the image capturing device is disposed in front of the vehicle and captures an image of a road in front of the vehicle.
Step S02, determining a characteristic image matched with the road image in a preset lane line database; the lane line database comprises each first lane line and a characteristic image corresponding to each first lane line.
And if the second lane line in the road image cannot be identified through the preset image identification technology, matching the acquired road image with a characteristic image stored in a preset lane line database.
The lane line database stores a plurality of first lane lines and feature images corresponding to the first lane lines. Each first lane line may correspond to a plurality of feature images, and the specific number may be set according to actual needs, for example, the specific number may be determined by a preset proportionality coefficient according to the length of the first lane line, that is, the longer the length of the first lane line is, the more corresponding feature images are.
It should be understood that there are many methods for matching the road image with the feature image, and various image similarity matching algorithms in computer vision processing may be used, which is not specifically limited herein.
And step S03, executing transverse control on the current vehicle according to the first lane line corresponding to the matched characteristic image.
And if the characteristic image matched with the road image is found in the lane line database, taking the first lane line corresponding to the characteristic image as the lane line where the current vehicle is located. And thus, the current vehicle is controlled transversely according to the first lane line in the automatic driving mode.
According to the technical scheme provided by the embodiment of the invention, the embodiment of the invention acquires the road image through the preset image acquisition equipment; determining a characteristic image matched with the road image in a preset lane line database; the lane line database comprises all first lane lines and characteristic images corresponding to all the first lane lines; and executing transverse control on the current vehicle according to the first lane line corresponding to the matched characteristic image. By the embodiment of the invention, the identification of the lane line where the current vehicle is located is realized, so that the automatic driving safety is ensured, and the application range of the automatic driving safety is enlarged.
Further, as shown in fig. 2, after the step S01, the method further includes:
and S011, identifying a second lane line in the road image through a preset image identification algorithm.
When the road image is acquired through the image acquisition equipment, the acquired road image is analyzed through a preset image identification technology, and a second lane line is identified from the road image. And if the identification is successful, executing the transverse control on the current vehicle in the automatic driving mode according to the second lane line and the relative position relation between the current vehicle and the second lane line which is calibrated in advance.
And step S012, if the second lane line cannot be identified, matching the road image with the characteristic image in the lane line database.
And if the second lane line cannot be identified, searching the matched characteristic data from the lane database to determine the first lane line corresponding to the road image. If the first lane line is matched, continuing to execute the transverse control on the current vehicle in the automatic driving mode according to the first lane line; and if the first lane line is not matched, exiting the automatic driving mode and switching to a manual driving mode.
According to the technical scheme provided by the embodiment of the invention, the embodiment of the invention identifies the second lane line in the road image through a preset image identification algorithm; and if the second lane line cannot be identified, matching the road image with the characteristic image in the lane line database. By the embodiment of the invention, the identification of the lane line where the current vehicle is located is realized, so that the automatic driving safety is ensured, and the application range of the automatic driving safety is enlarged.
Based on the above embodiment, further, as shown in fig. 3, the specific processing manner of step S03 may be varied, and an alternative processing manner is provided below, which may be specifically referred to the processing of step S031 below.
Step S031, according to the first lane line corresponding to the matched feature image, the relative position relationship between the matched feature image and the first lane line, and the relative position relationship between the current vehicle and the road image, execute lateral control of the current vehicle.
After the first lane line corresponding to the road image is matched, in order to implement lateral control on the current vehicle, a relative position relationship between the feature image and the first lane line and a relative position relationship between the road image and the current vehicle need to be acquired. Thus, the relative positional relationship between the current vehicle and the first lane line is obtained, so that the lateral control of the current vehicle can be performed in the automatic driving mode.
It should be understood that the relative position relationship between the characteristic image and the first lane line and the relative position relationship between the road image and the current vehicle may be calibrated in advance according to an experimental result or obtained according to a preset image recognition algorithm, and is not limited specifically herein. Wherein the relative position relationship between the characteristic image and the first lane line can be saved in the lane line database.
As can be seen from the above technical solutions provided by the embodiments of the present invention, in the embodiments of the present invention, the lateral control on the current vehicle is performed according to the first lane line corresponding to the matched feature image, the relative position relationship between the matched feature image and the first lane line, and the relative position relationship between the current vehicle and the road image. By the embodiment of the invention, the identification of the lane line where the current vehicle is located is realized, so that the automatic driving safety is ensured, and the application range of the automatic driving safety is enlarged.
Based on the above embodiment, further, as shown in fig. 4, the step S012 includes:
s0121, acquiring the environment and geographic information of the current vehicle, and screening out a characteristic image corresponding to the environment and geographic information from the lane line database;
and step S0122, matching the road image with the screened characteristic image.
When the road image is collected, the environment and the geographic information of the current vehicle may be obtained at the same time, and the environment and the geographic information may include: weather information and geographical location information, etc.
It should be understood that under different weather conditions, the road image collected by the image collecting device will be affected differently, for example, there is a big difference between the illumination condition and the image definition of the collected road image in sunny days and rainy days. Therefore, the feature images corresponding to the first lane lines in the lane line database may respectively correspond to different weather conditions, or each first lane line may respectively correspond to a set of feature images under different weather conditions.
The geographic location information may be obtained through a positioning information of the current vehicle, for example, through a navigation system, or through a geographic feature identifier in a road image, for example, a road sign or a landmark building. Each first lane line in the lane line database may also be configured to correspond to different geographic location information, e.g., to different road segments.
Therefore, before the road image is matched with the characteristic image, the first lane line meeting the weather information and the geographic position information and the corresponding characteristic image can be screened from the lane line database according to the acquired weather information and the geographic position information.
And then matching the road image with the screened characteristic image to quickly determine the matched characteristic image and the corresponding first lane line.
According to the technical scheme provided by the embodiment of the invention, the embodiment of the invention obtains the environment and the geographic information of the current vehicle and screens out the characteristic image corresponding to the environment and the geographic information from the lane line database; and matching the road image with the screened characteristic image. By the embodiment of the invention, the speed and the accuracy of identifying the lane line where the current vehicle is located are increased, so that the safety of automatic driving is ensured, and the application range of the automatic driving is enlarged.
Based on the above embodiment, further, as shown in fig. 5, after the step S0122, the method further includes:
and step S04, acquiring the running path of the current vehicle after the matching fails.
And if the characteristic image matched with the lane image is not found out from the lane line database, obtaining the running path of the current vehicle according to a preset path calculation method. And if the current vehicle is in the automatic driving mode, exiting the automatic driving mode to be converted into the manual driving mode.
The path calculation methods are many, and the driving path of the vehicle can be calculated according to data acquired by a current vehicle control unit, such as an Inertial Measurement Unit (IMU), a wheel speed meter, a steering wheel angle and other sensors.
And step S05, obtaining a first lane line corresponding to the road image according to the driving path and the preset lane line width, and recording the first lane line into the lane line database.
And obtaining a first lane line from the driving path according to a preset lane line calculation method. There are many lane line calculation methods, and the embodiment of the present invention only gives an example. As shown in fig. 6, a first lane line is obtained by extrapolating a to both sides based on a preset lane line width 2a with the driving path as a center.
Recording the obtained first lane line into the lane line database, wherein the recording may further include: the feature images selected from the road images corresponding to the first lane line, the relative position relationship between each feature image and the first lane line, and the environmental and geographic information when the feature images are collected are not specifically limited herein.
Further, after the matching fails, the method further comprises:
and executing transverse control on the current vehicle according to the first lane line obtained by the closest matching or the identified second lane line and the running path of the current vehicle.
Since there are many reasons for the failure of matching the lane image and the feature image, and it may be impossible to successfully match the lane image and the feature image only in a short time or a short distance, after the failure of matching, the automatic driving mode may not be exited for a while, but the lateral control of the current vehicle may be continuously performed based on the first lane line obtained at the time of the last successful matching or the identified second lane line, and the travel path acquired by the vehicle control unit of the current vehicle, within a preset time range or distance range. And exiting the automatic driving mode and switching to a dragging driving mode until the second lane line is successfully identified or the first lane line is successfully matched from the subsequently acquired lane images or after the preset time range or distance range is exceeded.
Further, the method further comprises:
in the lane line database, if the contact ratio of at least two first lane lines meets a preset contact condition, merging the at least two first lane lines.
Through the above process, the first lane line in the lane line database will be accumulated continuously. In order to prevent the occurrence of repeated first lane lines and simplify the data in the lane line database, the first lane lines in the lane line database may be screened periodically and compared with each other to obtain the overlap ratio between any two first lanes or the overlap ratio of a partial line segment. If the contact ratio meets a preset contact condition, for example, exceeds a preset contact ratio threshold, combining any two first lane lines to obtain a first lane line which may be longer, and simultaneously combining the feature images respectively corresponding to the two first lane lines. The specific combining method may be set according to actual needs, and specific examples are as follows: firstly, a plurality of points are respectively selected on two first lane lines, and then a polynomial is used for fitting the points, so that a new curve equation of the first lane line is obtained.
Further, the method further comprises:
in the lane line database, if the matching success rate of any characteristic image in a preset time interval is smaller than a preset success rate threshold, deleting the any characteristic image.
And for the characteristic image in the lane line database, periodically counting the matching success rate or success number of the characteristic image, and if the matching success rate or success number is smaller than a preset success rate threshold or success number threshold, judging that the characteristic image has no typicality or the characteristic of the characteristic image is not obvious, so that the characteristic image is deleted from the lane line database.
According to the technical scheme provided by the embodiment of the invention, the embodiment of the invention obtains the running path of the current vehicle after the matching fails; and obtaining a first lane line corresponding to the road image according to the driving path and the preset lane line width, and recording the first lane line into the lane line database. By the embodiment of the invention, the lane line database is constructed and supplemented, so that the identification speed and accuracy of the current lane line of the vehicle are accelerated, the automatic driving safety is ensured, and the application range of the automatic driving safety is enlarged.
On the basis of the same technical concept, the embodiment of the present invention further provides a lane line recognition apparatus, fig. 7 is a schematic diagram of modules of the lane line recognition apparatus provided in the embodiment of the present invention, the lane line recognition apparatus is configured to execute the lane line recognition method described in fig. 1 to 5, and as shown in fig. 7, the lane line recognition apparatus includes: the system comprises an image acquisition module 701, an image matching module 702 and a first lane line identification module 703.
The image acquisition module 701 is used for acquiring a road image through preset image acquisition equipment; the image matching module 702 is configured to determine a feature image matched with the road image in a preset lane line database; the lane line database comprises all first lane lines and characteristic images corresponding to all the first lane lines; the first lane line recognition module 703 is configured to perform lateral control on the current vehicle according to the first lane line corresponding to the matched feature image.
According to the technical scheme provided by the embodiment of the invention, the embodiment of the invention acquires the road image through the preset image acquisition equipment; determining a characteristic image matched with the road image in a preset lane line database; the lane line database comprises all first lane lines and characteristic images corresponding to all the first lane lines; and executing transverse control on the current vehicle according to the first lane line corresponding to the matched characteristic image. By the embodiment of the invention, the identification of the lane line where the current vehicle is located is realized, so that the automatic driving safety is ensured, and the application range of the automatic driving safety is enlarged.
Further, the apparatus further comprises:
the second lane line recognition module is used for recognizing a second lane line in the road image through a preset image recognition algorithm;
and the matching initiating module is used for matching the road image with the characteristic image in the lane line database if the second lane line cannot be identified.
According to the technical scheme provided by the embodiment of the invention, the embodiment of the invention identifies the second lane line in the road image through a preset image identification algorithm; and if the second lane line cannot be identified, matching the road image with the characteristic image in the lane line database. By the embodiment of the invention, the identification of the lane line where the current vehicle is located is realized, so that the automatic driving safety is ensured, and the application range of the automatic driving safety is enlarged.
Further, the first lane line identification module is specifically configured to: and executing transverse control on the current vehicle according to a first lane line corresponding to the matched characteristic image, the relative position relation between the matched characteristic image and the first lane line and the relative position relation between the current vehicle and the road image.
As can be seen from the above technical solutions provided by the embodiments of the present invention, in the embodiments of the present invention, the lateral control on the current vehicle is performed according to the first lane line corresponding to the matched feature image, the relative position relationship between the matched feature image and the first lane line, and the relative position relationship between the current vehicle and the road image. By the embodiment of the invention, the identification of the lane line where the current vehicle is located is realized, so that the automatic driving safety is ensured, and the application range of the automatic driving safety is enlarged.
Further, the image matching module includes:
the first matching unit is used for acquiring the environment and the geographic information of the current vehicle and screening out a characteristic image corresponding to the environment and the geographic information from the lane line database;
and the second matching unit is used for matching the road image with the screened characteristic image.
According to the technical scheme provided by the embodiment of the invention, the embodiment of the invention obtains the environment and the geographic information of the current vehicle and screens out the characteristic image corresponding to the environment and the geographic information from the lane line database; and matching the road image with the screened characteristic image. By the embodiment of the invention, the speed and the accuracy of identifying the lane line where the current vehicle is located are increased, so that the safety of automatic driving is ensured, and the application range of the automatic driving is enlarged.
Further, the apparatus further comprises:
the route acquisition module is used for acquiring the running route of the current vehicle after the matching fails;
and the lane line calculation module is used for obtaining a first lane line corresponding to the road image according to the driving path and the preset lane line width, and recording the first lane line into the lane line database.
Further, the first lane line identification module is further configured to, after the matching fails, execute lateral control on the current vehicle according to the first lane line obtained by the closest matching or the second lane line obtained by the identification, and the driving path of the current vehicle.
Further, the apparatus further comprises:
and the first updating module is used for merging the at least two first lane lines if the contact ratio meets at least two first lane lines of a preset contact condition in the lane line database.
And the second updating module is used for deleting any characteristic image in the lane line database if the matching success rate of any characteristic image in a preset time interval is less than a preset success rate threshold.
According to the technical scheme provided by the embodiment of the invention, the embodiment of the invention obtains the running path of the current vehicle after the matching fails; and obtaining a first lane line corresponding to the road image according to the driving path and the preset lane line width, and recording the first lane line into the lane line database. By the embodiment of the invention, the lane line database is constructed and supplemented, so that the identification speed and accuracy of the current lane line of the vehicle are accelerated, the automatic driving safety is ensured, and the application range of the automatic driving safety is enlarged.
The lane line recognition device provided by the embodiment of the invention can realize each process in the embodiment corresponding to the lane line recognition method, and is not repeated here for avoiding repetition.
It should be noted that the lane line identification device provided in the embodiment of the present invention and the lane line identification method provided in the embodiment of the present invention are based on the same inventive concept, and therefore, for specific implementation of the embodiment, reference may be made to implementation of the lane line identification method described above, and repeated details are not described again.
On the basis of the same technical concept, the embodiment of the present invention further provides an electronic device for executing the method for identifying a lane line, and fig. 8 is a schematic structural diagram of an electronic device implementing the embodiments of the present invention, as shown in fig. 8. Electronic devices may vary widely in configuration or performance and may include one or more processors 801 and memory 802, where the memory 802 may store one or more stored applications or data. Wherein the memory 802 may be a transient storage or a persistent storage. The application program stored in memory 802 may include one or more modules (not shown), each of which may include a series of computer-executable instructions for the electronic device. Still further, the processor 801 may be configured to communicate with the memory 802 to execute a series of computer-executable instructions in the memory 802 on the electronic device. The electronic device may also include one or more power supplies 803, one or more wired or wireless network interfaces 804, one or more input-output interfaces 805, one or more keyboards 806.
Specifically, in this embodiment, the electronic device includes a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete mutual communication through a bus; the memory is used for storing a computer program; the processor is used for executing the program stored in the memory and realizing the following method steps:
acquiring a road image through preset image acquisition equipment;
determining a characteristic image matched with the road image in a preset lane line database; the lane line database comprises all first lane lines and characteristic images corresponding to all the first lane lines;
and executing transverse control on the current vehicle according to the first lane line corresponding to the matched characteristic image.
An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, and when executed by a processor, the computer program implements the following method steps:
acquiring a road image through preset image acquisition equipment;
determining a characteristic image matched with the road image in a preset lane line database; the lane line database comprises all first lane lines and characteristic images corresponding to all the first lane lines;
and executing transverse control on the current vehicle according to the first lane line corresponding to the matched characteristic image.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, an electronic device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, apparatus or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method for identifying a lane line, the method comprising:
acquiring a road image through preset image acquisition equipment;
determining a characteristic image matched with the road image in a preset lane line database; the lane line database comprises all first lane lines and characteristic images corresponding to all the first lane lines;
and executing transverse control on the current vehicle according to the first lane line corresponding to the matched characteristic image.
2. The method for identifying a lane line according to claim 1, wherein after the step of acquiring a road image by a preset image capturing device, the method further comprises:
identifying a second lane line in the road image through a preset image identification algorithm;
and if the second lane line cannot be identified, matching the road image with the characteristic image in the lane line database.
3. The method for identifying a lane line according to claim 2, wherein the performing lateral control on the current vehicle according to the first lane line corresponding to the matched feature image comprises:
and executing transverse control on the current vehicle according to a first lane line corresponding to the matched characteristic image, the relative position relation between the matched characteristic image and the first lane line and the relative position relation between the current vehicle and the road image.
4. The method for identifying a lane line according to claim 3, wherein the matching the road image with the feature image in the lane line database includes:
acquiring environment and geographic information of a current vehicle, and screening out a characteristic image corresponding to the environment and the geographic information from the lane line database;
and matching the road image with the screened characteristic image.
5. The method for identifying a lane line according to claim 4, wherein after the step of matching the road image with the screened feature image, the method further comprises:
after the matching fails, acquiring a running path of the current vehicle;
and obtaining a first lane line corresponding to the road image according to the driving path and the preset lane line width, and recording the first lane line into the lane line database.
6. The lane line identification method according to claim 5, wherein after a failure in matching, the method further comprises:
and executing transverse control on the current vehicle according to the first lane line obtained by the closest matching or the identified second lane line and the running path of the current vehicle.
7. The method for identifying a lane line according to claim 6, further comprising:
in the lane line database, if the contact ratio meets at least two first lane lines of a preset contact condition, merging the at least two first lane lines;
in the lane line database, if the matching success rate of any characteristic image in a preset time interval is smaller than a preset success rate threshold, deleting the any characteristic image.
8. An apparatus for recognizing a lane line, the apparatus comprising:
the image acquisition module is used for acquiring a road image through preset image acquisition equipment;
the image matching module is used for determining a characteristic image matched with the road image in a preset lane line database; the lane line database comprises all first lane lines and characteristic images corresponding to all the first lane lines;
and the first lane line identification module is used for executing the transverse control on the current vehicle according to the first lane line corresponding to the matched characteristic image.
9. An electronic device comprising a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete mutual communication through a bus; the memory is used for storing a computer program; the processor is used for executing the program stored in the memory to realize the steps of the lane line identification method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of the lane marking identification method according to any one of claims 1 to 7.
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| CN202011187146.3A CN112287842A (en) | 2020-10-29 | 2020-10-29 | Lane line identification method and device and electronic equipment |
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| CN202011187146.3A CN112287842A (en) | 2020-10-29 | 2020-10-29 | Lane line identification method and device and electronic equipment |
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Application publication date: 20210129 |