The invention provides a lane line tracking method, device and equipment based on a spline curve. The method comprises the following steps: initializing a filter according to acquired vehicle motion information and lane line information; according to the vehicle motion information and the lane line information, the control point at the previous moment is transferred to the vehicle system at the current moment, and meanwhile, the covariance is transferred to the vehicle system at the current moment; according to the transfer result and the obtained lane line information at the current moment, establishing an association relationship between the sensed lane line and the lane line in the filter; according to the incidence relation, constructing an observation equation for each filter, and updating the filters; and checking the relationship between the control points in the filter and the vehicle and the currently sensed lane line, if the sensed lane line exceeds the coverage range of the control points in the updated filter, adding a new control point, and if the control points exceed a certain range of the tail part of the vehicle, deleting the corresponding control points so as to realize the tracking of the lane line.
本发明提供了一种基于样条曲线的车道线跟踪方法、装置及设备,该方法包括:根据获取的车辆运动信息和车道线信息初始化滤波器;根据车辆运动信息和车道线信息,将前一时刻的控制点转移到当前时刻的车体系,同时将协方差转移至当前时刻的车体系;根据转移结果和获得的当前时刻的车道线信息,建立感知得到的车道线和滤波器中的车道线之间的关联关系;根据所述关联关系,对每个滤波器构建观测方程,更新滤波器;检查滤波器中控制点与车辆和当前感知得到的车道线的关系,如果感知得到的车道线超出更新后的滤波器中的控制点覆盖范围,则添加新的控制点,如果控制点超过车辆尾部一定范围,则删除相应控制点,以实现车道线的跟踪。
Lane line tracking method, device and equipment based on spline curve
一种基于样条曲线的车道线跟踪方法、装置及设备
15.04.2025
Patent
Elektronische Ressource
Chinesisch
SPLINE CURVE AND SPIRAL CURVE BASED REFERENCE LINE SMOOTHING METHOD
Europäisches Patentamt | 2021
|A SPLINE CURVE AND SPIRAL CURVE BASED REFERENCE LINE SMOOTHING METHOD
Europäisches Patentamt | 2021
|Lane line tracking method and lane line tracking system
Europäisches Patentamt | 2023
|