The invention provides a lane-level scene simulation method and system. The method comprises the following steps: acquiring lane image data or laser radar data acquired by a vehicle in a real scene; if the collected data is lane image data, extracting pixel points of an outermost lane line in a lane image through an image processing technology, calculating the distance between the outermost lane line and the vehicle, obtaining the number of lanes, and judging the lane where the vehicle is located; if the collected data is laser radar data, the distance between the vehicle and the edges of the two sides of the road is obtained based on the laser radar data, the current road width is calculated, the number of lanes under the current road width is calculated according to the road planning standard, and the lane where the vehicle is located is judged by combining the distance between the vehicle and the edges of the two sides of the road; simulation scene data conversion is carried out based on real scene data collected by the vehicle and the lane where the vehicle is located, and the lane where the simulation vehicle is located is set; through the scheme, the accuracy of lane judgment in crowdsourcing scene data can be guaranteed, and the precision and reliability of scene simulation are improved.
本发明提供一种车道级场景仿真方法及系统,该方法包括:获取真实场景中车辆采集的车道图像数据或激光雷达数据;若采集数据为车道图像数据,则通过图像处理技术提取车道图像中最外侧车道线像素点,并计算最外侧车道线与自车的距离,获取车道数量,判断自车所在车道;若采集数据为激光雷达数据,则基于激光雷达数据获取车辆到道路两侧边沿的距离,并计算当前道路宽度,根据道路规划标准计算在当前道路宽度下的车道数量,结合车辆到道路两侧边沿的距离,判断自车所在车道;基于车辆采集的真实场景数据和自车所在车道,进行仿真场景数据转换,并设定仿真车辆所在车道。通过该方案可以保障众包场景数据中车道判断的准确性,提升场景仿真的精度和可靠性。
Lane-level scene simulation method and system
一种车道级场景仿真方法及系统
2023-01-17
Patent
Electronic Resource
Chinese
IPC: | G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V |
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