The invention relates to the technical field of intelligent auxiliary driving, and provides a lane line optimization method and electronic equipment, which are characterized in that an algorithm framework model based on classical Kalman filtering is set, the lane line precision is specifically optimized by using vehicle motion information, IMU information, HDmap information, INS information and lane line sensing information, the lane line detection stability and robustness are optimized, and the lane line detection accuracy is improved. Meanwhile, abnormal lane line information is detected; the main model predicts lane line information based on adaptive Kalman filtering in combination with vehicle motion information, and realizes observation updating compensation in combination with high-precision map lane lines and sensing lane line information; abnormality detection is achieved through observation and prediction of residual error information, and stable and reliable guarantee can be provided for all automatic driving vehicles driving on public roads.

    本发明涉及智能辅助驾驶技术领域,提供一种车道线优化方法及电子设备,设置基于经典卡尔曼滤波的算法框架模型,利用车辆运动信息、IMU信息、HDmap信息、INS信息和感知车道线信息针对性的优化车道线精度,优化车道线检测稳定性,鲁棒性,同时检测异常车道线信息;主要模型为基于自适应卡尔曼滤波结合车辆运动信息预测车道线信息,结合高精地图车道线,以及感知车道线信息实现观测更新补偿;其中利用观测和预测残差信息实现异常检测,能对行驶在公共道路上的自动驾驶车辆的全提供稳定可靠保证。


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    Title :

    Lane line optimization method and electronic equipment


    Additional title:

    一种车道线优化方法及电子设备


    Contributors:
    YANG WUZHAO (author) / XU HONGYU (author) / WANG CHAOXIA (author) / HE WU (author) / ZHANG QUN (author)

    Publication date :

    2025-02-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung



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