The invention provides a lane line detection method and device, a medium and a vehicle, and the method comprises the steps: predicting a state vector of a Kalman filter at a current moment through employing a state vector at a previous moment if visual lane line data is determined to be in an invalid state at the current moment, and obtaining a prediction state vector corresponding to the current moment; correcting the high-precision map lane line data at the current moment by using the prediction state vector, and determining a target lane line by using the corrected high-precision map lane line data; therefore, when the visual lane line is valid, the target lane line can be directly determined according to the visual lane line data; once determining that the visual lane line data is invalid, predicting a state vector of a Kalman filter to obtain a predicted state vector, and correcting the high-precision map lane line data in real time by using the predicted state vector to improve the positioning precision of the lane line; moreover, only two data sources, namely the visual lane line data and the high-precision map, need to be fused, so that the hardware implementation cost and complexity are reduced.
本发明提供一种车道线检测方法、装置、介质及车辆,方法包括:若确定视觉车道线数据在当前时刻为无效状态,利用上一时刻的状态向量对当前时刻的卡尔曼滤波器的状态向量进行预测,得到当前时刻对应的预测状态向量;利用预测状态向量对当前时刻的高精度地图车道线数据进行修正,利用修正后的高精度地图车道线数据确定目标车道线;如此,当视觉车道线有效时,可以直接根据视觉车道线数据确定目标车道线;一旦确定视觉车道线数据无效,则对卡尔曼滤波器的状态向量进行预测,得到预测状态向量,利用预测状态向量实时对高精度地图车道线数据进行修正,提高车道线的定位精度;并且本发明只需要对视觉车道线数据和高精度地图两种数据源进行融合,降低硬件实现成本和复杂度。
Lane line detection method and device, medium and vehicle
一种车道线检测方法、装置、介质及车辆
2025-04-11
Patent
Electronic Resource
Chinese
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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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