US 12,322,191 B2
Lane line determination method and system, vehicle, and storage medium
Sichen Sun, Shanghai (CN)
Assigned to NIO TECHNOLOGY (ANHUI) CO., LTD, Hefei (CN)
Filed by NIO TECHNOLOGY (ANHUI) CO., LTD, Hefei (CN)
Filed on Jun. 14, 2022, as Appl. No. 17/839,692.
Claims priority of application No. 202110659852.1 (CN), filed on Jun. 15, 2021.
Prior Publication US 2022/0398854 A1, Dec. 15, 2022
Int. Cl. G06V 20/56 (2022.01); G06T 7/38 (2017.01); G06T 7/70 (2017.01)
CPC G06V 20/588 (2022.01) [G06T 7/38 (2017.01); G06T 7/70 (2017.01); G06T 2207/10028 (2013.01); G06T 2207/30256 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A lane line determination method, comprising:
capturing a road image for a current location in a vehicle coordinate system;
recognizing the road image and generating basic lane lines for the current location;
extracting map lane lines for the current location;
mapping the map lane lines to the vehicle coordinate system to obtain auxiliary lane lines;
registering the basic lane lines with the auxiliary lane lines, the registration being performed based on confidence levels of the basic lane lines; and
generating target lane lines based on the registered auxiliary lane lines and the basic lane lines,
wherein the registering the basic lane lines with the auxiliary lane lines comprises:
using lane lines with confidence levels exceeding a first threshold in the basic lane lines as lane lines to be registered;
generating, based on point clouds in the auxiliary lane lines, point cloud groups to be registered;
for each of the lane lines to be registered:
calculating relative distances of the point cloud groups to be registered from a current lane line to be registered; and
using a point cloud group to be registered of which the relative distance is the smallest and is less than a second threshold as a registered point cloud group for the current lane line to be registered; and
for the lane line to be registered having the registered point cloud group, performing point cloud registration between the lane line to be registered and the corresponding registered point cloud group, wherein the point cloud registration comprises:
discretizing the lane lines to be registered corresponding to a predetermined field of view of the road image to obtain target point clouds for the point cloud registration, wherein a density of the discretized point clouds is greater than a density of the point clouds of the registered point cloud group;
using the registered point cloud group corresponding to the predetermined field of view as start point clouds for the point cloud registration; and
determining, in an iterative manner, a parameter for translation or rotation from the start point clouds to the target point clouds.