| CPC G06V 20/588 (2022.01) [G06T 17/00 (2013.01); G06T 2215/16 (2013.01)] | 16 Claims |
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1. A method for controlling a vehicle that improves driving safety, the method comprising:
acquiring, by a processor located in the vehicle, three-dimensional point cloud data and two-dimensional lane line data of a target lane on which the vehicle is traveling from a camera and a laser radar, wherein the two-dimensional lane line data is lane line data collected in response to determining that the vehicle is driving in the target lane, and the three-dimensional point cloud data is point cloud data of a surrounding environment of the vehicle collected in response to determining that the vehicle is driving in the target lane;
determining, by the processor, a plurality of lane line key points according to the two-dimensional lane line data and the three-dimensional point cloud data;
obtaining, by the processor, a target three-dimensional lane line by randomly connecting the plurality of lane line key points for more than one time according to attribute information of the plurality of lane line key points and a driving direction of the vehicle, wherein the attribute information comprises a type and position information of the plurality of lane line key points, and before obtaining the target three-dimensional lane line by randomly connecting the plurality of lane line key points for more than one time according to the attribute information of the plurality of lane line key points and the driving direction of the vehicle;
dividing, by the processor, the plurality of lane line key points into a plurality of key point sets according to the type and the position information of the plurality of lane line key points;
determining, by the processor, an adjacent key point set corresponding to each key point set;
determining, by the processor, an initial three-dimensional lane line;
taking, by the processor, the initial three-dimensional lane line as an undetermined three-dimensional lane line;
determining, by the processor, a cost value of the undetermined three-dimensional lane line;
iteratively executing, by the processor, a step of randomly connecting according to the undetermined three-dimensional lane line until an iteration number of the step of randomly connecting is greater than or equal to a preset number threshold, or a difference between a cost value of a new undetermined three-dimensional lane line and a cost value of a target undetermined three-dimensional lane line is smaller than or equal to a preset difference threshold, so as to take the new undetermined three-dimensional lane line as the target three-dimensional lane line, wherein the target undetermined three-dimensional lane line comprises a preset number of undetermined three-dimensional lane lines acquired before the new undetermined three-dimensional lane line; and
controlling, by the processor, the vehicle based on the target three-dimensional lane line,
wherein the randomly connecting comprises:
obtaining a random three-dimensional lane line by randomly exchanging, as for each key point set in the undetermined three-dimensional lane line, adjacent lane line key points corresponding to the key point sets, wherein the adjacent lane line key points comprise lane line key points in the adjacent key point sets connected to lane line key points in the key point sets;
determining a cost value of the random three-dimensional lane line; and
determining the new undetermined three-dimensional lane line from the random three-dimensional lane line and the undetermined three-dimensional lane line according to the cost value of the random three-dimensional lane line and the cost value of the undetermined three-dimensional lane line.
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