	US 12,148,219 B2
	Method, apparatus, and computing device for lane recognition
Donghu Li, Hangzhou (CN); Zhichang Lv, Hangzhou (CN); and Yueqiang Lyu, Shanghai (CN)
Assigned to HUAWEI TECHNOLOGIES CO., LTD., Shenzhen (CN)
Filed by Huawei Technologies Co., Ltd., Shenzhen (CN)
Filed on Feb. 25, 2022, as Appl. No. 17/680,939.
Application 17/680,939 is a continuation of application No. PCT/CN2020/081136, filed on Mar. 25, 2020.
Claims priority of application No. 201910804345.5 (CN), filed on Aug. 28, 2019; and application No. 201911315389.8 (CN), filed on Dec. 18, 2019.
Prior Publication US 2022/0237919 A1, Jul. 28, 2022
Int. Cl. G06V 20/64 (2022.01); G06T 7/70 (2017.01); G06V 20/54 (2022.01)

CPC G06V 20/54 (2022.01) [G06T 7/70 (2017.01); G06T 2207/10016 (2013.01); G06T 2207/30236 (2013.01); G06T 2207/30241 (2013.01); G06V 2201/08 (2022.01)]

20 Claims

1. A method for lane recognition comprising:

obtaining, from a monitoring device on a road, a video that records a plurality of vehicles travelling on the road; and

recognizing at least one lane in the video based on first vehicle trajectories of the vehicles in the video,

wherein the first vehicle trajectories are based on positions of each of the vehicles in a plurality of video frames of the video,

wherein each trajectory of the first vehicle trajectories corresponds to a respective vehicle of the vehicles,

wherein a lane type of each of the at least one lane is based on types of the vehicles and the first vehicle trajectories,

wherein the types are based on a vehicle type detection model, and

wherein the lane type indicates a type of a vehicle that can travel on the at least one lane.