US 2021/0174098 A1 · METHODS AND SYSTEMS FOR LANE LINE IDENTIFICATION

Abstract

The present disclosure provides a method for identifying a plurality of lane lines on a road segment. The method may include obtaining a plurality of images of the road segment having one or more lanes and vehicles, and identifying a plurality of reference straight lines from the images. The method may include determining a vanishing point based on the reference straight lines, and determining a plurality of candidate lane lines among the reference straight lines based on the vanishing point. The method may also include determining at least one travel trajectory of at least one of the vehicles based on the images. The method may further include determining a target travel trajectory among the travel trajectory based on the vanishing point or a count of the lanes, and determining the lane lines among the candidate lane lines based on the target travel trajectory.

Claims23

Dependent claims

A system for identifying a plurality of lane lines on a road segment, comprising:

at least one storage medium storing a set of instructions;
and
at least one processor in communication with the at least one storage medium, to execute the instructions to direct the system to perform operations including:
obtaining a plurality of images of the road segment captured by an image acquisition device mounted above the road segment, the road segment having one or more lanes and one or more vehicles travelling on the road segment;
identifying a plurality of reference straight lines from a target image of the plurality of images of the road segment;
determining, based on the plurality of reference straight lines, a vanishing point at which the plurality of lane lines intersect in the target image;
determining, among the plurality of reference straight lines, a plurality of candidate lane lines based on the vanishing point;
determining at least one travel trajectory of at least one of the one or more vehicles based on the plurality of images;
determining, among the at least one travel trajectory, one or more target travel trajectories based on at least one of the vanishing point or a count of the one or more lanes;
and
determining, among the plurality of candidate lane lines, the plurality of lane lines based on the at least one target travel trajectory.

8 more elements

A method for identifying a plurality of lane lines on a road segment, the method being implemented on a computing device having at least one processor and at least one storage medium, comprising:

obtaining a plurality of images of the road segment captured by an image acquisition device mounted above the road segment, the road segment having one or more lanes and one or more vehicles travelling on the road segment;
identifying a plurality of reference straight lines from a target image of the plurality of images of the road segment;
determining, based on the plurality of reference straight lines, a vanishing point at which the plurality of lane lines intersect in the target image;
determining, among the plurality of reference straight lines, a plurality of candidate lane lines based on the vanishing point;
determining at least one travel trajectory of at least one of the one or more vehicles based on the plurality of images;
determining, among the at least one travel trajectory, one or more target travel trajectories based on at least one of the vanishing point or a count of the one or more lanes;
and
determining, among the plurality of candidate lane lines, the plurality of lane lines based on the at least one target travel trajectory.

5 more elements

Dependencies are inferred from the claim text.

Methods and systems for lane line identification

Life of this patent

Methods and systems for lane line identification

Life of this patent

Abstract

Claims23