Method and apparatus for detecting lane lines

Abstract

A method for training a lane line detection model includes (i) obtaining a dataset comprising a plurality of road image samples, wherein the road image samples have lane line labels, (ii) extracting lane line feature vectors of the road image samples by way of an image segmentation model and the lane line labels of the road image samples, (iii) determining the lane line detection difficulty of the road image samples based on the lane line feature vectors of the road image samples, and (iv) training the lane line detection model using the road image samples in the dataset and a loss function based on the lane line detection difficulty of the road image samples.

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