激光点云特征与知识规则协同的车道线提取  

Lane line extraction based on laser point cloud features and knowledge rules

作　　者：刘德儿[1] 李雨晴 LIU De-er;LI Yu-qing(School of Civil and Surveying&Mapping Engineering,Jiangxi University of Science and Technology,Ganzhou 341000,China)

机构地区：[1]江西理工大学土木与测绘工程学院,江西赣州341000

出　　处：《激光与红外》2024年第7期1069-1075,共7页Laser & Infrared

基　　金：国家自然科学基金面上项目(No.42271434);江西省自然科学基金面上项目(No.20202BAB202025)资助。

摘　　要：实现车道线高效的检测提取是自动驾驶领域中亟待攻克的关键技术之一,众多基于视觉方案的检测算法由于图像数据的特点存在一定局限性,如天气光照影响成像质量、难以兼顾弯道直道等。本文结合三维激光点云优势与道路知识规则提出了一种车道线自动提取算法。首先,通过多次强化道路边界高程差异获取路面点;其次,简化Isodata算法,自适应地得到反射强度滤波阈值;然后采用随机一致性算法检测直线聚类得到候选车道,将候选车道映射成二维矢量并通过类间距约束提取正确车道线;最后,基于相邻关键特征点对的向量拓扑关系一致性实现车道线拓扑重构,得到对应现实世界中意义完整的车道线。算法在车道线达5~6条的情况下,召回率达92.46%,准确率达94.79%,综合评价指标达92.41%,实验结果证明了方法的有效性和可行性。The efficient detection and extraction of lane lines is one of the key technologies that urgently need to be overcome in the field of autonomous driving.Many detection algorithms based on visual solutions have certain limitations due to the characteristics of image data,such as the impact of weather lighting on imaging quality and the difficulty of considering both curved and straight roads.This article proposes an algorithm for automatic extraction of lane lines by combining the advantages of 3D laser point cloud and road knowledge rules.Firstly,road surface points are obtained by enhancing the elevation differences of road boundaries multiple times.Secondly,the Isodata algorithm is simplified to adaptively obtain the threshold for intensity filtering.Then,the random sample consensus algorithm is used to detect straight line clusters and obtain candidate lanes.The candidate lanes are mapped into 2D vectors and correct lane lines are extracted through inter-class distance constraints.Finally,the vector topology consistency based on adjacent key feature point pairs is used to reconstruct the lane topology and obtain complete and meaningful lane lines in the real world.The algorithm achieves 92.46%recall,94.79%accuracy,and 92.41%overall evaluation index with up to 5~6 lane lines.Experimental results prove effectiveness and feasibility of the method.

关 键 词：车道线提取 激光点云 高程标准差 向量代数 道路知识规则 

分 类 号：TN958.98[电子电信—信号与信息处理] TP274[电子电信—信息与通信工程]