LANE LINE TRACKING METHOD AND DEVICE

摘要

To provide a lane line tracking method and device.SOLUTION: The method includes: S11 for projecting a lane line detection result of previous K frames preceding a predetermined frame in a camera coordinate system to a world coordinate system to obtain a first projection result, in which K is a positive integer greater than or equal to 1 and the previous K frames are consecutive K frames preceding the predetermined frame; S12 for projecting the first projection result of the previous K frames in the world coordinate system to the camera coordinate system of the predetermined frame to obtain a second projection resu and S13 for determining, in the camera coordinate system of the predetermined frame, lane line groups of the predetermined frame, according to lane line groups in the second projection result of the previous K frames. The method outputs a more accurate and more robust lane line result by using a correlation between preceding and succeeding frames and achieves an accurate lane line tracking effect.SELECTED DRAWING: Figure 1