Method and apparatus for detecting lane elements for planning the travel path of an autonomous vehicle using a lateral filter mask

摘要

PROBLEM TO BE SOLVED: To provide a lane element detecting method for planning a traveling route of an autonomous vehicle. A method of detecting a lane component is as follows: CNN generates a segmentation score map using an input image, and a post-processing module that performs data processing at an output end of the CNN includes a segmentation score map and a horizontal segmentation map. A step S02 of generating a magnitude map using a filter mask, a step S03 of referring to the value of the magnitude map to determine each lane element candidate group for each row of the segmentation score map, and predicting each lane element candidate group for each row Applying the operation to detect each lane element, S04. [Selection diagram] Figure 2