A detection frame selection method for distinguishing between solid and dashed lane lines using LiDAR

Abstract

The 16-line LiDAR-based lane detection method is inexpensive and widely used, but it has the following problems. The point cloud distribution is sparse and unable to distinguish between solid and dashed lines when the number of detection frames is too small; when the number is too large, the data processing efficiency is low. Therefore, it is necessary to find the minimum number of detection frames required to distinguish between solid and dashed lines. To address this problem, this paper established a model to calculate the minimum number considering the factors such as lane, LiDAR installation height and vehicle speed. Based on the simulation results, this paper summarized a calculation method of the minimum number suitable for a variety of common working conditions.