Lane marking detection algorithm based on high-precision map and multisensor fusion

In case of sharp road illumination changes, bad weather such as rain, snow or fog, wear or missing of the lane marking, the reflective water stain on the road surface, the shadow obstruction of the tree, and mixed lane markings and other signs, missing detection or wrong detection will occur for the traditional lane marking detection algorithm. In this manuscript, a lane marking detection algorithm based on high-precision map and multisensor fusion is proposed. The basic principle of the algorithm is to use the centimeter-level high-precision positioning combined with high-precision map data to complete the detection of lane markings. In the process of generating high-precision maps or in the uncovered areas of high-precision maps, LIDAR (LIght Detection And Ranging) is used to estimate the curvature of the road to assist in lane marking detection. The experimental results show that the algorithm has lower false detection rate in case of bad road conditions, and the algorithm is robust.