Learning method and learning device capable of detecting lane by utilizing lane model, and test method and test equipment using this model Leading device for decision-making with use of leather model and test medium

摘要

To provide a method that, in detecting a lane from an input image, has less amount of operation than that of a prior art method.SOLUTION: A learning method of a CNN for detecting a lane by using a lane model includes the steps of: a learning device acquiring information on the lanes from an image data set including the lanes; calculating a function parameter of lane modeling functions of the lanes by using the coordinates of the pixels forming the lanes; and classifying the function parameters into K cluster groups by using a clustering algorithm, assigning cluster IDs to each of the cluster groups, and generating a cluster IDGT vector indicating GT information on the probability that are the cluster IDs corresponding to the types of the lanes.SELECTED DRAWING: Figure 4