提出了一种基于视觉和毫米波雷达的车道级定位方法.利用机器视觉方法，通过摄像头检测车道线，并用圆曲线模型进行拟合；采用毫米波雷达检测道路两旁的静止护栏边沿，以获取道路的边界信息，采用低精度全球定位系统（GPS）获取当前道路信息，并对比车道线与道路边沿的相对位置关系，从而进行车道级定位.结果表明，针对中、高速城市道路及高速公路场景，所提出的车道级定位方法的定位效果较好.
A lane-level positioning method based on vision and millimeter wave radar is proposed. A camera is used for lane recognition with circular curve model and a millimeter wave radar is used for road curb re-cognition by detecting the stationary railways alongside. Lane-level positioning is then calculated by comparing the relative distance of lane and curb with the road prior information obtained from a low precision global position system (GPS). The results show that the lane-level positioning method proposed in this paper can achieve good positioning accuracy in city and highway scenes.
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