基于因果干预的BEV车道线检测
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辽宁石油化工大学人工智能与软件学院 抚顺 113005

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TN209

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国家自然科学基金(61702247)、辽宁省教育厅基本科研项目(LJKMZ20220723)、辽宁省教育厅基本科研项目(LJKMZ20220754)资助


BEV lane detection based on causal intervention
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College of Artificial Intelligence and Software, Liaoning Petrochemical University,Fushun 113005, China

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    摘要:

    针对如光照突然变化、极端天气等环境干扰导致的鸟瞰图车道线检测中的特征模糊和误检问题,本文提出了一种基于因果干预的BEV车道检测框架。首先,为提升BEV空间转换过程中特征的表示效果,设计复合位置编码并融合至前视图特征,以保持空间连续性与一致性。其次,在获取BEV特征后构建因果干预模块,因果干预模块旨在通过生成反事实特征来显式地将车道线特征与环境干扰解耦,以提高模型在极端环境中的稳定性。最后,通过引入特征融合模块完成多尺度特征的动态校准与干扰抑制,并利用全局注意力机制实现BEV特征的增强。实验结果表明,在Apollo数据集的三个子集中,相比于性能第2的模型,F1值提高了0.8%、1%、3%;在OpenLane数据集内的包含极端天气、夜间及交叉路口等挑战性场景中,F1值也达到了最佳。成功实现了车道线特征与环境干扰的显式解耦,为复杂环境下的自动驾驶感知提供了高鲁棒性解决方案。

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    Aiming at the feature ambiguity and misdetection problems in bird′s eye view lane line detection caused by environmental disturbances such as sudden changes in illumination and extreme weather, this paper proposes a causal interventionbased BEV lane detection framework. First, to enhance the representation of features during BEV spatial transformation, composite positional encoding is designed and fused to front view features to maintain spatial continuity and consistency. Second, the causal intervention module is constructed after acquiring the BEV features. The causal intervention module aims to explicitly decouple the lane line features from the environmental disturbances by generating counterfactual features to improve the stability of the model in extreme environments. Finally, the dynamic calibration of multi-scale features and interference suppression is accomplished by introducing the feature fusion module, and the global attention mechanism is utilized to achieve the enhancement of BEV features. The experimental results show that in the three subsets of the Apollo dataset, the F1 values are improved by 0.8%, 1%, and 3% compared to the model with the 2nd performance, and the F1 values are also optimal in the challenging scenarios within the OpenLane dataset that contain extreme weather, night, and intersections. The explicit decoupling of lane line features and environmental disturbances is successfully realized, providing a highly robust solution for autonomous driving perception in complex environments.

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李睿豪,于红绯.基于因果干预的BEV车道线检测[J].电子测量技术,2026,49(1):226-236

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  • 在线发布日期: 2026-02-11
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