A lane stripe detecting method based on a three-dimensional LIDAR and a system thereof are proposed.  The lane stripe detecting method based on the three-dimensional LIDAR for detecting a lane stripe of a road around a vehicle provides a point cloud data acquisition step, a horizontal layer lane stripe judging step and a vertical layer lane stripe judging step.  The point cloud data acquisition step is for obtaining a plurality of three-dimensional LIDAR scan point coordinates via the three-dimensional LIDAR.  The three-dimensional LIDAR is disposed on the vehicle.  Then, the point cloud data acquisition step is for transforming the three-dimensional LIDAR scan point coordinates to a plurality of vehicle scan point coordinates according to a coordinate translation equation.  The vehicle scan point coordinates are divided into a plurality of scan lines, and each of the scan lines has a plurality of scan points.  The horizontal layer lane stripe judging step includes a stripe point cloud judging step.  The stripe point cloud judging step includes a point cloud intensity judging step.  The point cloud intensity judging step is for calculating the scan points of each of the scan lines to obtain a threshold value according to a thresholding method and judging whether or not each of the scan points is a horizontal stripe point according to the threshold value.  At least two of the threshold values are different from each other.  The vertical layer lane stripe judging step includes a continuity analyzing step.  The continuity analyzing step is for analyzing a slope of the horizontal stripe points of any two adjacent scan lines and judging whether or not each of the horizontal stripe points is a same lane stripe point according to a comparison result of a predetermined threshold slope and the slope.  The same lane stripe point is corresponding to the lane stripe.  Therefore, the present disclosure can assist an autonomous driving vehicle to improve the safety of the autonomous driving and the correctness of the system.

Applied Country	Category	專利狀態	證書號	專利權期間	研究成果公告日期
TW	Intelligence and safety	獲證	I690439	2020/04/11~2038/10/31