The invention provides a method and a device for determining a lane center line and electronic equipment. The method comprises the following steps: firstly, acquiring a current left and right lane line point set of an own lane under a current vehicle body coordinate system acquired at a current moment, and acquiring a historical left and right lane line point set of the own lane under a previous moment vehicle body coordinate system acquired at a historical moment; and performing pose updating on the historical left and right lane line point set to obtain an updated historical left and right lane line point set under the current vehicle body coordinate system. And determining a first left and right lane line point set based on the current left and right lane line point set and the updated historical left and right lane line point set. And determining a target lane center line corresponding to the current moment based on the first left and right lane line point set. According to the method, the lane line discrete points at the historical moment are reserved, the lane line at the current moment can be corrected by fully utilizing the prior knowledge of the historical detection result, and then the accuracy and stability of the lane center line are improved.
本发明提供了一种车道中心线的确定方法、装置和电子设备,首先获取当前时刻采集的在当前车身坐标系下,自车道的当前左右车道线点集,以及在历史时刻采集的在前一时刻车身坐标系下,自车道的历史左右车道线点集。对历史左右车道线点集进行位姿更新,得到在当前车身坐标系下的更新后的历史左右车道线点集。基于当前左右车道线点集和更新后的历史左右车道线点集,确定第一左右车道线点集。基于第一左右车道线点集,确定当前时刻对应的目标车道中心线。该方式保留了历史时刻的车道线离散点,可以充分利用历史检测结果的先验知识,对当前时刻的车道线进行校正,进而提高车道中心线的准确度和稳定性。
Method and device for determining lane center line and electronic equipment
车道中心线的确定方法、装置和电子设备
21.06.2022
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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