The invention provides a lane line tracking method and system, electronic equipment and a storage medium, and the method comprises the steps: obtaining a first point set which is used for fitting and forming a final lane line of a last period; performing compensation conversion on the first point set based on the motion of the vehicle in the current period to form a second point set of the vehicle coordinate system in the current period; acquiring a detection lane line of the current period; if it is determined that the detection lane line is matched with the final lane line of the last period, sampling is carried out on the detection lane line based on the longitudinal axis coordinates of the second point set in the vehicle coordinate system to obtain a third point set; fitting the second point set and the third point set to form a fourth point set; and based on the fourth point set, fitting to form a final lane line obtained by tracking in the current period. Through the point-based lane line tracking method, the accuracy of lane line tracking is improved.

    本发明提供一种车道线的跟踪方法、系统、电子设备、存储介质,所述方法包括:获取第一点集,所述第一点集用来拟合形成上一周期的最终化车道线;基于当前周期内的车辆自身运动,对所述第一点集做补偿转换,形成当前周期下车辆坐标系的第二点集;获取当前周期的检测车道线;如果确定所述检测车道线与所述上一周期的最终化车道线相匹配,则基于所述第二点集在所述车辆坐标系的纵轴坐标,在所述检测车道线上采样获得第三点集;拟合所述第二点集和所述第三点集,形成第四点集;基于所述第四点集,拟合形成当前周期内跟踪得到的最终化车道线。通过基于点的车道线跟踪方法,提高了车道线跟踪的精准度。


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    Titel :

    Lane line tracking method and system, electronic equipment and storage medium


    Weitere Titelangaben:

    车道线的跟踪方法、系统、电子设备、存储介质


    Beteiligte:
    HAN YU (Autor:in) / WU YAO (Autor:in)

    Erscheinungsdatum :

    2022-12-20


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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