The invention discloses a lane center line prediction method, and relates to the technical field of intelligent driving assistance, and the method comprises the steps: recording an original track curve of a lane center line and motion parameters of a vehicle when a left lane line and a right lane line meet a first preset condition; the original trajectory curve is calculated according to the left and right lane lines; when the left and right lane lines meet a second preset condition, calculating the motion variation of the vehicle according to the motion parameters of the vehicle; and performing coordinate transformation according to the original trajectory curve and the motion variable quantity to obtain a new trajectory curve of the lane center line under the new vehicle coordinate system after the vehicle moves. The method can solve the problem that there is no target trajectory after the left and right side lane lines of the crossroad are lost, and the problem that a vehicle advances along the left turn waiting lane line when the lane is a straight lane, the left turn lane is arranged on the left side and the left turn waiting lane line exists. The invention further discloses a lane center line prediction device and equipment and a computer readable storage medium which all have the above technical effects.
本申请公开了一种车道中心线的预测方法,涉及智能驾驶辅助技术领域,包括:当左右车道线满足第一预设条件时,记录车道中心线的原轨迹曲线与车辆的运动参数;所述原轨迹曲线根据所述左右车道线计算得到;当左右车道线满足第二预设条件后,根据车辆的运动参数计算得到车辆的运动变化量;根据原轨迹曲线与运动变化量进行坐标变换,得到车辆移动后新车辆坐标系下车道中心线的新轨迹曲线。该方法能够解决十字路口左右侧车道线丢失后没有目标轨迹的问题,以及本车道为直行车道,左侧为左转车道且存在左转待转车道线时,车辆跟随左转待转车道线前进的问题。本申请还公开了一种车道中心线的预测装置、设备以及计算机可读存储介质,均具有上述技术效果。
Lane center line prediction method and related device
一种车道中心线的预测方法及相关装置
2023-06-06
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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