The invention relates to the technical field of automatic driving, and provides a driving reference line calculation method and system, a vehicle, equipment and a storage medium, and the method comprises the following steps: obtaining current lane line data according to a preset calculation period; judging the existence and reliability of current left and right lane lines according to the lane line data, and predicting the lane line data; selectively filtering the lane line data according to the judgment result about the existence and reliability of the lane line and the predicted value of the lane line data; and calculating a lane line width according to the selectively filtered lane line data, and calculating current driving reference line data based on the lane line width. According to the invention, selective filtering is carried out based on the reliability and existence of the lane line data of current vehicle driving, so that calculation resources can be effectively reduced, the calculation time delay can be shortened, the LKA and ELK response time can be shortened, the vehicle driving return efficiency can be improved, and the automatic driving safety can be improved.
本发明涉及自动驾驶技术领域,提出一种行驶基准线计算方法、系统、车辆、设备及存储介质,其中包括以下步骤:根据预设的计算周期获取当前车道线数据;根据所述车道线数据对当前左右侧车道线的存在性及可靠性进行判断,以及对所述车道线数据进行预测;根据关于车道线存在性及可靠性的判断结果及所述车道线数据的预测值,对所述车道线数据进行选择性滤波;根据经过选择性滤波的车道线数据计算车道线宽度,并基于所述车道线宽度计算当前行驶基准线数据。本发明基于当前车辆行驶的车道线数据的可靠性和存在性进行选择性滤波,能够有效减少计算资源,缩短计算时延,进而缩短LKA和ELK反应时间,以提高车辆行驶回正效率,提高自动驾驶安全性。
Driving reference line calculation method and system, vehicle, equipment and storage medium
行驶基准线计算方法、系统、车辆、设备及存储介质
25.07.2023
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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