The invention relates to the technical field of automatic driving, in particular to a lane line precision measurement method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining the current observation data and historical observation data of the vehicle for a lane line; solving the current observation data and the historical observation data, and generating a target truth value and a target curve solution set; and calculating all curves in the target curve solution set, obtaining a target parameter point set of all the curves, and calculating a precision metric value of the lane line by using a difference value between the truth value and a corresponding parameter point in the target parameter point set. According to the embodiment of the invention, the approximate truth value of the intercept between the vehicle and the lane line can be obtained through optimization or filtering fusion solution, statistical data analysis of multi-frame historical fusion lane line data and the approximate truth value is carried out, a quantized lane line precision measurement value is obtained, the reference truth value of the lane line in the measurement process is obtained, and the measurement accuracy of the lane line is improved. Therefore, the efficiency and accuracy of lane line precision measurement are improved, and the practicability is higher.
本申请涉及自动驾驶技术领域,特别涉及一种车道线精度的度量方法、装置、车辆及存储介质,其中,方法包括:获取车辆对车道线的当前观测数据与历史观测数据;解算当前观测数据与历史观测数据,生成目标真值与目标曲线解集;计算目标曲线解集中的所有曲线,获取所有曲线的目标参数点集,并利用真值与目标参数点集中对应的参数点之间的差值计算车道线的精度度量值。本申请实施例可以通过优化或滤波融合求解得到自车与车道线的截距的近似真值,并进行多帧历史融合车道线数据与近似真值的统计数据分析,得到量化的车道线精度度量值,实现了车道线在度量过程中的参照真值获取,从而提高了车道线精度度量的效率与准确性,实用性更强。
Lane line precision measurement method and device, vehicle and storage medium
车道线精度的度量方法、装置、车辆及存储介质
2024-02-06
Patent
Elektronische Ressource
Chinesisch
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