The invention discloses a method, a device and equipment for determining a lane where a vehicle is located, relates to the technical field of intelligent driving, and especially relates to the technical field of vehicle positioning. The method comprises the following steps: obtaining rough position information of the vehicle at the current moment and sensory data of the vehicle at the current moment, wherein the sensory data comprise information of n sensing lane lines collected by a collecting device in the vehicle; obtaining information of m + 1 real lane lines of a road where the vehicle islocated on a positioning map according to the position information; and obtaining confidence coefficients of the vehicle in the m lanes at the current moment according to the information of the n sensory lane lines and the information of the m + 1 real lane lines, , and then determining the lane where the vehicle is located at the current moment. Therefore, only the sensory data for the lane lineneeds to be obtained, the requirement for the sensory data is reduced, and the implementation difficulty of the method and the requirement for the operational capability are also reduced.

    本申请公开了一种确定车辆所处车道的方法、装置及设备,涉及智能驾驶技术领域,尤其涉及车辆定位技术领域。本申请公开的方案如下:获取车辆在当前时刻的粗略位置信息,以及车辆在当前时刻的感知数据,感知数据包括车辆中的采集装置采集的n条感知车道线的信息;根据位置信息,在定位地图上获取车辆所处道路的m+1条真实车道线的信息;根据n条感知车道线的信息和m+1条真实车道线的信息,获取车辆在当前时刻分别位于m个车道的置信度,进而确定车辆在当前时刻所处的车道。由此可见,本申请仅需要获得针对车道线的感知数据,降低了对感知数据的要求,也降低了方案的实现难度及对运算能力的要求。


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    Title :

    Method, device and equipment for determining lane where vehicle is located


    Additional title:

    确定车辆所处车道的方法、装置及设备


    Contributors:
    YANG PENGBIN (author) / WANG JUN (author) / YANG YANG (author)

    Publication date :

    2020-04-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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