The invention discloses a lane line processing method, a vehicle and a readable storage medium, and the method comprises the steps: obtaining a lane image of a vehicle driving road in a vehicle driving process, and obtaining a corresponding lane line type, lane line existence time and road edge information according to the image; analyzing to obtain a road type according to the lane line type, theroad participant state information and the road edge information; analyzing according to the road type and the lane line existence time to obtain a dynamic confidence coefficient threshold; judging whether the credibility of the actual lane line is smaller than the dynamic confidence threshold value or not; and if the credibility of the actual lane line is smaller than the dynamic confidence threshold, simulating a virtual lane line according to the road type and the lane line correspondingly acquired by the road type. According to the invention, confidence threshold judgment is carried out on the lane line detected by vehicle-mounted visual sensor equipment, and different processing is carried out according to a judgment result, so that the clear and reliable lane line is obtained.
本发明公开了一种车道线处理方法、车辆和可读存储介质,所述车道线处理方法包括:在车辆行使过程中,获取车辆行使道路的车道图像,根据所述图像获得对应的车道线类型、车道线存在时间和道路边沿信息;根据所述车道线类型、所述道路参与者状态信息和所述道路边沿信息分析得到道路类型;根据所述道路类型和所述车道线存在时间分析得到动态置信度阈值;判断实际车道线的可信度是否小于所述动态置信度阈值;若所述实际车道线的可信度小于所述动态置信度阈值,则根据所述道路类型及其对应获取的车道线模拟出虚拟车道线。本发明通过对车载视觉传感器设备探测到的车道线进行置信度阈值判断,并根据判断结果进行不同的处理,从而获取清晰、可靠的车道线。
Lane line processing method, vehicle and readable storage medium
车道线处理方法、车辆和可读存储介质
2021-01-05
Patent
Electronic Resource
Chinese
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