The lane line construction method and device, the electronic equipment and the computer readable storage medium can comprise the steps that according to the driving state of a controlled vehicle, a plurality of preset tracks of the controlled vehicle are generated; carrying out credibility calculation on the plurality of preset tracks by utilizing the evaluation function, and screening out the preset track which enables the function value of the evaluation function to be minimum as a target driving track; and taking the target driving track as a lane center line, and adding offset to two sides of the target driving track to obtain a lane line. By presetting the driving track of the controlled vehicle and screening the credibility of the driving track by the evaluation function, the lane center line with high credibility can be obtained, then the offset is added to the two sides of the lane center line, and finally the lane line is obtained. Dependence on lane lines during intelligent driving of the vehicle is avoided, and it is guaranteed that the vehicle can call the transverse and longitudinal control function of the vehicle when the vehicle does not have the lane lines or a sensing system of the vehicle breaks down.
本申请提供了这样一种车道线构造方法、装置、电子设备和计算机可读存储介质,可包括:根据被控车辆的行驶状态,生成被控车辆的多个预设轨迹;利用评价函数分别对多个预设轨迹进行可信度计算,筛选出使得评价函数的函数值最小的预设轨迹作为目标行驶轨迹;以及以目标行驶轨迹为车道中心线,向目标行驶轨迹的两侧添加偏移量,获得车道线。通过对被控车辆的行驶轨迹的预设,以及评价函数对行驶轨迹的可信度筛选,即可获得具有较高可信度的车道中心线,再向车道中心线的两侧添加偏移量,最终获得车道线。避免了车辆智能驾驶时对车道线的依赖,保证了车辆在无车道线路段或者自身感知系统出现故障时也能够调用自身的横纵向控制功能。
Lane line construction method and device, electronic equipment and computer readable storage medium
车道线构造方法、装置、电子设备和计算机可读存储介质
2022-08-16
Patent
Electronic Resource
Chinese
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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