The embodiment of the invention discloses a lane line determination method and device, equipment and a storage medium. The method comprises the following steps: acquiring radar detection data when a target vehicle runs on a target road based on a millimeter wave radar of the target vehicle; determining a target key point of a guardrail of the target road according to the radar detection data; determining a target guardrail function of the guardrail according to the position information of the at least three target key points and a pre-established unary cubic function; and determining a lane line function of the target road according to the target guardrail function, and determining a lane line of the target road according to the lane line function. Therefore, the efficiency and accuracy of lane line identification in the driving process of the automatic driving vehicle can be improved.

    本发明实施例公开了一种车道线确定方法、装置、设备和存储介质。该方法包括:基于目标车辆的毫米波雷达获取所述目标车辆于目标道路上行驶时的雷达探测数据;根据所述雷达探测数据确定所述目标道路的护栏的目标关键点;根据至少三个目标关键点的位置信息以及预先建立的一元三次函数确定所述护栏的目标护栏函数;根据所述目标护栏函数确定所述目标道路的车道线函数,根据所述车道线函数确定所述目标道路的车道线。从而可以提高自动驾驶车辆行驶过程中对车道线识别的效率和准确率。


    Access

    Download


    Export, share and cite



    Title :

    Lane line determination method and device, equipment and storage medium


    Additional title:

    一种车道线确定方法、装置、设备和存储介质


    Contributors:
    YANG HANG (author) / LYU YING (author) / QU BAIXUE (author) / QI XU (author) / ZHU MINGHAN (author)

    Publication date :

    2022-08-30


    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



    Lane center line determination method and device, equipment and storage medium

    YANG ZAIFU / LI ZHENGNING / LU RONGRONG et al. | European Patent Office | 2022

    Free access

    Compensation lane line determination method and device, mobile equipment and storage medium

    ZHANG YINGHAN / ZHU KEYIN / ZOU XIN et al. | European Patent Office | 2020

    Free access

    Lane line processing method and device, lane positioning method and device, equipment and storage medium

    HUANG SHENGHUI / LI YINGHUI / HE GANG | European Patent Office | 2020

    Free access

    Lane line fitting method, electronic equipment and storage medium

    CHEN HONGLIN / HAN RUI / MIAO QIANKUN | European Patent Office | 2024

    Free access

    Lane line fitting method and device, electronic equipment and storage medium

    LYU MENG | European Patent Office | 2024

    Free access