The invention discloses a lane line estimation method, and the method comprises the steps: obtaining a vehicle speed, a vehicle yaw velocity, a vehicle steering wheel rotation angle, a target vehicle longitudinal relative distance, and a target vehicle transverse relative distance when a target vehicle is detected to exist in front of a vehicle; according to the own vehicle speed, the own vehicle yaw velocity, the own vehicle steering wheel rotation angle, the distance from the own vehicle mass center to the front axle and the distance from the own vehicle mass center to the rear axle, the own vehicle driving track after the preset time period is calculated; according to the own vehicle driving track, the target vehicle longitudinal relative distance and the target vehicle transverse relative distance, the position of the target vehicle in the own vehicle coordinate system after the preset time period is calculated; and estimating a lane line in front of the vehicle according to the position of the target vehicle in the vehicle coordinate system. According to the method, even if other vehicles exist in front of the vehicle, the lane line can be accurately estimated, and then more perfect lane line information is provided for the intelligent driving technology.

    本申请公开了一种车道线估算方法,该方法包括:当检测到自车前方存在目标车时,获取自车车速、自车横摆角速度、自车方向盘转角,以及目标车纵向相对距离和目标车横向相对距离;根据自车车速、自车横摆角速度、自车方向盘转角、自车质心到前轴的距离、自车质心到后轴的距离,计算在预设时间段后的自车行驶轨迹;根据自车行驶轨迹、目标车纵向相对距离、目标车横向相对距离,计算在预设时间段后的目标车在自车坐标系下的位置;根据目标车在自车坐标系下的位置,预估自车前方的车道线。该方法中,即使在自车前方存在其他车辆时,也能够准确地预估车道线,进而为智能驾驶技术提供更加完善的车道线信息。


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    Title :

    Lane line estimation method and related device


    Additional title:

    一种车道线估算方法及相关装置


    Contributors:
    MA JIAN (author) / ZHOU BINGBING (author) / BAI GUANGLU (author) / YANG YI (author) / LI YISHAN (author)

    Publication date :

    2022-11-11


    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



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