The invention discloses a lane center line determination method and device, equipment and a storage medium. The method comprises the steps that a road boundary line of a target road and vehicle movement track information generated when a vehicle runs in the target road are acquired, and the vehicle movement track information comprises a vehicle track line and pose information corresponding to track points on the vehicle track line; determining and forming a lane center reference line according to track points on the vehicle track line and boundary points mapped by the track points on the road boundary line; determining the total error of the vehicle trajectory according to the vehicle motion trajectory information and the lane center reference line; and performing position optimization on the trajectory points on the vehicle trajectory according to the total error to obtain a lane center line of the target road. According to the method, the accurate, complete and smooth lane center line can be determined without being influenced by the lack of the road boundary line, and the comfort degree of driving or parking of the vehicle along the lane center line is improved.

    本发明公开了一种车道中心线的确定方法、装置、设备及存储介质。该方法包括:获取目标道路的道路边界线,以及车辆在目标道路内行驶所生成的车辆运动轨迹信息,车辆运动轨迹信息包括:车辆轨迹线和车辆轨迹线上的轨迹点对应的位姿信息;根据车辆轨迹线上的轨迹点和轨迹点在道路边界线上映射的边界点,确定构成车道中心参考线;根据车辆运动轨迹信息和车道中心参考线确定车辆轨迹线的总误差;根据总误差对车辆轨迹线上的轨迹点进行位置优化得到目标道路的车道中心线。本发明能够实现不受道路边界线缺失的影响,确定准确、完整且平滑的车道中心线,提高车辆沿车道中心线行驶或泊车的舒适度。


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    Title :

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


    Additional title:

    一种车道中心线的确定方法、装置、设备及存储介质


    Contributors:
    YANG ZAIFU (author) / LI ZHENGNING (author) / LU RONGRONG (author) / FU WENBIAO (author) / JIANG WEI (author)

    Publication date :

    2022-12-09


    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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