The invention discloses a driving lane searching method and device for an unmanned vehicle, a storage medium and equipment, and belongs to the technical field of automatic driving. The method comprises the following steps: acquiring lane line information of a plurality of lanes from a high-precision map; generating an influence domain of each lane according to the lane line information of each lane, wherein the influence domain corresponds to a coordinate range corresponding to two lane lines of the lane; according to the influence domain, searching a related lane having an intersection with the unmanned vehicle; and searching the current driving lane of the unmanned vehicle from the related lanes by using a ray method. According to the method, the related influence domain where the unmanned vehicle is located is searched from the influence domains, the related lanes corresponding to the related influence domain are determined, and thousands of lanes can be firstly subjected to coarse-grained screening to quickly obtain the related lanes; and then, the driving lane of the unmanned vehicle is searched from the related lanes by using a ray method, and fine-grained screening can be performed on the related lanes, so that the lane searching speed and the lane searching precision are improved.
本申请公开了一种无人车的行驶车道查找方法、装置、存储介质及设备,属于自动驾驶技术领域。所述方法包括:从高精地图中获取多条车道的车道线信息;根据每条车道的车道线信息生成每条车道的影响域,影响域对应该条车道的两条车道线所对应的坐标范围;根据影响域,查找到与无人车存在交集的相关车道;利用射线法从相关车道中查找到无人车的当前行驶车道。本申请从各个影响域中查找无人车所在的相关影响域,确定相关影响域对应的相关车道,可以先对成千上万条的车道进行粗粒度的筛选,快速得到相关的相关车道;然后,利用射线法从相关车道中查找无人车的行驶车道,可以对相关的相关车道进行细粒度的筛选,提升了车道的查找速度和查找精度。
Driving lane searching method and device of unmanned vehicle, storage medium and equipment
无人车的行驶车道查找方法、装置、存储介质及设备
2023-08-11
Patent
Electronic Resource
Chinese
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