The embodiment of the invention discloses a lane center line construction method and device, electronic equipment and a storage medium, and can update a control point when the distance between the selected control point and an obstacle is small, that is, the control point is contained in the obstacle or the distance between the control point and the obstacle is very close, and find that the distance between the control point and the obstacle meets the requirement. According to other control points with the minimum distance between the control points, the lane center line is constructed through the updated control points, it can be guaranteed that the constructed lane center line meets the actual driving requirement and does not collide with an obstacle, and therefore the accuracy of lane center line construction is improved. Correspondingly, when the vehicle decision is made according to the lane center line subsequently, the accuracy of the vehicle decision can be improved, and safe driving of the automatic driving vehicle is ensured.
本发明实施例公开一种车道中心线的构建方法、装置、电子设备及存储介质,可以在所选的控制点与障碍物间距较小,也就是说,控制点包含在障碍物内,或控制点与障碍物距离很近时,对控制点进行更新,找寻到距离障碍物距离满足要求,且各控制点的间距最小的其他控制点,通过更新后的控制点进行车道中心线的构建,能够保证所构建的车道中心线符合实际驾驶要求,且不会与障碍物碰撞,从而提高车道中心线构建的准确性。相应的,后续根据车道中心线进行车辆决策时,可以提高车辆决策的准确性,保证自动驾驶车辆安全行驶。
Lane center line construction method and device, electronic equipment and storage medium
车道中心线的构建方法、装置、电子设备及存储介质
2024-03-15
Patent
Electronic Resource
Chinese
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