The invention provides a method for determining a road driving boundary, a vehicle, equipment and a storage medium, and relates to the technical field of vehicles. The road driving boundary determination method includes determining a plurality of lane lines and determining a plurality of candidate boundary combinations. And configuring the candidate boundary combination as a hidden state of the hidden Markov model, and determining the road driving boundary at the current moment based on a decoding algorithm. Therefore, the road driving boundary is determined from the candidate boundary combination through the hidden Markov model, and the influence of the time sequence detection result is introduced in the road driving boundary determination process, so that the road driving boundary determination result can reflect historical data, and the road driving boundary can be determined under the condition that the detection result at the current moment is not accurate. And a relatively accurate road driving boundary can still be determined based on historical data. In addition, related parameters of candidate boundary combinations are introduced into the determination process, the pervasive inclusiveness of the algorithm is improved, and any condition capable of being used as a constraint can be added to enhance the stability of boundary lines.
本申请提供一种确定道路行驶边界的方法、车辆、设备及存储介质,涉及车辆技术领域。道路行驶边界确定方法包括确定多个车道线并确定多个候选边界组合。将候选边界组合配置为隐式马尔科夫模型的隐藏状态并基于解码算法确定当前时刻的道路行驶边界。由此,本申请通过隐式马尔科夫模型从候选边界组合确定道路行驶边界,在道路行驶边界确定过程中引入了时序检测结果的影响,以使道路行驶边界确定结果能反映历史数据,在当前时刻检测结果不准确的情况下,仍能基于历史数据确定出较为准确的道路行驶边界。此外,候选边界组合的相关参数被同一引入确定过程,提高了算法的普适包容性,能够添加任意可以作为约束的条件来强化边界线的稳定性。
Method for determining road driving boundary, vehicle, equipment and storage medium
一种确定道路行驶边界的方法、车辆、设备及存储介质
2024-03-29
Patent
Electronic Resource
Chinese
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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