The invention provides a lane line determination method and device, equipment and a storage medium. The method comprises the steps that under the condition that the current moment is the k moment, motion information of a vehicle is obtained, the motion state of the vehicle is determined according to the motion information, and the motion state is used for indicating the incidence relation between the vehicle and a lane line at the k moment; determining a second lane line equation of the vehicle at the (k + 1) moment according to the motion state and a first lane line equation at the k moment sensed by a sensor; and under the condition that the current moment is k + 1 moment, sensing a third lane line equation at the k + 1 moment through the sensor, and performing fusion processing on the second lane line equation and the third lane line equation to obtain a target lane line equation at the k + 1 moment. According to the method, the stability and the accuracy of outputting the lane line information are improved.
本申请提供一种车道线确定方法、装置、设备及存储介质。该方法包括:在当前时刻为k时刻的情况下,获取车辆的运动信息,并根据所述运动信息,确定所述车辆的运动状态,所述运动状态用于指示车辆与车道线在k时刻下的关联关系;根据所述运动状态和传感器感知到的k时刻下的第一车道线方程,确定所述车辆在k+1时刻下的第二车道线方程;在当前时刻为k+1时刻的情况下,通过所述传感器感知k+1时刻下的第三车道线方程,并对所述第二车道线方程和所述第三车道线方程进行融合处理,得到k+1时刻下的目标车道线方程。本申请的方法,提高了输出车道线信息的稳定性和准确性。
Lane line determination method and device, equipment and storage medium
一种车道线确定方法、装置、设备及存储介质
2024-10-25
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 |
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