The invention relates to a road boundary estimation method and device, a vehicle and a storage medium. The method comprises the following steps: in an automatic driving process, taking an identified road edge as an initial road boundary; judging whether the initial road boundary has an abnormal condition or not; if the initial road boundary has the abnormal condition, acquiring traffic flow information and road surface arrow information around the vehicle; wherein a drivable area formed by the initial road boundary comprises a forward lane; estimating a target road boundary of the forward lane according to the traffic flow information and/or the road arrow information; and updating the initial road boundary by adopting the target road boundary. According to the scheme provided by the invention, the limitation that only single geometric information is used for estimating the value in the related technology is broken through, and the estimation accuracy is greatly improved, so that the situation that the vehicle enters the physical boundary of the reverse lane or the forward lane by mistake in automatic driving is avoided, and the collision risk is greatly reduced.

    本申请涉及一种道路边界估计方法、装置、车辆和存储介质。该方法包括:在自动驾驶过程中,将识别的道路边缘作为初始道路边界;判断初始道路边界是否存在异常情况;若初始道路边界存在异常情况,则获取车辆周围的车流信息及路面箭头信息;其中,初始道路边界形成的可行驶区域包含正向车道;根据车流信息和/或路面箭头信息,估计正向车道的目标道路边界;采用目标道路边界,对初始道路边界进行更新。本申请提供的方案,打破了相关技术中只利用单一几何信息估值的局限性,极大提高估值准确率,从而避免车辆在自动驾驶中误驶入逆向车道或者驶向正向车道的物理边界的情况,极大降低碰撞风险。


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    Title :

    Road boundary estimation method and device, vehicle and storage medium


    Additional title:

    道路边界估计方法、装置、车辆和存储介质


    Contributors:
    JIANG KAI (author) / LIU SHUYU (author) / FENG JIE (author) / HU GUO (author) / ZHANG MINGPENG (author)

    Publication date :

    2025-01-21


    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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