The invention relates to a virtual lane line generation method and device, a vehicle and a storage medium. The method comprises the steps of obtaining a road image and vehicle positioning information; determining a lane end point position and an intersection end point position from the road image based on the vehicle positioning information; extending the lane end point position according to the vehicle positioning information to generate a lane end point extension line; extending the intersection endpoint position according to the vehicle positioning information to generate an intersection endpoint extension line; determining a fitting rule according to a geometrical relationship between the lane end point extension line and the intersection end point extension line; and based on the fitting rule, fitting is carried out on the lane end point position and the intersection end point position, and a virtual lane line is generated. According to the method, the virtual lane line can be determined by identifying the image information, so that the virtual lane line can be accurately generated in a scene without lane mark guidance, such as a high-precision map or an intersection, and the driving control stability of a vehicle can be improved.

    本发明涉及一种虚拟车道线生成方法、装置、车辆和存储介质,包括获取道路图像和车辆定位信息;基于所述车辆定位信息,从所述道路图像中确定车道端点位置和路口端点位置;依据所述车辆定位信息,将所述车道端点位置进行延伸,生成车道端点延长线;依据所述车辆定位信息,将所述路口端点位置进行延伸,生成路口端点延长线;依据所述车道端点延长线和所述路口端点延长线的几何关系,确定拟合规则;基于所述拟合规则,针对所述车道端点位置和所述路口端点位置进行拟合,生成虚拟车道线。本发明通过识别图像信息即可确定虚拟车道线,从而可以在无高精地图或路口等无车道标识引导的场景下,准确生成虚拟车道线,有利于提高车辆的驾驶控制稳定性。


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    Title :

    Virtual lane line generation method and device, vehicle and storage medium


    Additional title:

    一种虚拟车道线生成方法、装置、车辆和存储介质


    Contributors:
    REN XIANGYUN (author) / YAO ZHIWEI (author) / LUO YI (author)

    Publication date :

    2025-03-18


    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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