The invention relates to a method and device for determining a lane where a vehicle is located, equipment, a medium and the vehicle. The current first position of the vehicle is obtained; judging whether the first position is located in a target lane where the vehicle is located at a position previous to the first position or not; when the first position is within the target lane, determining the target lane as a current lane where the vehicle is located; when the first position is outside the target lane, predicting a future position of the vehicle based on the first position and at least one historical position of the vehicle before the first position to obtain a first predicted trajectory of the vehicle; acquiring a second position of the vehicle after the first position; and determining the current lane where the vehicle is located based on the position relationship between the second position and the first predicted trajectory, and determining the current lane where the vehicle is located according to the position relationship between the vehicle position and the historical lane and the position relationship between the vehicle position and the predicted trajectory of the vehicle, so that the accuracy of positioning the lane where the vehicle is located can be improved.

    本公开涉及一种车辆所处车道的确定方法、装置、设备、介质及车辆。本公开通过获取车辆当前的第一位置;判断第一位置是否处于车辆在第一位置的前一位置所处的目标车道之内;在第一位置处于目标车道之内时,将目标车道确定为车辆所处的当前车道;在第一位置处于目标车道之外时,基于第一位置以及车辆在第一位置之前的至少一个历史位置,对车辆未来的位置进行预测,得到车辆的第一预测轨迹;获取车辆在第一位置之后的第二位置;基于第二位置与第一预测轨迹之间的位置关系,确定车辆所处的当前车道,根据车辆位置与历史车道之间的位置关系,以及车辆位置与车辆的预测轨迹之间位置关系,确定车辆所处的当前车道,可以提高车辆所处车道定位的准确性。


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    Title :

    Method and device for determining lane where vehicle is located, equipment, medium and vehicle


    Additional title:

    车辆所处车道的确定方法、装置、设备、介质及车辆


    Contributors:
    LIU CHANG (author) / LANG YUCHUAN (author) / QI JIANKUN (author)

    Publication date :

    2025-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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