The invention provides a virtual lane line generation method, a control method, equipment, a vehicle and a medium, and the virtual lane line generation method comprises the steps: obtaining lane line data of two sides of a target lane where a first vehicle is located at present, and determining perception lane reference line information of the target lane based on the lane line data; vehicle state information of the first vehicle is obtained, predicted trajectory information of the first vehicle is determined based on the vehicle state information, historical trajectory information of a second vehicle is obtained, and the second vehicle is a nearest vehicle which is located on the same lane with the first vehicle and located in front of the driving direction of the first vehicle; virtual lane line information of a target lane where the first vehicle is currently located is determined based on the perceived lane reference line information, the predicted trajectory information of the first vehicle and the historical trajectory information of the second vehicle, and the virtual lane line information is used for performing transverse control on the first vehicle, so that the generation precision of the virtual lane line can be improved, and the user experience is improved. And the stability of the transverse function of the vehicle can be improved.

    本公开提供了一种虚拟车道线的生成方法、控制方法、设备、车辆及介质,该方法虚拟车道线的生成方法获取第一车辆当前所处的目标车道两侧的车道线数据,并基于车道线数据确定目标车道的感知车道参考线信息,获取第一车辆的车辆状态信息,并基于车辆状态信息确定第一车辆的预测轨迹信息,获取第二车辆的历史轨迹信息,第二车辆为与第一车辆在同一车道且位于第一车辆行驶方向前方的最近车辆,基于感知车道参考线信息、第一车辆的预测轨迹信息以及第二车辆的历史轨迹信息,确定第一车辆当前所处的目标车道的虚拟车道线信息,虚拟车道线信息用于对第一车辆进行横向控制,如此,可以提升虚拟车道线的生成精度,进而可以提升车辆的横向功能的稳定性。


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    Title :

    Virtual lane line generation method, control method, equipment, vehicle and medium


    Additional title:

    虚拟车道线的生成方法、控制方法、设备、车辆及介质


    Contributors:

    Publication date :

    2024-06-07


    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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