The invention discloses a lane center line determination method, device and equipment and a readable storage medium, which are applied to the field of intelligent traffic, and comprise the following steps: determining a first transverse coordinate point corresponding to a first longitudinal sampling point coordinate based on a target model, determining a transverse coordinate point weight corresponding to the first transverse coordinate point, and determining a first longitudinal sampling point coordinate; determining a coordinate point corresponding to the forward lane center line based on the transverse coordinate point weight of the target model and the first transverse coordinate point; performing filtering processing on a second transverse coordinate point determined based on the fourth track model and the second longitudinal sampling point coordinate to obtain a filtered second transverse coordinate point, and determining a coordinate point corresponding to the backward lane center line based on the second longitudinal sampling point coordinate and the filtered second transverse coordinate point, and determining a target lane center line based on the coordinate point corresponding to the forward lane center line and the coordinate point corresponding to the backward lane center line. The lane center line is calculated by fusing various models, so that the lane center line can be accurately determined without completely depending on a sensor.

    本发明公开了一种车道中心线的确定方法、装置、设备及可读存储介质,应用于智能交通领域,包括:基于目标模型确定第一纵向采样点坐标对应的第一横向坐标点,确定第一横向坐标点对应的横向坐标点权重,基于目标模型的横向坐标点权重和第一横向坐标点确定前向车道中心线对应的坐标点;对基于第四轨迹模型和第二纵向采样点坐标确定的第二横向坐标点进行滤波处理,得到滤波后的第二横向坐标点,基于第二纵向采样点坐标和滤波后的第二横向坐标点确定后向车道中心线对应的坐标点,基于前向车道中心线对应的坐标点和后向车道中心线对应的坐标点确定目标车道中心线。本发明融合多种模型计算车道中心线,使得无需完全依赖传感器也可以准确确定车道中心线。


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    Title :

    Lane center line determination method, device and equipment and readable storage medium


    Additional title:

    一种车道中心线确定方法、装置、设备及可读存储介质


    Contributors:
    LI JIE (author) / DAI FUGUANG (author) / SONG YANG (author)

    Publication date :

    2025-04-11


    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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