The invention relates to the field of intelligent driving, in particular to a lane center line determination method and device, equipment and a medium, and the method comprises the steps: obtaining a left lane line and a right lane line outputted by a current camera; determining the longest length of the first length of the left lane line and the second length of the right lane line as a sampling distance; determining a first transverse distance of each first sampling point on a target lane line according to the sampling distance and a preset number of sampling points, the target lane line being any one of a left lane line and a right lane line; determining the lateral distance variance of the target lane line according to the first lateral distance of each first sampling point on the target lane line; according to the transverse distance variance of the left lane line, the transverse distance variance of the right lane line and a first preset variance threshold value, a reference lane line is determined from the left lane line and the right lane line, and the reference lane line is used for determining a lane center line. According to the invention, the lane center line can be accurately determined.

    本申请涉及智能驾驶的领域,特别是涉及一种车道中心线确定方法、装置、设备和介质,方法包括:获取当前摄像头输出的左车道线和右车道线;确定左车道线的第一长度和右车道线的第二长度中的最长长度作为采样距离;根据采样距离和预设采样点数量,确定目标车道线上的每个第一采样点的第一横向距离,目标车道线为左车道线和右车道线中的任一车道线;根据目标车道线上的每个第一采样点的第一横向距离,确定目标车道线的横向距离方差;根据左车道线的横向距离方差和右车道线的横向距离方差、第一预设方差阈值,从左车道线和右车道线中确定参考车道线,参考车道线用于确定车道中心线。本申请能够精准确定车道中心线。


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    Title :

    Lane center line determination method and device, equipment and medium


    Additional title:

    一种车道中心线确定方法、装置、设备和介质


    Contributors:
    YANG XIAOFEI (author) / ZHANG JINJING (author) / LI GANG (author) / SONG YANG (author)

    Publication date :

    2025-04-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / 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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