The invention discloses a lane line adjusting method and device, a vehicle and a storage medium. The method comprises the steps that a first self-vehicle lane boundary line and a second self-vehicle lane boundary line sensed by a self-vehicle are acquired; determining an initial error score corresponding to the first self-vehicle lane boundary line according to the first self-vehicle lane boundary line and the second self-vehicle lane boundary line; performing multiple times of position adjustment on the first self-vehicle lane boundary line and the second self-vehicle lane boundary line to obtain a candidate error score corresponding to the first self-vehicle lane boundary line after each time of position adjustment; based on the plurality of candidate error scores and the initial error score, determining a course angle deviation value of the lane boundary of the vehicle at the first time point; and adjusting the first self-vehicle lane boundary line according to the course angle deviation value to obtain a target self-vehicle lane boundary line for the self-vehicle lane boundary at the first time point. According to the method provided by the invention, the accuracy of the determined boundary line of the lane of the target own vehicle is relatively high.
本申请公开了一种车道线调整方法、装置、车辆及存储介质,方法包括:获取自车感知到的第一自车车道边界线以及第二自车车道边界线;根据第一自车车道边界线以及第二自车车道边界线,确定第一自车车道边界线对应的初始误差分数;对第一自车车道边界线以及第二自车车道边界线进行多次位置调整,得到每次位置调整后第一自车车道边界线对应的候选误差分数;基于多个候选误差分数以及初始误差分数,确定自车车道边界在第一时间点的航向角偏移值;根据航向角偏移值调整第一自车车道边界线,得到在第一时间点下针对自车车道边界的目标自车车道边界线。根据本申请的方法,确定的目标自车车道边界线的准确率较高。
Lane line adjusting method and device, vehicle and storage medium
车道线调整方法、装置、车辆及存储介质
2025-04-18
Patent
Electronic Resource
Chinese
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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