The invention discloses a lane center line processing method and device, equipment and a medium, and relates to the technical field of intelligent driving, and the method comprises the steps: obtaining a lane center line equation of a vehicle at a previous moment, and converting the lane center line equation of the vehicle at the previous moment into an equation representation under a coordinate system at a current moment, so as to obtain a first lane center line equation; determining a filter coefficient according to the dispersion degree of the transverse distance change, and adjusting each first lane line feature coefficient of the first lane center line equation according to the filter coefficient to obtain a second lane line feature coefficient; the transverse distance is the distance between the first lane center line equation and the lane center line equation of the vehicle at the current moment; and controlling the vehicle to run by using a second lane center line equation obtained based on the second lane line feature coefficient. Therefore, according to the method, the filtering coefficient is determined through the dispersion degree, different lane center line fluctuation conditions can be dynamically adapted, the lane center line is effectively smoothed, and the jumping phenomenon is reduced to the maximum extent.

    本申请公开了一种车道中心线处理方法、装置、设备及介质,涉及智能驾驶技术领域,包括:获取车辆上一时刻的车道中心线方程,将车辆上一时刻的车道中心线方程转换为当前时刻坐标系下的方程表示,以得到第一车道中心线方程;根据横向距离变化的离散程度确定滤波系数,根据滤波系数对第一车道中心线方程的各项第一车道线特征系数进行调整,得到第二车道线特征系数;横向距离为第一车道中心线方程与车辆当前时刻的车道中心线方程的距离;利用基于第二车道线特征系数得到的第二车道中心线方程,控制车辆行驶。可见,本申请通过离散程度确定滤波系数,能够动态地适应不同的车道中心线波动情况,有效地平滑车道中心线,最大程度地减少跳变现象。


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    Title :

    Lane center line processing method, device, equipment and medium


    Additional title:

    一种车道中心线处理方法、装置、设备及介质


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

    Publication date :

    2025-04-29


    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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