Vehicle running lane positioning method and device as well as terminal
A vehicle driving and positioning method technology, applied in the field of map navigation, can solve the problems of difficulty in mass production, high-precision maps and lidars are expensive, and achieve the effects of high reliability, ease of mass production and use, and reduced manufacturing costs.
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[0093] Example 1:
[0094] The embodiment of the present invention provides a method for locating a vehicle driving lane, such as figure 1 As shown, the method includes:
[0095] S101. Collect lane line information;
[0096] Further, the collecting lane line information includes:
[0097] S201. Obtain lane line information;
[0098] S202. Obtain the confidence level of the lane line information;
[0099] S203. Determine whether the confidence is greater than a preset lane line confidence threshold;
[0100] S204. If yes, output lane line information.
[0101] Further, before collecting the lane line information, it is determined whether the lane line information can be collected. If the lane line information cannot be collected, the positioning method of the vehicle driving lane cannot be used.
[0102] Specifically, the premise of achieving lane-level positioning in the method is that lane line information can be collected normally. When the lane line information cannot be collected, that...
Example Embodiment
[0156] Example 2:
[0157] A feasible embodiment of the present invention provides a vehicle driving lane positioning device. The device includes: a lane line acquisition module 1301, a target information acquisition module 1302, a valid target information acquisition module 1303, a road edge information acquisition module 1304, a road edge continuity judgment module 1305, and a lane information acquisition module 1306;
[0158] The lane line collection module 1301 is used to collect lane line information;
[0159] The target information collection module 1302 is used to collect target information;
[0160] The effective target information obtaining module 1303 is configured to obtain effective target information from the target information;
[0161] The road edge information obtaining module 1304 is configured to obtain road edge information according to the lane line information and the effective target information;
[0162] The road edge continuity judgment module 1305 is used to jud...
Example Embodiment
[0177] Example 3:
[0178] An embodiment of the present invention provides a terminal, the terminal includes the aforementioned device for locating a vehicle driving lane, and the terminal may be a vehicle.
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