Lane line generation method, device, equipment and storage medium

Abstract

The present invention discloses a method, device, equipment and storage medium for generating lane lines, the method comprising the following steps: obtaining actual lane line data, and performing data fitting according to the actual lane line data to obtain fitting lane line parameters; comparing the fitting lane line obtained by the data fitting with the actual lane line corresponding to the actual lane line data to obtain the lane line starting point and the lane line end point; sending the fitting lane line parameters, the lane line starting point and the lane line end point to an on-board instrument terminal, so that the on-board instrument terminal generates and displays lane lines. The present application can improve the accuracy of displaying lane lines on the on-board instrument terminal.

Description

Technical Field

[0001] The present invention relates to the field of driving assistance technology, and in particular to a lane line generation method, device, equipment and storage medium. Background Art

[0002] In the technical field of intelligent driving, in order to assist driving, the dashboard of the vehicle instrument end often displays the lane line image in the direction of vehicle travel. However, the lane line image displayed on the dashboard is not the actual lane line image, but a lane line image that is relatively close to the actual lane line after some processing of the actual lane line. In the prior art, the commonly used processing method is to use the intelligent control system on the vehicle to detect the actual lane line in the direction of vehicle travel, and classify the actual lane line according to the curvature of the actual lane line. The actual lane line with a curvature within a certain range has the same lane line image displayed on the dashboard. In this way, the lane line image displayed on the dashboard is only an approximate image, which is difficult to truly feedback the road environment in the direction of vehicle travel. Summary of the invention

[0003] The present invention provides a lane line generation method, device, equipment and storage medium, aiming to solve the technical problem of inaccurate lane lines displayed on a vehicle instrument terminal.

[0004] To achieve the above object, the present invention provides a method for generating lane lines, the method comprising the following steps:

[0005] Acquire actual lane line data, perform data fitting according to the actual lane line data to obtain a fitted lane line, and obtain a fitted lane line parameter corresponding to the fitted lane line;

[0006] Compare the fitted lane line with the actual lane line corresponding to the actual lane line data to obtain a lane line start point and a lane line end point;

[0007] The fitting lane line parameters, the lane line starting point and the lane line end point are sent to the vehicle instrument end, so that the vehicle instrument end generates and displays the lane line.

[0008] Optionally, a lane line coordinate system is established with the rear axle of the vehicle as the center point;

[0009] Performing data fitting according to the actual lane line data based on the lane line coordinate system to obtain a fitted lane line and a fitted lane line equation corresponding to the fitted lane line;

[0010] Obtain fitting lane line parameters of the fitting lane line equation.

[0011] Optionally, the fitted lane lines obtained by fitting the data are compared with the actual lane lines, and the lane line portions with a fitting degree greater than a preset threshold are set as display lane lines;

[0012] The starting point of the displayed lane line is set as the lane line starting point, and the end point of the displayed lane line is set as the lane line end point.

[0013] Optionally, the fitting lane line parameters, the lane line starting point and the lane line end point are sent to an on-board instrument terminal via a CAN bus.

[0014] Optionally, obtaining fitting lane line parameters, lane line starting point, and lane line end point sent by the intelligent driving control system;

[0015] A display lane line for display is generated according to the fitted lane line parameters, the lane line starting point and the lane line end point.

[0016] Optionally, generating a fitted lane line according to the fitted lane line parameters;

[0017] A lane line is intercepted and displayed in the fitting lane line according to the lane line starting point and the lane line end point.

[0018] Optionally, the horizontal coordinate of the fitted lane line is selected according to a preset point selection rule;

[0019] Acquire a lane line fitting point according to the fitting lane line equation corresponding to the fitting lane line horizontal coordinate and the fitting lane line parameter;

[0020] Generate a fitted lane line according to the lane line fitting points.

[0021] To achieve the above-mentioned purpose, the present application also proposes a lane line generation device, which includes an intelligent driving control system and an on-board instrument terminal. The intelligent driving control system is used to obtain actual lane line data, and perform data fitting based on the actual lane line data to obtain fitting lane line parameters, and compare the fitting lane line corresponding to the fitting lane line parameters with the actual lane line corresponding to the actual lane line data to obtain the lane line starting point and the lane line end point, and send the fitting lane line parameters, the lane line starting point and the lane line end point to the on-board instrument terminal; the on-board instrument terminal is used to obtain the fitting lane line parameters, the lane line starting point and the lane line end point sent by the intelligent driving control system; and generate a display lane line for display based on the fitting lane line parameters, the lane line starting point and the lane line end point.

[0022] To achieve the above-mentioned purpose, the present application also proposes a lane line generation device, which includes a memory, a processor, and a lane line generation program stored in the memory and executable on the processor, and the lane line generation program implements the lane line generation method when executed by the processor.

[0023] To achieve the above-mentioned purpose, the present application also proposes a storage medium, on which a lane line generation program is stored. When the lane line generation program is executed by a processor, the lane line generation method is implemented.

[0024] In the present application, fitting lane line parameters, lane line starting point and lane line end point are generated in the intelligent driving control system, and only these values ​​are sent to the on-board instrument end through the CAN network. The on-board instrument end generates and displays lane lines based on these data to help the driver understand the surrounding environment. In this way, compared with the prior art in which only the lane lines are displayed according to the preset model, the accuracy of the displayed lane lines on the on-board instrument end can be guaranteed, and a large amount of data transmission between the intelligent driving control system and the on-board instrument end can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of the module structure of a method for generating lane lines according to an embodiment of the present invention;

[0027] Figure 2 A flowchart of a method for generating lane lines according to an embodiment of the present invention;

[0028] Figure 3 A flowchart of a method for generating lane lines according to an embodiment of the present invention;

[0029] Figure 4 The figure is a schematic diagram of the module structure of a method for generating lane lines according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0031] Please refer to Figure 1 , Figure 1Schematic diagram of the hardware structure of the lane line generation device provided in various embodiments of the present invention. The lane line generation device includes an execution module 01, a memory 02, a processor 03, a battery system and other components. Those skilled in the art can understand that Figure 1 The device shown in the figure may also include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. The processor 03 is connected to the memory 02 and the execution module 01 respectively, and the memory 02 stores a lane line generation program, and the lane line generation program is executed by the processor 03 at the same time.

[0032] The execution module 01 can obtain actual lane line data, perform data fitting based on the actual lane line data to obtain a fitted lane line, and obtain a fitted lane line parameter corresponding to the fitted lane line, and compare the fitted lane line with the actual lane line corresponding to the actual lane line data to obtain the lane line starting point and the lane line end point; the fitted lane line parameter, the lane line starting point and the lane line end point are sent to the on-board instrument end so that the on-board instrument end generates and displays the lane line, and the above information is fed back to the processor 03.

[0033] The memory 02 can be used to store software programs and various data. The memory 02 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for multiple functions, etc.; the data storage area can store data or information created according to the use of the IoT terminal, etc. In addition, the memory 02 can include a high-speed random access memory, and can also include a non-volatile memory, such as multiple disk storage devices, flash memory devices, or other volatile solid-state storage devices.

[0034] Processor 03 is the control center of the processing platform. It uses various interfaces and lines to connect various parts of the entire IoT terminal. By running or executing software programs and / or modules stored in memory 02, and calling data stored in memory 02, it executes various functions of the IoT terminal and processes data, thereby monitoring the lane line generation equipment as a whole. Processor 03 may include one or more processing units; preferably, processor 03 may integrate an application processor and a digital signal processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the digital signal processor mainly processes floating-point operations. It is understandable that the above-mentioned digital signal processor may not be integrated into processor 03.

[0035] Those skilled in the art will understand that Figure 1 The structure of the lane line generation device shown in the figure does not constitute a limitation of the device, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0036] Based on the above hardware structure, various embodiments of the method of the present invention are proposed.

[0037] In the technical field of intelligent driving, in order to assist driving, the dashboard of the vehicle instrument end often displays the lane line image in the direction of vehicle travel. However, the lane line image displayed on the dashboard is not the actual lane line image, but a lane line image that is relatively close to the actual lane line after some processing of the actual lane line. In the prior art, the commonly used processing method is to use the intelligent control system on the vehicle to detect the actual lane line in the direction of vehicle travel, and classify the actual lane line according to the curvature of the actual lane line. The actual lane line with a curvature within a certain range has the same lane line image displayed on the dashboard. In this way, the lane line image displayed on the dashboard is only an approximate image, which is difficult to truly feedback the road environment in the direction of vehicle travel.

[0038] In order to solve the above problems, this application proposes a method for generating lane lines. Figure 2 In a first embodiment of the lane line generation method of the present invention, the lane line generation method is applied to an intelligent driving control system on a vehicle, and the lane line generation method includes:

[0039] Step S110, acquiring actual lane line data, performing data fitting according to the actual lane line data to obtain a fitted lane line, and acquiring a fitted lane line parameter corresponding to the fitted lane line;

[0040] In this embodiment, the actual lane line data of the actual lane line in the direction of vehicle travel can be detected by the perception system on the vehicle, and data fitting can be performed based on the actual lane line data to obtain the fitting lane line parameters. Among them, the perception system on the vehicle is controlled by the intelligent driving control system, and can perceive the obstacles around the vehicle and the actual lane line in the environment and exchange data with the intelligent driving control system. Specifically, after obtaining the actual lane line data, a series of actual lane line data points are extracted from the actual lane line data, and data fitting is performed based on the series of actual lane line data points to obtain a fitting lane line. The fitting lane line can be represented by a cubic function, and the cubic function is set as the fitting lane line equation. After obtaining the fitting lane line equation, the various parameters in the fitting lane line equation can be obtained, that is, the fitting lane line parameters. Once the fitting lane line parameters are determined, the fitting lane line equation can be determined, so that the fitting lane line can be drawn.

[0041] Step S120, comparing the fitted lane line corresponding to the fitted lane line parameter with the actual lane line corresponding to the actual lane line data to obtain a lane line start point and a lane line end point;

[0042] In this embodiment, after the fitting lane line parameters are determined, the fitting lane line equation can be further determined, and the fitting lane line can be drawn according to the determined fitting lane line equation; the actual lane line can be drawn according to the actual lane line data obtained by the perception system; there will still be a certain difference between the fitting lane line and the actual lane line, so it is necessary to compare the fitting lane line corresponding to the fitting lane line parameters with the actual lane line corresponding to the actual lane line data, so as to select the part with high similarity between the fitting lane line and the actual lane line, and determine the starting point and end point of this part with high similarity as the lane line starting point and lane line end point. Only the fitting lane line with high similarity between the lane line starting point and the lane line end point will be displayed on the vehicle instrument terminal for auxiliary driving.

[0043] Step S130, sending the fitted lane line parameters, the lane line starting point and the lane line end point to the vehicle instrument terminal, so that the vehicle instrument terminal generates and displays the lane line.

[0044] In this embodiment, the fitting lane line equation can be determined by fitting the lane line parameters, and a fitting lane line can be generated; a section with a high similarity to the actual lane line can be cut out from the fitting lane line through the lane line starting point and the lane line end point, and this section of the fitting lane line can be displayed as the display lane line on the vehicle instrument to assist the driver in driving. Specifically, after the perception system collects the actual lane line data, it will send the actual lane line data to the intelligent driving control system. The intelligent driving control system is connected to the on-board instrument end that displays the lane line through the CAN network. The amount of actual lane line data is too large, and the CAN network architecture cannot support the transmission of such a large amount of actual lane line data. Therefore, it is necessary to ensure that the displayed lane lines on the dashboard of the on-board instrument end have high accuracy, and to avoid excessive data transmission between the intelligent driving control system and the on-board instrument end that displays the lane lines. This application proposes that after determining the fitted lane line parameters, the lane line starting point and the lane line end in the intelligent driving control system, only the fitted lane line parameters, the lane line starting point and the lane line end are sent to the on-board instrument end through the CAN network. In this way, the accuracy of the displayed lane lines displayed on the on-board instrument end can be guaranteed, and a large amount of data transmission between the intelligent driving control system and the on-board instrument end can be avoided.

[0045] In one embodiment, the steps of performing data fitting according to the actual lane line data to obtain a fitted lane line, and obtaining a fitted lane line parameter corresponding to the fitted lane line include:

[0046] Establishing a lane line coordinate system with the rear axle of the vehicle as the center point;

[0047] Performing data fitting according to the actual lane line data based on the lane line coordinate system to obtain a fitted lane line and a fitted lane line equation corresponding to the fitted lane line;

[0048] Obtain fitting lane line parameters of the fitting lane line equation.

[0049] Data fitting is to connect a series of points on a plane with a smooth curve. In this embodiment, after obtaining the actual lane line data, a series of actual lane line data points can be extracted from the actual lane line data, and the series of actual lane line data points can be connected with a smooth curve to obtain a fitted lane line. The fitted lane line can be represented by a univariate cubic function, and the univariate cubic function is set as the fitted lane line equation. After obtaining the fitted lane line equation, the various parameters in the fitted lane line equation can be obtained, that is, the fitted lane line parameters. Once the fitted lane line parameters are determined, the fitted lane line equation can be determined, so that the fitted lane line can be drawn. Specifically, before performing data fitting, it is first necessary to establish a lane line coordinate system with the rear axle of the vehicle as the center point, and perform data fitting based on the lane line coordinate system according to the actual lane line data, so that the fitted lane line and the fitted lane line equation corresponding to the fitted lane line can be obtained, and the fitted lane line parameters can be obtained from the fitted lane line equation.

[0050] In some embodiments, in the lane line coordinate system, the fitted lane line equation corresponding to the fitted lane line obtained by data fitting is:

[0051] y=ax3+bx3+cx+d

[0052] Among them, a, b, c, and d are all fitting lane line parameters.

[0053] In one embodiment, the step of comparing the fitted lane line obtained by fitting the data with the actual lane line corresponding to the actual lane line data to obtain the lane line start point and the lane line end point includes:

[0054] Comparing the fitted lane lines obtained by fitting the data with the actual lane lines, and setting the lane line parts with a fitting degree greater than a preset threshold as display lane lines;

[0055] The starting point of the displayed lane line is set as the lane line starting point, and the end point of the displayed lane line is set as the lane line end point.

[0056] In this embodiment, in the lane line coordinate system, a fitted lane line is generated by data fitting, and an actual lane line can be generated according to the actual lane line data; by comparing the fitted lane line and the actual lane line in the lane line coordinate system, the fitting degree of the fitted lane line can be tested, that is, the degree of fit between the fitted lane line and the actual lane line. The higher the fitting degree of the fitted lane line relative to the actual lane line, the more consistent the fitted lane line is with the actual lane line. Specifically, the portion of the fitted lane line with a fitting degree greater than a preset threshold is set as the display lane line, that is, this section of the fitted lane line can more accurately reflect the situation of the actual lane line, so only this section of the display lane line is displayed on the instrument display end. Among them, the preset threshold is a threshold pre-set by technicians in this field according to the required degree of fit, and can be adjusted in real time according to actual needs.

[0057] Furthermore, after obtaining the displayed lane line, the starting point of the displayed lane line is set as the lane line starting point, and the end point of the displayed lane line is set as the lane line end point. In this way, since the displayed lane line is a section of the fitted lane line, after knowing the fitted lane line, the lane line starting point and the lane line end point, the displayed lane line can be intercepted from the fitted lane line.

[0058] In one embodiment, the step of sending the fitted lane line parameters, the lane line starting point and the lane line end point to the vehicle instrument terminal includes:

[0059] The fitting lane line parameters, the lane line starting point and the lane line end point are sent to the vehicle instrument terminal through the CAN bus.

[0060] In this embodiment, the fitted lane line parameters, lane line starting point and lane line end point can be obtained on the intelligent driving control system, and the displayed lane line with a high degree of consistency with the actual lane line can be determined based on the fitted lane line parameters, lane line starting point and lane line end point. The intelligent driving control system is connected to the vehicle instrument end through the CAN bus. Therefore, to generate the displayed lane line on the vehicle instrument end, the intelligent driving control system only needs to transmit the fitted lane line parameters, lane line starting point and lane line end point to the vehicle instrument end through the CAN bus. In this way, the amount of data transmitted is small, and the traditional CAN network architecture is sufficient to support data transmission.

[0061] This application proposes a method for generating lane lines, referring to Figure 3 In a second embodiment of the method for generating lane lines of the present invention, the method for generating lane lines is applied to an on-board instrument terminal of a vehicle, and the method for generating lane lines includes:

[0062] Step S210, obtaining the fitting lane line parameters, lane line starting point and lane line end point sent by the intelligent driving control system;

[0063] Step S220: generating a display lane line for display according to the fitted lane line parameters, the lane line starting point and the lane line end point.

[0064] In one embodiment, the step of generating a displayed lane line for display according to the fitted lane line parameters, the lane line start point and the lane line end point comprises:

[0065] Generate a fitted lane line according to the fitted lane line parameters;

[0066] A lane line is intercepted and displayed in the fitting lane line according to the lane line starting point and the lane line end point.

[0067] In this embodiment, the intelligent driving control system can generate fitting lane line parameters, lane line starting point and lane line end point. After the intelligent driving control system sends the fitting lane line parameters, lane line starting point and lane line end point to the vehicle instrument end through the CAN bus, the vehicle instrument end can generate fitting lane lines according to the fitting lane line parameters, and intercept the display lane line with high accuracy on the fitting lane line according to the lane line starting point and lane line end point, and display the intercepted display lane line on the instrument panel to help the driver understand the road environment in the current environment. In this way, the accuracy of the display lane line displayed on the instrument panel can be guaranteed without transmitting a large amount of data through the CAN network.

[0068] In one embodiment, the step of generating a fitted lane line according to the fitted lane line parameters comprises:

[0069] Select the horizontal coordinate of the fitted lane line according to the preset points;

[0070] Acquire a lane line fitting point according to the fitting lane line equation corresponding to the fitting lane line horizontal coordinate and the fitting lane line parameter;

[0071] Generate a fitted lane line according to the lane line fitting points.

[0072] In this embodiment, after obtaining the fitting lane line parameters on the vehicle instrument end, a fitting lane line equation can be generated according to the fitting lane line parameters, and the fitting lane line horizontal coordinate is selected according to the preset point selection rule. After substituting the fitting lane line horizontal coordinate into the fitting lane line equation, a series of lane line fitting points can be obtained, and the fitting lane line can be generated according to this series of lane line fitting points.

[0073] The present invention further provides a lane line generation device, characterized in that the lane line generation device comprises:

[0074] The intelligent driving control system A10 is used to obtain actual lane line data, perform data fitting according to the actual lane line data to obtain fitting lane line parameters, compare the fitting lane line corresponding to the fitting lane line parameters with the actual lane line corresponding to the actual lane line data to obtain the lane line starting point and the lane line end point, and send the fitting lane line parameters, the lane line starting point and the lane line end point to the vehicle instrument end;

[0075] The vehicle instrument terminal A20 is used to obtain the fitting lane line parameters, lane line starting point and lane line end point sent by the intelligent driving control system; and generate a display lane line for display according to the fitting lane line parameters, lane line starting point and lane line end point.

[0076] The specific implementation of the lane line generation device of the present application is basically the same as the various embodiments of the lane line generation method described above, and will not be repeated here.

[0077] The present invention also proposes a lane line generation device, which includes a memory, a processor, and a lane line generation program stored in the memory and executable on the processor, wherein the lane line generation program is used to execute the methods described in various embodiments of the present invention.

[0078] The specific implementation of the lane line generation device of the present application is basically the same as the various embodiments of the lane line generation method described above, and will not be repeated here.

[0079] The present invention also provides a storage medium on which a lane line generation program is stored. The storage medium includes a computer-readable storage medium, and the computer-readable storage medium may be Figure 1 The memory in the embodiment may also be at least one of a ROM (Read-Only Memory) / RAM (Random Access Memory), a magnetic disk, and an optical disk. The storage medium includes a number of instructions for enabling an Internet of Things terminal device with a processor (which may be a mobile phone, a computer, a server, an Internet of Things terminal, or a network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0080] In the present invention, the terms "first", "second", "third", "fourth" and "fifth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0081] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in multiple embodiments or examples of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0082] Although the embodiments of the present invention have been shown and described above, the scope of protection of the present invention is not limited thereto. It is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art can change, modify and replace the above embodiments within the scope of the present invention, and these changes, modifications and replacements should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A method for generating a lane line, characterized in that: The lane line generation method is applied to an intelligent driving control system on a vehicle, and the method comprises the following steps: Acquire actual lane line data, perform data fitting according to the actual lane line data to obtain a fitted lane line, and obtain a fitted lane line parameter corresponding to the fitted lane line; Compare the fitted lane line with the actual lane line corresponding to the actual lane line data to obtain a lane line start point and a lane line end point; Sending the fitted lane line parameters, the lane line starting point and the lane line end point to the vehicle instrument end, so that the vehicle instrument end generates and displays the lane line; The step of comparing the fitted lane line obtained by fitting the data with the actual lane line corresponding to the actual lane line data to obtain the lane line starting point and the lane line end point comprises: Comparing the fitted lane lines obtained by fitting the data with the actual lane lines, and setting the lane line parts with a fitting degree greater than a preset threshold as display lane lines; The starting point of the displayed lane line is set as the lane line starting point, and the end point of the displayed lane line is set as the lane line end point.

2. The method for generating lane lines according to claim 1, characterized in that: The step of performing data fitting according to the actual lane line data to obtain a fitted lane line and obtaining a fitted lane line parameter corresponding to the fitted lane line comprises: Establishing a lane line coordinate system with the rear axle of the vehicle as the center point; Performing data fitting according to the actual lane line data based on the lane line coordinate system to obtain a fitted lane line and a fitted lane line equation corresponding to the fitted lane line; Obtain fitting lane line parameters of the fitting lane line equation.

3. The method for generating lane lines according to claim 1, characterized in that: The step of sending the fitting lane line parameters, the lane line starting point and the lane line end point to the vehicle instrument terminal comprises: The fitting lane line parameters, the lane line starting point and the lane line end point are sent to the vehicle instrument terminal through the CAN bus.

4. A method for generating a lane line, characterized in that: The lane line generation method is applied to an on-board instrument terminal on a vehicle, and the method comprises the following steps: Acquire the fitting lane line parameters, lane line starting point and lane line end point sent by the intelligent driving control system, wherein the fitting lane line parameters are obtained by performing data fitting according to the acquired actual lane line data, compare the fitting lane line obtained by data fitting with the actual lane line, and set the lane line portion with a fitting degree greater than a preset threshold as the displayed lane line; use the starting point of the displayed lane line as the lane line starting point, and use the end point of the displayed lane line as the lane line end point; A display lane line for display is generated according to the fitted lane line parameters, the lane line starting point and the lane line end point.

5. The method for generating lane lines according to claim 4, characterized in that: The step of generating a displayed lane line for display according to the fitted lane line parameters, the lane line starting point and the lane line end point comprises: Generate a fitted lane line according to the fitted lane line parameters; A lane line is intercepted and displayed in the fitting lane line according to the lane line starting point and the lane line end point.

6. The method for generating lane lines according to claim 5, characterized in that: The step of generating a fitted lane line according to the fitted lane line parameters comprises: Select the horizontal coordinate of the fitted lane line according to the preset point selection rule; Acquire a lane line fitting point according to the fitting lane line abscissa and the fitting lane line equation corresponding to the fitting lane line parameter; Generate a fitted lane line according to the lane line fitting points.

7. A lane line generating device, characterized in that: The lane line generating device comprises: An intelligent driving control system is used to obtain actual lane line data, and perform data fitting according to the actual lane line data to obtain fitting lane line parameters, compare the fitting lane line corresponding to the fitting lane line parameters with the actual lane line corresponding to the actual lane line data to obtain the lane line starting point and the lane line end point, and send the fitting lane line parameters, the lane line starting point and the lane line end point to the vehicle-mounted instrument end, and the intelligent driving control system is also used to compare the fitting lane line obtained by the data fitting with the actual lane line, and set the lane line part with a fitting degree greater than a preset threshold as the display lane line; set the starting point of the display lane line as the lane line starting point, and set the end point of the display lane line as the lane line end point; The on-board instrument terminal is used to obtain the fitted lane line parameters, lane line starting point and lane line end point sent by the intelligent driving control system; and generate a display lane line for display based on the fitted lane line parameters, lane line starting point and lane line end point.

8. A lane line generation device, characterized in that: The invention comprises a memory, a processor, and a lane line generation program stored in the memory and executable on the processor, wherein the lane line generation program, when executed by the processor, implements the steps of the lane line generation method as claimed in any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores a lane line generation program, and when the lane line generation program is executed by the processor, the steps of the lane line generation method according to any one of claims 1 to 6 are implemented.

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