Lane line parameter simulation method, device and equipment

Abstract

The embodiment of the present invention discloses a lane line parameter simulation method, device, and equipment, which determine the lane in which a vehicle is located and its position in the lane; when the vehicle is not at an intersection, obtain the trajectory points of the target continuous lane line in front of the vehicle; the starting point of the target continuous lane line is the position of the vehicle, and the length of the target continuous lane line is less than or equal to the maximum detection distance of the lane line sensor to be simulated; and fit two cubic polynomials using the lane line trajectory points located on the same side of the vehicle, and the coefficients of the cubic polynomials are the simulated lane line parameters. Based on the present invention, the lane line parameters output by the real lane line sensor can be accurately simulated, and seamless connection with the decision algorithm can be achieved, thereby improving the test efficiency of the decision algorithm and shortening the development cycle.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and more specifically, to a lane line parameter simulation method, device, and equipment. Background Art

[0002] In the field of intelligent driving simulation, simulation software is needed to simulate the lane line parameters output by the real lane line sensor in order to conduct simulation tests on the intelligent driving decision-making algorithm. The lane line parameters are the coefficients of the cubic polynomial curve that characterizes the lane line.

[0003] The current simulation software directly outputs all lane line information within the sensor detection range, such as lane line trajectory points, line width, color, material, type (solid line, dotted line), etc. This information is very different from the lane line parameters output by the actual sensor, and a lot of data conversion work is required, which brings great trouble to the simulation test of the intelligent driving decision-making algorithm. Summary of the invention

[0004] The purpose of the present invention is to provide a lane line parameter simulation method, device, and equipment to accurately simulate the lane line parameters output by a real lane line sensor. The technical solutions include the following:

[0005] A lane line parameter simulation method, comprising:

[0006] determining the lane in which the vehicle is located and the position of the vehicle in said lane;

[0007] When the vehicle is not at an intersection, a target continuous lane line trajectory point in front of the vehicle is obtained; the starting point of the target continuous lane line is the position of the vehicle, and the length of the target continuous lane line is less than or equal to the maximum detection distance of the lane line sensor to be simulated;

[0008] Fitting two cubic polynomials using target continuous lane line trajectory points located on the same side of the vehicle, wherein the coefficients of the cubic polynomials are lane line parameters obtained by simulation;

[0009] The independent variables of the two cubic polynomials are the distances between the lane line trajectory points and the starting points; the dependent variables of one cubic polynomial are the coordinate values ​​of the first dimension of the lane line trajectory points corresponding to the independent variables; and the dependent variable of the other cubic polynomial is the coordinate values ​​of the second dimension of the lane line trajectory points corresponding to the independent variables.

[0010] In the above method, preferably, the step of obtaining the target continuous lane line trajectory point in front of the vehicle comprises:

[0011] According to a first distance between the vehicle and an end point of a lane where the vehicle is located and a maximum detection distance of a lane line sensor to be simulated, a target continuous lane line trajectory point in front of the vehicle is obtained.

[0012] In the above method, preferably, the step of obtaining the target continuous lane line trajectory point in front of the vehicle according to the first distance between the vehicle and the end point of the lane where the vehicle is located and the maximum detection distance of the lane line sensor to be simulated includes:

[0013] If the first distance is greater than or equal to the maximum detection distance, determining the continuous lane line trajectory point in front of the vehicle with a length of the maximum detection distance as the target continuous lane line trajectory point;

[0014] If the first distance is less than the maximum detection distance, when the lane where the vehicle is located has no successor lane or has at least two successor lanes, the continuous lane line trajectory points of the lane where the vehicle is located in front of the vehicle are determined as the target continuous lane line trajectory points; when the lane where the vehicle is located has only one successor lane, the target continuous lane line trajectory points are determined among the lane line trajectory points of at least two continuous target lanes in front of the vehicle including the lane where the vehicle is located; and the non-last target lane among the at least two continuous target lanes has only one successor lane.

[0015] In the above method, preferably, determining the target continuous lane line trajectory point from the lane line trajectory points of at least two continuous target lanes in front of the vehicle including the lane where the vehicle is located comprises:

[0016] If the sum of the first distance and the length of the successor lane of the lane where the vehicle is located is greater than or equal to the maximum detection distance, a continuous lane line trajectory point with a length of the maximum detection distance in two consecutive target lanes in front of the vehicle including the lane where the vehicle is located is determined as the target continuous lane line trajectory point;

[0017] If there are M-1 consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane and the sum of the first distance is less than the maximum detection distance, and the sum of the lengths of M consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane and the first distance is greater than or equal to the maximum detection distance, a continuous lane line trajectory point with a length of the maximum detection distance in the M+1 consecutive target lanes in front of the vehicle including the lane where the vehicle is located is determined as the target continuous lane line trajectory point; M is an integer greater than 1.

[0018] The above method preferably further comprises:

[0019] If there are M consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane, and the sum of the lengths of the first distance is less than the maximum detection distance, and the last target lane of the M consecutive target lanes has no successor lane or has multiple successor lanes, the continuous lane line trajectory points of the continuous M+1 target lanes in front of the vehicle including the lane where the vehicle is located are determined as the target continuous lane line trajectory points.

[0020] The above method, preferably, before obtaining the target continuous lane line trajectory point in front of the vehicle, further includes:

[0021] Extracting target parameters of the road where the vehicle is located from map data according to an identifier of the road where the vehicle is located;

[0022] If the value of the target parameter is the target value, it is determined that the vehicle is not in the intersection; otherwise, it is determined that the vehicle is in the intersection.

[0023] In the above method, preferably, the step of fitting two cubic polynomials using lane line trajectory points located on the same side of the vehicle comprises:

[0024] Converting the track points of the vehicle conductors located on the same side of the vehicle into track points in the sensor coordinate system;

[0025] Two cubic polynomials are fitted using the trajectory points in the sensor coordinate system.

[0026] In the above method, preferably, the two cubic polynomials are as follows:

[0027]

[0028]

[0029] Where N is the number of trajectory points of the target continuous lane lines on the same side of the vehicle; x i ,y i is the coordinate of the i-th trajectory point in the sensor coordinate system, the independent variable s is the distance between the trajectory point and the starting point of the target continuous lane line; the dependent variable x(s) represents the coordinate value of the first dimension of the point with a distance s from the starting point of the target continuous lane line; the dependent variable y(s) represents the coordinate value of the second dimension of the point with a distance s from the starting point of the target continuous lane line; the coefficient a x 、b x 、c x d x 、a y 、b y 、c y d y It is the lane line parameters output by the simulated lane line sensor.

[0030] A lane line parameter simulation device, comprising:

[0031] A determination module, used to determine the lane in which the vehicle is located and the position of the vehicle in the lane;

[0032] An acquisition module, used for acquiring a target continuous lane line trajectory point in front of the vehicle when the vehicle is not at an intersection; the starting point of the target continuous lane line is the position of the vehicle, and the length of the target continuous lane line is less than or equal to the maximum detection distance of the lane line sensor to be simulated;

[0033] A fitting module, used to fit two cubic polynomials using lane line trajectory points located on the same side of the vehicle, wherein the coefficients of the cubic polynomials are lane line parameters obtained by simulation;

[0034] The independent variables of the two cubic polynomials are the distances between the lane line trajectory points and the starting points; the dependent variables of one cubic polynomial are the coordinate values ​​of the first dimension of the lane line trajectory points corresponding to the independent variables; and the dependent variable of the other cubic polynomial is the coordinate values ​​of the second dimension of the lane line trajectory points corresponding to the independent variables.

[0035] An electronic device, comprising:

[0036] Memory, used to store programs;

[0037] A processor is used to call and execute the program in the memory, and implement each step of the lane line parameter simulation method as described in any one of the above items by executing the program.

[0038] A readable storage medium stores a computer program thereon, and when the computer program is executed by a processor, the various steps of the lane line parameter simulation method as described in any one of the above items are implemented.

[0039] Through the above scheme, it can be known that the lane line parameter simulation method, device, and equipment provided by the present invention determine the lane in which the vehicle is located and its position in the lane; when the vehicle is not at an intersection, obtain the trajectory point of the target continuous lane line in front of the vehicle; the starting point of the target continuous lane line is the position of the vehicle, and the length of the target continuous lane line is less than or equal to the maximum detection distance of the lane line sensor to be simulated; two cubic polynomials are fitted using the lane line trajectory points on the same side of the vehicle, and the coefficients of the two cubic polynomials are the simulated lane line parameters; the independent variables of the two cubic polynomials are the distances between the lane line trajectory points and the above starting points; the dependent variable of one of the cubic polynomials is the coordinate value of the first dimension of the lane line trajectory point corresponding to the independent variable; the dependent variable of the other cubic polynomial is the coordinate value of the second dimension of the lane line trajectory point corresponding to the independent variable. Based on the present invention, the lane line parameters output by the real lane line sensor can be accurately simulated, and seamless connection with the decision algorithm can be achieved, the test efficiency of the decision algorithm can be improved, and the development cycle can be shortened. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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 these drawings without paying creative work.

[0041] Figure 1 A flowchart of an implementation of the lane line parameter simulation method provided by an embodiment of the present invention;

[0042] Figure 2 A local example diagram of a road in the opendrive map provided in an embodiment of the present invention;

[0043] Figure 3 Another implementation flow chart of the lane line parameter simulation method provided by an embodiment of the present invention;

[0044] Figure 4 A schematic diagram of the structure of a lane line parameter simulation device provided by an embodiment of the present invention;

[0045] Figure 5 A hardware structure block diagram of an electronic device provided in an embodiment of the present invention.

[0046] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims and the above drawings are used to distinguish similar parts and are not necessarily used to describe a particular order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the invention described herein can be implemented in an order other than that illustrated herein. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] See also Figure 1 , which is a flow chart for implementing the lane line parameter simulation method provided by an embodiment of the present invention, may include:

[0049] Step S101: Determine the lane in which the vehicle is located and the position of the vehicle in the lane.

[0050] Optionally, the ID of the road where the vehicle is located, the starting position of the lane section in the road, the ID of the lane in the lane section, and the specific coordinates (s, t) in the lane coordinate system can be obtained in the opendrive map, where for any point P in the lane, a perpendicular line is drawn from point P to the center line of the lane, the distance from the foot of the perpendicular to point P is t, and the length of the curve from the foot of the perpendicular to the starting point of the lane is s. Based on this information, the position of the vehicle in the opendrive map can be determined. Therefore, the lane in which the vehicle is located and the position of the vehicle in the lane can be determined in the opendrive map. Accordingly, the lane line parameter simulation method provided in an embodiment of the present invention can be implemented based on the opendrive map.

[0051] Step S102: When the vehicle is not at an intersection, obtain the trajectory point of the target continuous lane line in front of the vehicle; the starting point of the target continuous lane line is the position of the vehicle, and the length of the target continuous lane line is less than or equal to the maximum detection distance of the lane line sensor to be simulated.

[0052] Because there are no lane lines on the road in the intersection, there is no need to detect the lane lines, so if the vehicle is at the intersection, the step of obtaining the trajectory points of the target continuous lane lines in front of the vehicle and the subsequent steps are not performed.

[0053] When the vehicle is not at an intersection, starting from the vehicle's location, obtain the trajectory points of the continuous lane line (referred to as the target continuous lane line) in front of the vehicle (i.e., the direction of vehicle travel) whose length is less than or equal to the maximum detection distance of the sensor to be simulated in the opendrive map.

[0054] Optionally, the target parameter (e.g., junction ID) of the road where the vehicle is located can be extracted from the data of the opendrive map according to the identification (road ID) of the road where the vehicle is located in the opendrive map. If the value of the target parameter is the target value (e.g., -1), it is determined that the vehicle is not in the intersection. Otherwise, if the value of the target parameter is not the target value, it is determined that the vehicle is in the intersection.

[0055] The lane is represented by two parallel lane lines. When a vehicle is traveling on the lane, the two lane lines are located on the left and right sides of the vehicle. Therefore, the target continuous lane line trajectory points in front of the vehicle obtained by the present invention are the trajectory points of the two continuous lane lines located on both sides of the vehicle.

[0056] Step S103: Two cubic polynomials are fitted using the target continuous lane line trajectory points located on the same side of the vehicle, and the coefficients of the cubic polynomials are the lane line parameters obtained by simulation.

[0057] The independent variables of the above two cubic polynomials are the distances between the lane line trajectory points and the starting points of the target continuous lane lines; the dependent variable of one cubic polynomial is the coordinate value of the first dimension of the lane line trajectory points corresponding to the independent variable; the dependent variable of the other cubic polynomial is the coordinate value of the second dimension of the lane line trajectory points corresponding to the independent variable.

[0058] Taking the use of the target continuous lane line trajectory points located on the left side of the vehicle (for the convenience of description and distinction, abbreviated as the left lane line trajectory points) to fit two cubic polynomials as an example, the present application calculates the i-th (i=1, 2, 3, ..., .., N; N is the number of left lane line trajectory points) trajectory point (coordinate (x i ,y i )) The distance from the starting point of the left lane line (for ease of description and distinction, recorded as s i ). Set the distance s i The coordinate value x of the first dimension of the i-th trajectory point in the left lane line trajectory point i Construct N first-class coordinate points (s i , x i ), used to fit a cubic polynomial, the independent variable of which is the distance between the trajectory point in the left lane line and the starting point of the left lane line, and the dependent variable of which is the coordinate value of the first dimension of the trajectory point of the left lane line; the distance s iThe coordinate value y of the second dimension of the i-th trajectory point in the left lane line trajectory point i Construct N second-class coordinate points (s i ,y i ), which is used to fit another cubic polynomial. The independent variable of the cubic polynomial is the distance between the trajectory point in the left lane line and the starting point of the left lane line, and the dependent variable of the cubic polynomial is the coordinate value of the second dimension of the trajectory point of the left lane line. The coefficients in the two cubic polynomials are the parameters of the lane line on the left side of the vehicle obtained by simulation.

[0059] The process of fitting two cubic polynomials using the target continuous lane line trajectory points located on the right side of the vehicle is the same as the aforementioned process of fitting two cubic polynomials using the target continuous lane line trajectory points located on the left side of the vehicle, and will not be repeated here.

[0060] For the trajectory points of the lane line on the same side of the vehicle, two cubic polynomials are fitted using these trajectory points, and then four cubic polynomials can be obtained from the trajectory points of the two lane lines. The coefficients of the two cubic polynomials fitted to the trajectory points of the lane line on the left side of the vehicle are the simulated lane line parameters on the left side of the vehicle; the coefficients of the two cubic polynomials fitted to the trajectory points of the lane line on the right side of the vehicle are the simulated lane line parameters on the right side of the vehicle.

[0061] The lane line trajectory points obtained in step S102 are usually trajectory points in the geodetic coordinate system. In order to simulate the lane line parameters output by the lane line sensor, the trajectory points in the geodetic coordinate system are first converted into trajectory points in the lane line sensor (such as a vehicle-mounted camera) coordinate system (hereinafter referred to as the sensor coordinate system), and then the trajectory points in the sensor coordinate system are used to fit a cubic polynomial.

[0062] For any trajectory point P in the geodetic coordinate system, the coordinate value is recorded as (x P，E ,y P，E , Z P，E ), the coordinate value of the trajectory point P can be converted into the coordinate value in the sensor coordinate system by the following method, recorded as (x P，S ,y P，S , z P，S ):

[0063]

[0064]

[0065] in, is the rotation matrix that transforms coordinates from the earth coordinate system to the sensor coordinate system. (x O，E ,y O，E , z O，E) is the coordinate value of the origin O of the sensor coordinate system in the geodetic coordinate system, θ, γ are the three Euler angles of the sensor coordinate system relative to the earth coordinate system.

[0066] The least squares method can be used to fit the coordinate points with a cubic polynomial to obtain a cubic polynomial of x and y as the cumulative distance s changes:

[0067]

[0068]

[0069] Where N is the number of trajectory points of the lane line on the same side of the vehicle; x i ,y i is the coordinate of the i-th trajectory point in the sensor coordinate system, the independent variable s is the cumulative distance, that is, the distance between the trajectory point and the starting point of the target continuous lane line; the dependent variable x(s) represents the coordinate value of the first dimension of the point with a distance s from the starting point of the target continuous lane line; the dependent variable y(s) represents the coordinate value of the second dimension of the point with a distance s from the starting point of the target continuous lane line; the coefficient a x 、b x 、c x d x 、a y 、b y 、c y d y It is the coefficient of the cubic polynomial where x and y vary with s, that is, the lane line parameters output by the simulated lane line sensor, which serves as the input of the intelligent driving decision-making algorithm.

[0070] Since the lane line coordinate point x i Monotonically increasing cannot be guaranteed, resulting in the absence of a cubic polynomial in which y varies with x. Therefore, the present invention fits a cubic polynomial in which x and y vary with s.

[0071] The lane line parameter simulation method provided by the embodiment of the present invention determines the lane in which the vehicle is located and its position in the lane; when the vehicle is not at an intersection, the target continuous lane line trajectory point in front of the vehicle is obtained; the starting point of the target continuous lane line is the position of the vehicle, and the length of the target continuous lane line is less than or equal to the maximum detection distance of the lane line sensor to be simulated; two cubic polynomials are fitted using the target continuous lane line trajectory points located on the same side of the vehicle, and the coefficients of the two cubic polynomials are the simulated lane line parameters; the independent variables of the two cubic polynomials are the distances between the lane line trajectory points and the above starting points; the dependent variable of one of the cubic polynomials is the coordinate value of the first dimension of the lane line trajectory point corresponding to the independent variable; the dependent variable of the other cubic polynomial is the coordinate value of the second dimension of the lane line trajectory point corresponding to the independent variable. Based on the present invention, the lane line parameters output by the real lane line sensor can be accurately simulated, and seamless connection with the decision algorithm can be achieved, thereby improving the test efficiency of the decision algorithm and shortening the development cycle.

[0072] In an optional embodiment, one implementation method of obtaining the target continuous lane line trajectory point in front of the vehicle may be:

[0073] According to the distance between the vehicle and the end point of the lane where the vehicle is located (for the convenience of description and distinction, recorded as the first distance, which can be represented by S1), and the maximum detection distance of the lane line sensor to be simulated, the target continuous lane line trajectory point in front of the vehicle is obtained.

[0074] In an optional embodiment, if the first distance is greater than or equal to the maximum detection distance of the lane line sensor to be simulated (which can be represented by ST), the trajectory point of the continuous lane line in front of the vehicle whose length is the maximum detection distance of the lane line sensor to be simulated is determined as the target continuous lane line trajectory point.

[0075] If the first distance S1 is greater than or equal to the maximum detection distance ST of the lane line sensor to be simulated, it means that the end point of the lane line sensor detection is also in the lane where the vehicle is located. This is the most ideal situation. Only the lane line information of the lane is needed to obtain the trajectory points of the continuous lane lines within the ST distance in front of the vehicle, that is, the target continuous lane line trajectory points. In other words, if the first distance S1 is greater than or equal to the maximum detection distance ST of the lane line sensor to be simulated, the lane line corresponding to the obtained target continuous lane line trajectory points is part of or at least part of the lane line of the lane where the vehicle is located.

[0076] If the first distance S1 is less than the maximum detection distance of the lane line sensor to be simulated, when the vehicle's lane has no subsequent lane or has at least two subsequent lanes, the trajectory point of the continuous lane line in the lane where the vehicle in front of the vehicle is located is determined as the target continuous lane line trajectory point.

[0077] If the first distance S1 is smaller than the maximum detection distance ST of the lane sensor to be simulated, it means that the end point of the lane sensor detection point is not in the lane where the vehicle is located, and it is necessary to further search for the subsequent lane of the lane where the vehicle is located.

[0078] If the lane where the vehicle is located has no following lane, it means that the lane is a dead-end road and no further search is required. It is only necessary to obtain the trajectory points of the lane line of the lane where the vehicle is located.

[0079] If the lane where the vehicle is located has at least two successor lanes, it means that the successor of this lane is an intersection, and the road in the intersection has no lane lines. Therefore, no further search is required, and it is only necessary to obtain the trajectory points of the lane lines of the lane where the vehicle is located.

[0080] In summary, if the first distance S1 is less than the maximum detection distance ST of the lane line sensor to be simulated, and when the vehicle's lane has no subsequent lane or has at least two subsequent lanes, the continuous lane line trajectory points in front of the vehicle from the vehicle's position to the end point of the vehicle's lane are determined as target continuous lane line trajectory points.

[0081] If the first distance is less than the maximum detection distance of the lane line sensor to be simulated, when the lane where the vehicle is located has only one successor lane, the target continuous lane line is determined among the lane lines of at least two consecutive target lanes in front of the vehicle including the lane where the vehicle is located; the non-last target lane among the above-mentioned at least two consecutive target lanes has only one successor lane.

[0082] If the first distance S1 is less than the maximum detection distance ST of the lane line sensor to be simulated, when the lane where the vehicle is located has only one successor lane, it is necessary to search for the lane line information of the successor lane, or search for the lane line information of the successor lane and the successor lane of the successor lane, so as to determine the target continuous lane line trajectory points among the lane line trajectory points of at least two consecutive target lanes in front of the vehicle including the lane where the vehicle is located; a non-last target lane among the above-mentioned at least two consecutive target lanes has only one successor lane, and the last target lane among the above-mentioned at least two consecutive target lanes may have no successor lane, or has only one successor lane, or has multiple successor lanes.

[0083] In the opendrive map, different target lanes in at least two consecutive target lanes are located in different lanesections, and therefore, at least two consecutive target lanes refer to consecutive target lanes in at least two consecutive lanesections.

[0084] like Figure 2As shown, it is a partial example diagram of a road in the opendrive map provided by an embodiment of the present invention. In this example, there are three consecutive lanesections, and each lanesection has four lanes. Among them, the lane where the vehicle is located (i.e., the current lane in the figure) is located in lanesection_1, the successor lane of the lane where the vehicle is located (i.e., the successor lane of the current lane in the figure) is located in lanesection_2, and the successor lane of the successor lane of the lane where the vehicle is located (i.e., the successor lane of the successor lane in the figure) is located in lanesection_3.

[0085] Optionally, if the sum of the first distance S1 and the length of the subsequent lane of the lane where the vehicle is located is greater than or equal to the maximum detection distance ST, the trajectory point of the continuous lane line with a length of the maximum detection distance ST in two consecutive target lanes in front of the vehicle including the lane where the vehicle is located is determined as the target continuous lane line trajectory point.

[0086] If the sum of the first distance S1 and the length of the successor lane of the lane where the vehicle is located is greater than or equal to the maximum detection distance ST, it means that the detection end point of the lane line sensor is located in the successor lane of the lane where the vehicle is located. Therefore, the lane line trajectory point of the lane where the vehicle is located in front of the vehicle and the lane line trajectory point in the successor lane of the lane where the vehicle is located within the range of ST-S1 from the starting point of the successor lane of the lane where the vehicle is located are determined as the target continuous lane line trajectory point. In other words, the target continuous lane line trajectory point includes two parts, one part is located in the lane where the vehicle is located, specifically, the lane line trajectory point located in front of the vehicle in the lane where the vehicle is located, and the other part is in the successor lane of the lane where the vehicle is located, specifically, the lane line trajectory point in the successor lane of the lane where the vehicle is located from the starting point of the successor lane of the lane where the vehicle is located to the detection end point of the lane line sensor.

[0087] Optionally, if there are M-1 consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane and the sum of the lengths of the first distance is less than the maximum detection distance, and the sum of the lengths of M consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane and the first distance is greater than or equal to the maximum detection distance, the continuous lane line trajectory point with a length of the maximum detection distance in the M+1 consecutive target lanes in front of the vehicle including the lane where the vehicle is located is determined as the target continuous lane line trajectory point; M is an integer greater than 1.

[0088] If the sum of the first distance S1 and the length of the successor lane of the lane where the vehicle is located is less than the maximum detection distance ST, it means that the end point detected by the lane line sensor is not in the successor lane of the lane where the vehicle is located, and may be in the successor lane of the successor lane of the lane where the vehicle is located. Then, it is determined whether the successor lane of the lane where the vehicle is located has only one successor lane. If so, it is determined whether the sum of the first distance S1 and the length of the successor lane of the lane where the vehicle is located, and the length of the successor lane of the successor lane is greater than or equal to the maximum detection distance ST. If so, it means that the end point detected by the lane line sensor is in the successor lane of the successor lane of the lane where the vehicle is located. If not, it is necessary to further search for the lane line trajectory points of the successor lane of the successor lane until there is no successor lane in the successor lane, or the successor of the successor lane is an intersection, or the sum of the first distance S1 and the lengths of all searched successor lanes is greater than or equal to ST.

[0089] by Figure 2 For example, if the sum of the length of a continuous target lane with the successor lane of the vehicle's lane as the starting target lane (that is, the length of the successor lane of the vehicle's lane) and the first distance S1 is less than the maximum detection distance ST, and the sum of the length of two continuous target lanes with the successor lane of the vehicle's lane as the starting target lane and the first distance S1 is greater than or equal to the maximum detection distance ST, it means that the end point detected by the lane line detection sensor is in the successor lane of the successor lane of the vehicle's lane, and the continuous lane line trajectory point with a length of the maximum detection distance ST in the three continuous lanes in front of the vehicle including the vehicle's lane is determined as the target continuous lane line trajectory point. In other words, Figure 2 In the present invention, the target continuous lane line trajectory points include three parts, one part is located in the lane where the vehicle is located, specifically, the lane line trajectory points located in front of the vehicle in the lane where the vehicle is located, one part is located in the successor lane of the vehicle's lane, specifically, all lane line trajectory points of the successor lane of the vehicle's lane, and the other part is located in the successor lane of the successor lane of the vehicle's lane, specifically, the lane line trajectory points from the starting point of the successor lane of the successor lane of the vehicle's lane to the detection end point of the lane line sensor.

[0090] Furthermore, if there are M consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane, and the sum of the lengths of the first distance S1 is less than the maximum detection distance ST, and the last target lane of the M consecutive target lanes has no successor lane or has multiple successor lanes, the continuous lane line trajectory points of the continuous M+1 target lanes in front of the vehicle including the lane where the vehicle is located are determined as the target continuous lane line trajectory points.

[0091] Also Figure 2Taking the lane relationship shown in FIG. 1 as an example, if the sum of the length of two consecutive target lanes (i.e., the successor lane of the lane where the vehicle is located, and the successor lane of the successor lane of the lane where the vehicle is located) with the successor lane of the lane where the vehicle is located as the starting target lane and the first distance S1 is less than the maximum detection distance ST, the last target lane of the two consecutive target lanes (i.e., the successor lane of the successor lane of the lane where the vehicle is located) does not have a successor lane or has multiple successor lanes, the continuous lane line trajectory points of the three consecutive lanes in front of the vehicle including the lane where the vehicle is located (i.e., the lane where the vehicle is located, the successor lane of the lane where the vehicle is located, and the successor lane of the successor lane of the lane where the vehicle is located) are determined as the target continuous lane line trajectory points. In other words, the target continuous lane line trajectory points include three parts, one part is located in the lane where the vehicle is located, specifically, the lane line trajectory points in front of the vehicle in the lane where the vehicle is located, one part is located in the successor lane of the lane where the vehicle is located, specifically, all lane line trajectory points of the successor lane of the lane where the vehicle is located, and the other part is located in the successor lane of the successor lane of the lane where the vehicle is located, specifically, the lane line trajectory points of the successor lane of the successor lane of the lane where the vehicle is located.

[0092] Further, if the successor lane of the successor lane of the lane where the vehicle is located still has only one successor lane, it is determined whether the sum of the lengths of three consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane (i.e., the successor lane of the lane where the vehicle is located, the successor lane of the successor lane of the lane where the vehicle is located, and the successor lane of the successor lane of the successor lane of the lane where the vehicle is located) and the first distance S1 is greater than or equal to the maximum detection distance ST. If the judgment result is yes, it means that the end point detected by the lane line sensor is located at the successor lane of the successor lane of the successor lane of the lane where the vehicle is located. Therefore, the continuous lane line trajectory point with a length of the maximum detection distance ST in the four consecutive lanes in front of the vehicle including the lane where the vehicle is located is determined as the target continuous lane line trajectory point. That is to say, the target continuous lane line trajectory points include four parts, one part is located in the lane where the vehicle is located, specifically, the lane line trajectory points located in front of the vehicle in the lane where the vehicle is located, one part is located in the successor lane of the lane where the vehicle is located, specifically, all lane line trajectory points of the successor lane of the lane where the vehicle is located, one part is located in the successor lane of the successor lane of the lane where the vehicle is located, specifically, all lane line trajectory points of the successor lane of the successor lane of the lane where the vehicle is located, and the other part is located in the successor lane of the successor lane of the successor lane of the lane where the vehicle is located, specifically, the lane line trajectory points from the starting point of the successor lane of the successor lane of the successor lane of the lane where the vehicle is located to the detection end point of the lane line sensor.

[0093] See also Figure 3 , which is another implementation flow chart of the lane line parameter simulation method provided by an embodiment of the present invention, may include:

[0094] Step S301: Locate the lane where the vehicle (referred to as vehicle A for ease of distinction and description) is located and the position of vehicle A in the lane.

[0095] Step S302: Determine whether the lane where vehicle A is located is in the intersection. If the judgment result is yes, continue to monitor whether the lane where vehicle A is located is in the intersection; if the judgment result is no, proceed to step S303.

[0096] Step S303: Determine whether the distance S1 between vehicle A and the end point of the lane where vehicle A is located is less than the maximum detection distance ST of the lane line sensor; if the judgment result is yes, proceed to step S304; otherwise, proceed to step S307.

[0097] Step S304: Determine whether the number of subsequent lanes of the lane where vehicle A is located is equal to 1. If the determination result is yes, proceed to step S305; otherwise, proceed to step S308.

[0098] Step S305: Whether the sum of the length of the subsequent lane of the lane where vehicle A is located and S1 is less than the maximum detection distance ST, if so, proceed to step S306, otherwise, proceed to step S309.

[0099] Step S306: Update the distance S1 between vehicle A and the end of the lane where vehicle A is located to the sum of the length of the successor lane of the lane where vehicle A is located and S1 (S1=S1+the length of the successor lane), that is, treat the currently searched successor lane as part of the lane where vehicle A is located. Return to step S304.

[0100] That is to say, if step S306 is executed for the first time, the lane where vehicle A is located and the successor lane of the lane where vehicle A is located are taken as the new lane where vehicle A is located; if step S306 is executed for the second time, the lane where vehicle A is located, the successor lane of the lane where vehicle A is located, and the successor lane of the successor lane of the lane where vehicle A is located are taken as the new lane where vehicle A is located; if step S306 is executed for the third time, the lane where vehicle A is located, the successor lane of the lane where vehicle A is located, the successor lane of the successor lane of the lane where vehicle A is located, and the successor lane of the successor lane of the lane where vehicle A is located are taken as the new lane where vehicle A is located, and so on.

[0101] Correspondingly, step S304 is to determine whether the number of successor lanes of the lane where the latest vehicle A is located is 1. If step S304 is executed for the first time, the lane where vehicle A is located is the lane located in step S301. If step S304 is not executed for the first time, the lane where vehicle A is located is the new lane where vehicle A is located determined in step S306.

[0102] Step S307: locate the end point (the distance between the end point and vehicle A is ST), obtain the lane line trajectory point between vehicle A and the end point, and enter step S310.

[0103] Step S308: locate the end point (the end point position is the end point of the lane currently determined for vehicle A), obtain the lane line trajectory point between vehicle A and the end point, and proceed to step S310.

[0104] Step S309: locate the end point (the distance between the end point and vehicle A is ST), obtain the lane line trajectory point between vehicle A and the end point, and enter step S310.

[0105] Step S310: Convert the coordinates of the lane line trajectory points from the earth coordinate system to the sensor coordinate system.

[0106] Step S311: Use a cubic parametric polynomial to aggregate the coordinate points and solve the coefficients of the cubic polynomial.

[0107] Figure 3 The specific implementation process of each step can be found in the above embodiments and will not be repeated here.

[0108] Corresponding to the method embodiment, the present invention further provides a lane line parameter simulation device. A structural schematic diagram of the lane line parameter simulation device provided by the embodiment of the present invention is shown in FIG. Figure 4 As shown, it may include:

[0109] Determination module 401, acquisition module 402 and fitting module 403; wherein,

[0110] The determination module 401 is used to determine the lane in which the vehicle is located and the position of the vehicle in the lane;

[0111] The acquisition module 402 is used to acquire the target continuous lane line trajectory point in front of the vehicle when the vehicle is not at the intersection; the starting point of the target continuous lane line is the position of the vehicle, and the length of the target continuous lane line is less than or equal to the maximum detection distance of the lane line sensor to be simulated;

[0112] The fitting module 403 is used to fit two cubic polynomials using lane line trajectory points located on the same side of the vehicle, where the coefficients of the cubic polynomials are lane line parameters obtained by simulation;

[0113] The independent variables of the two cubic polynomials are the distances between the lane line trajectory points and the starting points; the dependent variables of one cubic polynomial are the coordinate values ​​of the first dimension of the lane line trajectory points corresponding to the independent variables; and the dependent variable of the other cubic polynomial is the coordinate values ​​of the second dimension of the lane line trajectory points corresponding to the independent variables.

[0114] The lane line parameter simulation device provided by the embodiment of the present invention determines the lane in which the vehicle is located and its position in the lane; when the vehicle is not at an intersection, the target continuous lane line trajectory point in front of the vehicle is obtained in the opendrive map; the starting point of the target continuous lane line is the position of the vehicle, and the length of the target continuous lane line is less than or equal to the maximum detection distance of the lane line sensor to be simulated; two cubic polynomials are fitted using the target continuous lane line trajectory points located on the same side of the vehicle, and the coefficients of the two cubic polynomials are the simulated lane line parameters; the independent variables of the two cubic polynomials are the distances between the lane line trajectory points and the above starting points; the dependent variable of one of the cubic polynomials is the coordinate value of the first dimension of the lane line trajectory point corresponding to the independent variable; the dependent variable of the other cubic polynomial is the coordinate value of the second dimension of the lane line trajectory point corresponding to the independent variable. Based on the present invention, the lane line parameters output by the real lane line sensor can be accurately simulated, and seamless connection with the decision algorithm can be achieved, the test efficiency of the decision algorithm can be improved, and the development cycle can be shortened.

[0115] In an optional embodiment, when the acquisition module 402 acquires the target continuous lane line trajectory point in front of the vehicle, it is used to:

[0116] According to a first distance between the vehicle and an end point of a lane where the vehicle is located and a maximum detection distance of a lane line sensor to be simulated, a target continuous lane line trajectory point in front of the vehicle is obtained.

[0117] In an optional embodiment, when the acquisition module 402 acquires the target continuous lane line trajectory point in front of the vehicle according to the first distance between the vehicle and the end point of the lane where the vehicle is located and the maximum detection distance of the lane line sensor to be simulated, it is used to:

[0118] If the first distance is greater than or equal to the maximum detection distance, determining the continuous lane line trajectory point in front of the vehicle with a length of the maximum detection distance as the target continuous lane line trajectory point;

[0119] If the first distance is less than the maximum detection distance, when the lane where the vehicle is located has no successor lane or has at least two successor lanes, the continuous lane line trajectory points of the lane where the vehicle is located in front of the vehicle are determined as the target continuous lane line trajectory points; when the lane where the vehicle is located has only one successor lane, the target continuous lane line trajectory points are determined among the lane line trajectory points of at least two continuous target lanes in front of the vehicle including the lane where the vehicle is located; and the non-last target lane among the at least two continuous target lanes has only one successor lane.

[0120] In an optional embodiment, when the acquisition module 402 determines the target continuous lane line trajectory point from the lane line trajectory points of at least two consecutive target lanes in front of the vehicle including the lane where the vehicle is located, it is used to:

[0121] If the sum of the first distance and the length of the successor lane of the lane where the vehicle is located is greater than or equal to the maximum detection distance, a continuous lane line trajectory point with a length of the maximum detection distance in two consecutive target lanes in front of the vehicle including the lane where the vehicle is located is determined as the target continuous lane line trajectory point;

[0122] If there are M-1 consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane and the sum of the first distance is less than the maximum detection distance, and the sum of the lengths of M consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane and the first distance is greater than or equal to the maximum detection distance, a continuous lane line trajectory point with a length of the maximum detection distance in the M+1 consecutive target lanes in front of the vehicle including the lane where the vehicle is located is determined as the target continuous lane line trajectory point; M is an integer greater than 1.

[0123] In an optional embodiment, the acquisition module 402 is further configured to:

[0124] If there are M consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane, and the sum of the lengths of the first distance is less than the maximum detection distance, and the last target lane of the M consecutive target lanes has no successor lane or has multiple successor lanes, the continuous lane line trajectory points of the continuous M+1 target lanes in front of the vehicle including the lane where the vehicle is located are determined as the target continuous lane line trajectory points.

[0125] In an optional embodiment, the lane line parameter simulation device further includes a judgment module, which is used to:

[0126] Extracting target parameters of the road where the vehicle is located from map data according to an identifier of the road where the vehicle is located;

[0127] If the value of the target parameter is the target value, it is determined that the vehicle is not in the intersection; otherwise, it is determined that the vehicle is in the intersection.

[0128] In an optional embodiment, the fitting module 403 is specifically used for:

[0129] Converting the track points of the vehicle conductors located on the same side of the vehicle into track points in the sensor coordinate system;

[0130] Two cubic polynomials are fitted using the trajectory points in the sensor coordinate system.

[0131] The lane line parameter simulation device provided in the embodiment of the present invention can be applied to electronic devices. Figure 5 The hardware structure diagram of the electronic device is shown in FIG. Figure 5 , the hardware structure of the electronic device may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;

[0132] In the embodiment of the present invention, the number of the processor 1, the communication interface 2, the memory 3, and the communication bus 4 is at least one, and the processor 1, the communication interface 2, and the memory 3 communicate with each other through the communication bus 4;

[0133] The processor 1 may be a central processing unit CPU, or an application-specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;

[0134] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory;

[0135] The memory stores a program, and the processor can call the program stored in the memory, wherein the program is used to:

[0136] determining the lane in which the vehicle is located and the position of the vehicle in said lane;

[0137] When the vehicle is not at an intersection, a target continuous lane line trajectory point in front of the vehicle is obtained; the starting point of the target continuous lane line is the position of the vehicle, and the length of the target continuous lane line is less than or equal to the maximum detection distance of the lane line sensor to be simulated;

[0138] Fitting two cubic polynomials using target continuous lane line trajectory points located on the same side of the vehicle, wherein the coefficients of the cubic polynomials are lane line parameters obtained by simulation;

[0139] The independent variables of the two cubic polynomials are the distances between the lane line trajectory points and the starting points; the dependent variables of one cubic polynomial are the coordinate values ​​of the first dimension of the lane line trajectory points corresponding to the independent variables; and the dependent variable of the other cubic polynomial is the coordinate values ​​of the second dimension of the lane line trajectory points corresponding to the independent variables.

[0140] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0141] An embodiment of the present invention further provides a storage medium, which may store a program suitable for execution by a processor, wherein the program is used to:

[0142] determining the lane in which the vehicle is located and the position of the vehicle in said lane;

[0143] When the vehicle is not at an intersection, a target continuous lane line trajectory point in front of the vehicle is obtained; the starting point of the target continuous lane line is the position of the vehicle, and the length of the target continuous lane line is less than or equal to the maximum detection distance of the lane line sensor to be simulated;

[0144] Fitting two cubic polynomials using target continuous lane line trajectory points located on the same side of the vehicle, wherein the coefficients of the cubic polynomials are lane line parameters obtained by simulation;

[0145] The independent variables of the two cubic polynomials are the distances between the lane line trajectory points and the starting points; the dependent variables of one cubic polynomial are the coordinate values ​​of the first dimension of the lane line trajectory points corresponding to the independent variables; and the dependent variable of the other cubic polynomial is the coordinate values ​​of the second dimension of the lane line trajectory points corresponding to the independent variables.

[0146] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0147] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0148] In the several embodiments provided by the present invention, it should be understood that the disclosed systems (if any), devices and methods can be implemented in other ways. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0149] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0150] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0151] It should be understood that in the embodiments of the present invention, the various embodiments and features can be combined with each other to solve the aforementioned technical problems.

[0152] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0153] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A lane line parameter simulation method, It is characterized in that include: determining the lane in which the vehicle is located and the position of the vehicle in said lane; When the vehicle is not at an intersection, obtaining a target continuous lane line trajectory point in front of the vehicle; The starting point of the target continuous lane line is the position of the vehicle, and the length of the target continuous lane line is less than or equal to the maximum detection distance of the lane line sensor to be simulated; Fitting two cubic polynomials using target continuous lane line trajectory points located on the same side of the vehicle, wherein the coefficients of the cubic polynomials are lane line parameters obtained by simulation; The independent variables of the two cubic polynomials are the distances between the lane line trajectory point and the starting point; the dependent variable of one cubic polynomial is the coordinate value of the first dimension of the lane line trajectory point corresponding to the independent variable; the dependent variable of the other cubic polynomial is the coordinate value of the second dimension of the lane line trajectory point corresponding to the independent variable; The step of obtaining the target continuous lane line trajectory point in front of the vehicle includes: If a first distance between the vehicle and the end point of the lane where the vehicle is located is greater than or equal to a maximum detection distance of a lane line sensor to be simulated, a continuous lane line trajectory point whose length in front of the vehicle is the maximum detection distance is determined as the target continuous lane line trajectory point; If the first distance is less than the maximum detection distance, when the lane where the vehicle is located has no successor lane or has at least two successor lanes, the continuous lane line trajectory points of the lane where the vehicle is located in front of the vehicle are determined as the target continuous lane line trajectory points; when the lane where the vehicle is located has only one successor lane, the target continuous lane line trajectory points are determined from the lane line trajectory points of at least two continuous target lanes in front of the vehicle including the lane where the vehicle is located; the non-last target lane among the at least two continuous target lanes has only one successor lane; The step of determining the target continuous lane line trajectory point from the lane line trajectory points of at least two continuous target lanes in front of the vehicle including the lane where the vehicle is located comprises: If the sum of the first distance and the length of the successor lane of the lane where the vehicle is located is greater than or equal to the maximum detection distance, a continuous lane line trajectory point with a length of the maximum detection distance in two consecutive target lanes in front of the vehicle including the lane where the vehicle is located is determined as the target continuous lane line trajectory point; If there are M-1 consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane and the sum of the first distance is less than the maximum detection distance, and the sum of the lengths of M consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane and the first distance is greater than or equal to the maximum detection distance, a continuous lane line trajectory point with a length of the maximum detection distance in the M+1 consecutive target lanes in front of the vehicle including the lane where the vehicle is located is determined as the target continuous lane line trajectory point; M is an integer greater than 1.

2. The method according to claim 1, It is characterized in that Also includes: If there are M consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane, and the sum of the lengths of the first distance is less than the maximum detection distance, and the last target lane of the M consecutive target lanes has no successor lane or has multiple successor lanes, the continuous lane line trajectory points of the continuous M+1 target lanes in front of the vehicle including the lane where the vehicle is located are determined as the target continuous lane line trajectory points.

3. The method according to any one of claims 1 to 2, It is characterized in that Before obtaining the target continuous lane line trajectory point in front of the vehicle, the method further includes: Extracting target parameters of the road where the vehicle is located from map data according to an identifier of the road where the vehicle is located; If the value of the target parameter is the target value, it is determined that the vehicle is not in the intersection; otherwise, it is determined that the vehicle is in the intersection.

4. The method according to any one of claims 1 to 2, It is characterized in that The method of fitting two cubic polynomials using lane line trajectory points located on the same side of the vehicle includes: Converting the track points of the vehicle conductors located on the same side of the vehicle into track points in the sensor coordinate system; Two cubic polynomials are fitted using the trajectory points in the sensor coordinate system.

5. The method according to claim 3, It is characterized in that The two cubic polynomials are as follows: Where N is the number of trajectory points of the target continuous lane lines on the same side of the vehicle; x i ,y i is the coordinate of the i-th trajectory point in the sensor coordinate system, the independent variable s is the distance between the trajectory point and the starting point of the target continuous lane line; the dependent variable x(s) represents the coordinate value of the first dimension of the point with a distance s from the starting point of the target continuous lane line; the dependent variable y(s) represents the coordinate value of the second dimension of the point with a distance s from the starting point of the target continuous lane line; the coefficient a x , b x 、c x d x 、a y , b y 、c y d y It is the lane line parameters output by the simulated lane line sensor.

6. A lane line parameter simulation device, It is characterized in that include: A determination module, used to determine the lane in which the vehicle is located and the position of the vehicle in the lane; An acquisition module, used for acquiring a target continuous lane line trajectory point in front of the vehicle when the vehicle is not at an intersection; The starting point of the target continuous lane line is the position of the vehicle, and the length of the target continuous lane line is less than or equal to the maximum detection distance of the lane line sensor to be simulated; A fitting module, used to fit two cubic polynomials using lane line trajectory points located on the same side of the vehicle, wherein the coefficients of the cubic polynomials are lane line parameters obtained by simulation; The independent variables of the two cubic polynomials are the distances between the lane line trajectory point and the starting point; the dependent variable of one cubic polynomial is the coordinate value of the first dimension of the lane line trajectory point corresponding to the independent variable; the dependent variable of the other cubic polynomial is the coordinate value of the second dimension of the lane line trajectory point corresponding to the independent variable; When the acquisition module acquires the target continuous lane line trajectory point in front of the vehicle, it is used to: If a first distance between the vehicle and the end point of the lane where the vehicle is located is greater than or equal to a maximum detection distance of a lane line sensor to be simulated, a continuous lane line trajectory point whose length in front of the vehicle is the maximum detection distance is determined as the target continuous lane line trajectory point; If the first distance is less than the maximum detection distance, when the lane where the vehicle is located has no successor lane or has at least two successor lanes, the continuous lane line trajectory points of the lane where the vehicle is located in front of the vehicle are determined as the target continuous lane line trajectory points; when the lane where the vehicle is located has only one successor lane, the target continuous lane line trajectory points are determined from the lane line trajectory points of at least two continuous target lanes in front of the vehicle including the lane where the vehicle is located; The non-last target lane among the at least two consecutive target lanes has only one successor lane; When the acquisition module determines the target continuous lane line trajectory point from the lane line trajectory points of at least two consecutive target lanes in front of the vehicle including the lane where the vehicle is located, it is used to: If the sum of the first distance and the length of the successor lane of the lane where the vehicle is located is greater than or equal to the maximum detection distance, a continuous lane line trajectory point with a length of the maximum detection distance in two consecutive target lanes in front of the vehicle including the lane where the vehicle is located is determined as the target continuous lane line trajectory point; If there are M-1 consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane and the sum of the first distance is less than the maximum detection distance, and the sum of the lengths of M consecutive target lanes with the successor lane of the lane where the vehicle is located as the starting target lane and the first distance is greater than or equal to the maximum detection distance, a continuous lane line trajectory point with a length of the maximum detection distance in the M+1 consecutive target lanes in front of the vehicle including the lane where the vehicle is located is determined as the target continuous lane line trajectory point; M is an integer greater than 1.

7. An electronic device, include: Memory, used to store programs; A processor is used to call and execute the program in the memory, and implement the various steps of the lane line parameter simulation method as described in any one of claims 1 to 5 by executing the program.

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