A method and device for generating a reference line in an autonomous driving process

Abstract

The application provides a method and device for generating a reference line in an automatic driving process, wherein the method comprises: acquiring the number of lane lines on both sides of a current driving vehicle and the type of the lane lines, and determining the current lane of the vehicle according to the number of the lane lines and the type of the lane lines; determining a lane change trend according to the width difference between the first lane width of the current lane of the vehicle and the second lane width after the vehicle drives along the current lane for a first preset time length; selecting a lane line from the currently recognized lane lines as a reference line based on the lane of the vehicle and the lane change trend; updating the width of the current driving lane based on the lane change trend, and generating a reference line based on the updated lane width and the reference line. Through the application, the problem that the reference line is only generated for a conventional road scene in the prior art is solved.

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