Traffic lane line fitting method and system

A non-transitory machine-readable storage medium, wherein an instruction is stored on the machine-readable storage medium, and the instruction is used for causing a controller to execute the following lane line fitting method, the method comprises:

• acquiring map information for a current position of a vehicle, wherein the map information comprises a number of lanes, a road width and line point information of lane lines on two sides of the vehicle;
• determining, from among the lane lines on two sides of the vehicle, a lane line on one side, consistent with the direction indicated by at least one of the following, to be a lane line offset reference used for lane line fitting:
• a lane changing direction side, indicating the side to which the vehicle is expected to perform lane changing in the current road;
• a reference side of a driving coordinate system, wherein the driving coordinate system takes a road boundary line on one side of the road on which the vehicle is located as a reference, and takes a road guide line direction and a direction following a left-hand rule with the road guide line direction as two axes;
• a road width unchanged side, indicating the side where the road width does not change in the road ahead of the vehicle;
• and
• a lane continuous side, indicating the side where the lane continuity does not change in the current road;
• setting the priority of determining the lane line offset reference based on the lane changing direction side, the road width unchanged side, the lane continuous side and the reference side of the driving coordinate system;
• and
• offsetting based on the lane line offset reference to generate a plurality of lane lines of the vehicle, and performing curve fitting on a set of line points on the plurality of generated lane lines to obtain a corresponding lane line equation.