Method and apparatus for processing driving reference line, and vehicle

An apparatus for processing a driving reference line, comprising:

• one or more processors;
• and
• a storage device configured to store one or more programs, wherein
• the one or more programs, when executed by the one or more processors, cause the one or more processors to:
• acquire position information of at least one obstacle in a range covered by an original driving reference line;
• determine a safety range parameter based on the position information of the at least one obstacle;
• and
• adjust a coefficient of a polynomial curve corresponding to the original driving reference line based on the safety range parameter, to obtain an adjusted polynomial curve;
• and determine an adjusted driving reference line based on the adjusted polynomial curve.

A non-transitory computer-readable storage medium comprising computer executable instructions stored thereon, wherein the executable instructions, when executed by a processor, causes the processor to:

• acquire position information of at least one obstacle in a range covered by an original driving reference line;
• determine a safety range parameter based on the position information of the at least one obstacle;
• adjust a coefficient of a polynomial curve corresponding to the original driving reference line based on the safety range parameter, to obtain an adjusted polynomial curve;
• and
• determine an adjusted driving reference line based on the adjusted polynomial curve.