Method and apparatus for generating lane line, vehicle, storage medium and chip

A vehicle, comprising:

• a processor;
• and
• a memory, configured to store processor-executable instructions;
• wherein
• the processor is configured to acquire three-dimensional point cloud data and two-dimensional lane line data of a target lane, the two-dimensional lane line data is lane line data collected in response to determining that the vehicle is driving in the target lane, and the three-dimensional point cloud data is point cloud data of a surrounding environment of the vehicle collected in response to determining that the vehicle is driving in the target lane;
• determine a plurality of lane line key points according to the two-dimensional lane line data and the three-dimensional point cloud data;
• and obtain a target three-dimensional lane line by connecting the plurality of lane line key points randomly for many times according to attribute information of the plurality of lane line key points and a driving direction of the vehicle.

A non-transitory computer-readable storage medium, on which computer program instructions are stored that, when executed by a processor, cause the processor to:

• acquire three-dimensional point cloud data and two-dimensional lane line data of a target lane, wherein the two-dimensional lane line data is lane line data collected in response to determining that a vehicle is driving in the target lane, and the three-dimensional point cloud data is point cloud data of a surrounding environment of the vehicle collected in response to determining that the vehicle is driving in the target lane;
• determine a plurality of lane line key points according to the two-dimensional lane line data and the three-dimensional point cloud data;
• and
• obtain a target three-dimensional lane line by connecting the plurality of lane line key points randomly for many times according to attribute information of the plurality of lane line key points and a driving direction of the vehicle.