A road center line determination method based on linear sorting

The invention discloses a road center line determination method based on linear sorting, which comprises the following steps: S1, randomly selecting a discrete track point as a reference point, and selecting track points of which the distances from the track points to the reference point are smaller than a preset distance to form a point set {P}; S2, performing linear least square fitting on the point set {P} to construct a growth baseline; S3, projecting the point set {P} to a growth baseline, and performing one-dimensional linear sorting on the track points according to the longitudinal displacement of projection points relative to the center of gravity to form an initial ordered queue {A}; S4, searching the track points to be sorted point by point, inserting the track points to be sorted into the ordered queue {A} and the point set {P} according to the projection positions of the track points to be sorted on the growth baseline, and updating the growth baseline of the point set {P}.According to the method,