Lane following exploration mapping method, storage medium and robot

The invention relates to a lane following exploration mapping method, a storage medium and a robot. The method comprises the following steps: S01, acquiring color picture information of a lane throughan image sensor; S02, extracting color information of a lane line according to the color picture information of the lane; S03, extracting accurate lane line information according to the color information of the lane line and the characteristics of the lane line; S04, obtaining the distance and direction information of the lane line relative to the image sensor according to the accurate lane lineinformation; S05, planning path information along the lane line by taking the image sensor as a starting point according to the distance and direction information of the lane line relative to the image sensor; S06, controlling the image sensor to move along the planned path information, scanning the surrounding environment information through the laser radar, and creating a grid map. The image sensor automatically marks la