Driving lane judgment method based on perception of objects around vehicle

The invention relates to the technical field of automobile control, and in particular relates to a driving lane judgment method based on perception of objects around a vehicle. The method comprises the steps of obtaining the number of lanes of a vehicle driving road, recognizing objects on the left and right sides of the vehicle, obtaining the relative position relation between the objects and thevehicle, and judging the driving lane position of the vehicle according to the relative position relation between the objects on the left and right sides of the vehicle and the vehicle and the numberof lanes. The judgment method is extremely simple, the input cost is extremely low, the vehicle lane information can be accurately judged without a high-precision map, and the method has a great popularization value. 本发明涉及汽车控制技术领域，具体地指一种基于车辆周围物体感知的行驶车道判断方法。获取车辆行驶道路的车道数量，识别车辆左右两侧物体并获取该物体与车辆相对位置关系，根据车辆左右两侧物体与车辆相对位置关系和车道数量判断车辆的行驶车道位置。本发明的判断方法极为简单，投入成本极小，无需高精度地图即可准确判断车辆车道信息，具有极大的推广价值。