Lane line marking method, vehicle-mounted equipment, storage medium and vehicle

The invention discloses a lane line marking method, vehicle-mounted equipment, a storage medium and a vehicle. The method comprises the steps of collecting multiple frames of target images and corresponding target point cloud data within a preset duration in a vehicle driving process; screening the target point cloud data, and extracting a ground point and an intensity value thereof; projecting the ground point to a corresponding position point in the target image, obtaining an RGB value of the corresponding position point, and forming point cloud point channel data with the intensity value; inputting the point cloud point channel data into the point cloud segmentation model to obtain a bird's-eye view segmentation map; under a global coordinate system, stacking grid points belonging to the same category of labels in the aerial view segmentation map; and generating lane lines on two corresponding sides of the vehicle based on the vehicle moving track. According to the method, the grid points belonging to the