Visual lane line processing method, device and equipment

The invention discloses a visual lane line processing method, device and equipment, and the method comprises the steps: carrying out the time synchronization and position association processing of map environment information and visual environment information of a preset route, and obtaining first visual lane line information and first map lane line information; and calculating the first visual lane line information to obtain statistical parameters capable of reflecting the performance of the visual sensor, and re-determining the performance parameters of the visual sensor. And acquiring real-time visual lane line information on the basis of the visual sensor of which the performance parameters are re-determined, comparing probability parameters calculated on the basis of the real-time lane line information with a probability threshold value, and adjusting the performance parameters and controlling to output target lane line information on the basis of a comparison result. According to the method, the perform