GUARDRAIL ESTIMATION METHOD BASED ON MULTI-SENSOR DATA FUSION, AND VEHICLE-MOUNTED DEVICE

A guardrail estimation method based on multi-sensor data fusion, and a vehicle-mounted device and a storage medium. The method comprises: acquiring multi-sensor data and vehicle information (501); determining a travel trajectory of a vehicle on the basis of the vehicle information (502); determining multiple guardrail sample points on the basis of the multi-sensor data and the travel trajectory (503); and estimating guardrail information on the basis of the multiple guardrail sample points (504). When the vehicle is controlled laterally, the guardrail information is used for correcting a lane line of poor quality; and when the lane line cannot be detected, the guardrail information is used for lateral control downgrade processing, and the guardrail information also facilitates the aided realization of fast and accurate expressway lane-level positioning, and the realization of a higher-level aided driving function. Procédé d'estimation de glissière de sécurité fondée sur une fusion de données de capteurs multi