LANE LINE POSITIONING METHOD AND APPARATUS, AND STORAGE MEDIUM THEREOF

This disclosure is directed to a lane line positioning method and apparatus. The method includes obtaining inertial information, target traveling information, and first position information of a vehicle. The inertial information comprises information measured by an inertial measurement unit of the vehicle. The target traveling information comprises traveling information of the vehicle acquired at a first moment. The first position information comprises a position of the vehicle at the first moment. The method includes determining second position information according to the target traveling information and the first position information and determining third position information of the vehicle at a second moment based on the inertial information of the vehicle and the second position information. The method includes determining a position of a lane line in a map according to the third position information and relative position information.