Abstract: A method comprises: first, obtaining a to-be-recognized lane line image; then determining, based on the lane line image, a candidate pixel used to recognize a lane line region, to obtain a candidate point set, where the lane line region is a region of a location of a lane line in the lane line image and a surrounding region of the location of the lane line; then selecting a target pixel from the candidate point set, and obtaining at least three location points associated with the target pixel in a neighborhood, where the at least three location points are on one lane line; and finally, performing extension by using the target pixel as a start point and based on the at least three location points associated with the target pixel, to obtain a lane line point set corresponding to the target pixel.