Data processing method, device, computer equipment and storage medium

Abstract

A data processing method, device, computer equipment and storage medium are applied to the technical fields of maps, navigation, vehicle networking, automatic driving, etc., wherein the method includes: obtaining the positioning information of a vehicle, and obtaining the reference map information of the road where the vehicle is currently traveling based on the positioning information; if the vehicle is detected to be in the main and auxiliary road area of ​​the driving road based on the reference map information, then determining the first lane positioning detection result of the vehicle at the first time; determining the second lane positioning detection result of the vehicle at the second time, the second time is later than the first time, and the interval between the second time and the first time is less than or equal to the target time interval; determining the main and auxiliary road switching recognition result of the vehicle based on the first lane positioning detection result and the second lane positioning detection result. The above method can effectively improve the accuracy of the main and auxiliary road switching recognition result.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a data processing method, a data processing device, a computer equipment and a computer-readable storage medium. Background Art

[0002] With the development of society, many places have built expressways, and there will be main roads and auxiliary roads on roads of a certain level. Due to the differences between main roads and auxiliary roads in terms of driving speed, road connectivity and road attributes (for example, auxiliary roads can have motor vehicles, non-motor vehicles and pedestrians, while main roads usually only have motor vehicles), there are different requirements for map products' induced broadcasts, navigation route planning, etc. During driving, if the road navigation system can accurately determine the switching of the vehicle's main and auxiliary roads, it can provide users with more timely and accurate navigation services. Therefore, it is necessary to achieve accurate recognition of the switching of main and auxiliary roads. Summary of the invention

[0003] The embodiments of the present application provide a data processing method, apparatus, computer equipment and storage medium, which can effectively improve the accuracy of the main-auxiliary road switching identification results.

[0004] On the one hand, an embodiment of the present application provides a data processing method, the method comprising:

[0005] Acquire the positioning information of the vehicle, and acquire the reference map information of the road where the vehicle is currently traveling based on the positioning information;

[0006] If it is detected according to the reference map information that the vehicle is in the main and auxiliary road area of ​​the driving road, determining a first lane positioning detection result of the vehicle at a first time;

[0007] Determine a second lane positioning detection result of the vehicle at a second time, where the second time is later than the first time, and an interval between the second time and the first time is less than or equal to a target time interval;

[0008] A primary-auxiliary road switching recognition result of the vehicle is determined according to the first lane positioning detection result and the second lane positioning detection result.

[0009] On the one hand, an embodiment of the present application provides a data processing device, the device comprising:

[0010] A positioning module, used to obtain the positioning information of the vehicle;

[0011] An acquisition module, used to acquire reference map information of the road where the vehicle is currently traveling according to the positioning information;

[0012] a processing module, configured to trigger the positioning module to determine a first lane positioning detection result of the vehicle at a first time if the vehicle is detected to be in a main or auxiliary road area of ​​the driving road according to the reference map information;

[0013] The positioning module is further used to determine a second lane positioning detection result of the vehicle at a second time, the second time is later than the first time, and the interval between the second time and the first time is less than or equal to a target time interval;

[0014] The processing module is further used to determine the primary-auxiliary road switching recognition result of the vehicle according to the first lane positioning detection result and the second lane positioning detection result.

[0015] In one embodiment, the device further includes a lane change detection module, configured to:

[0016] After the positioning module determines the first lane positioning detection result of the vehicle at the first time, performing lane change detection on the vehicle to determine the lane change detection result of the vehicle;

[0017] If the lane change detection result indicates that the vehicle has changed lanes in the main and auxiliary road area, the positioning module is triggered to determine a second lane positioning detection result of the vehicle at a second time.

[0018] In one embodiment, the lane change detection module is specifically used to:

[0019] After the positioning module determines the first lane positioning detection result of the vehicle at the first time, if the first lane positioning detection result indicates that the vehicle is in an edge lane of the main and auxiliary road area at the first time, a lane change detection is performed on the vehicle to determine the lane change detection result of the vehicle.

[0020] In one embodiment, the processing module is specifically used to:

[0021] Determine the relative position relationship between the main road and the auxiliary road in the main-auxiliary road area;

[0022] A primary-secondary road switching recognition result of the vehicle is determined based on the first lane positioning detection result, the second lane positioning detection result, the lane change detection result, and the relative position relationship.

[0023] In one embodiment, the processing module is specifically used to:

[0024] When the first lane positioning detection result indicates that the vehicle is in an edge lane in a first direction of the main and auxiliary road area at the first time, the lane change detection result indicates that the vehicle has changed lanes in the main and auxiliary road area in the first direction, and the second lane positioning detection result indicates that the vehicle is in an edge lane in a second direction of the main and auxiliary road area at the second time, it is determined that the vehicle has switched between main and auxiliary roads in the main and auxiliary road area; the second direction is opposite to the first direction;

[0025] When it is determined that the vehicle has switched between the main and auxiliary roads in the main and auxiliary road area, a main and auxiliary road switching recognition result of the vehicle is determined according to the relative position relationship, the first direction, and the second direction.

[0026] In one embodiment, the processing module is specifically used to:

[0027] If the relative position relationship indicates that the secondary road in the primary-secondary road area is located in the reference direction of the main road, then when the reference direction is consistent with the first direction and opposite to the second direction, it is determined that the primary-secondary road switching recognition result of the vehicle is a first recognition result, and the first recognition result is used to indicate that the vehicle has entered the secondary road from the main road in the primary-secondary road area;

[0028] Alternatively, if the relative position relationship indicates that the auxiliary road in the main-auxiliary road area is located in the reference direction of the main road, then when the reference direction is opposite to the first direction and consistent with the second direction, the main-auxiliary road switching identification result of the vehicle is determined to be the second identification result, and the second identification result is used to indicate that the vehicle has driven into the main road from the auxiliary road in the main-auxiliary road area.

[0029] In one embodiment, the processing module is also used to perform task operations on the vehicle according to the main-auxiliary road switching identification result, and the task operations include any one or more of navigation route update, main-auxiliary road deviation detection, and main-auxiliary road starting point calculation.

[0030] On the one hand, an embodiment of the present application provides a computer device, including: a processor, a positioning device and a memory, wherein the processor, the positioning device and the memory are interconnected, wherein the memory stores an executable program code, and the processor is used to call the executable program code to execute the data processing method provided in the embodiment of the present application.

[0031] Accordingly, an embodiment of the present application further provides a computer-readable storage medium, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the data processing method provided by the embodiment of the present application.

[0032] Accordingly, the embodiment of the present application further provides a computer program product or a computer program, wherein the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the data processing method provided in the embodiment of the present application.

[0033] The embodiment of the present application obtains reference map information of the road the vehicle is currently traveling on based on the vehicle's positioning information. When it is detected according to the reference map information that the vehicle is in the main and auxiliary road area of ​​the driving road, a first lane positioning detection result of the vehicle at a first time is determined, and a second lane positioning detection result of the vehicle at a second time with a short time interval from the first time is determined. Finally, based on the first lane positioning detection result and the second lane positioning detection result, a main and auxiliary road switching recognition result of the vehicle is determined, thereby identifying the main and auxiliary road switching result based on the lane change of the vehicle in a relatively short period of time. The method is simple, not prone to misjudgment, and has high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 It is a schematic diagram of the architecture of a data processing system provided in an embodiment of the present application;

[0036] Figure 2 It is a flowchart of a data processing method provided in an embodiment of the present application;

[0037] Figure 3 An accurate lane positioning detection result is shown;

[0038] Figure 4 A fuzzy lane positioning detection result is shown;

[0039] Figure 5 It is a flowchart of another data processing method provided in an embodiment of the present application;

[0040] Figure 6 A schematic diagram of main and auxiliary road switching is shown;

[0041] Figure 7 Another schematic diagram of main-auxiliary road switching is shown;

[0042] Figure 8 A structure of an on-vehicle processing device is shown;

[0043] Fig. 9 The process of switching between main and auxiliary roads is shown;

[0044] Fig.10 is a structural schematic diagram of a data processing device provided in an embodiment of the present application;

[0045] Fig.11 It is a structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] In order to improve the accuracy of the primary and secondary road switching identification results, the present application embodiment first proposes the following three primary and secondary road switching identification methods:

[0048] The first method is to identify the switch between the main and auxiliary roads by the vehicle speed. This method assumes that the vehicle will have different driving speeds on the main road and the auxiliary road. The different driving speeds of the vehicle are used to determine whether the vehicle is driving on the main road or the auxiliary road. Finally, the main and auxiliary road switch is identified by combining the vehicle's historical judgment results, or combining the vehicle's gyroscope, heading angle and other information.

[0049] The second method is: based on multiple positioning points of the vehicle within a set time window, the driving trajectory of the vehicle during driving is determined, and the main road trajectory and the auxiliary road trajectory of the vehicle's current driving road are obtained from map information, etc. Based on the similarity of the driving trajectory with the main road trajectory and the auxiliary road trajectory, it is determined whether the vehicle is currently driving on the main road or the auxiliary road. Finally, the vehicle's historical judgment results, or the vehicle's gyroscope, heading angle and other information are combined to realize the recognition of the main and auxiliary road switching.

[0050] The third method is: using the vehicle's sensor device (such as a camera, radar, etc.) to collect environmental information of the vehicle's driving road, obtaining edge information of the vehicle's driving road from the environmental information, and determining the width of the vehicle's driving road based on the edge information, obtaining the main road width and the auxiliary road width of the vehicle's current driving road from information such as map information, and determining whether the vehicle is currently driving on the main road or the auxiliary road based on the width of the vehicle's driving road and the difference between the width of the main road and the width of the auxiliary road, and finally combining the vehicle's historical judgment results, or combining the vehicle's gyroscope, heading angle and other information to realize the recognition of the main and auxiliary road switching.

[0051] For the first method, since the driving speed of the main road is not necessarily greater than the driving speed of the auxiliary road in a traffic condition such as traffic congestion, this can easily lead to errors in the identification of the main and auxiliary roads, thereby causing misjudgment in the identification of the main and auxiliary road switching, so the accuracy of the main and auxiliary road switching results identified by this method is not high. For the second method, since the positioning accuracy of a general positioning system (such as GPS) is about 5-10m, the positioning position may drift, and the road data also has meter-level errors, so there is some uncertainty in the calculation of trajectory similarity, and the accuracy cannot be guaranteed, which will also cause misjudgment in the identification of the main and auxiliary road switching, and the accuracy is still not high. For the third method, obtaining the width of the road on which the vehicle is traveling requires accurately determining the distance between the vehicle and the left edge and the right edge at the same time, which is relatively difficult in actual situations. For example, when the vehicle is traveling on the right edge, it is difficult to accurately determine the distance between the vehicle and the left edge due to factors such as the coverage range of the sensor device (such as the viewing angle of the camera device) and the occlusion of other vehicles. Therefore, this method has the problem of being unable to determine the width of the road, which will lead to the problem of being unable to identify the main and auxiliary road switching results.

[0052] Based on this, in one or more embodiments, a data processing method is provided, that is, a main and auxiliary road switching identification method is provided, and the data processing method is based on AI (Artificial Intelligence) technology. AI refers to the theory, method, technology and application system of using digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. AI technology is a comprehensive discipline, and the fields it covers are relatively wide; and the data processing method provided in the embodiment of the present application mainly involves computer vision technology (Computer Vision, CV) and automatic driving technology in AI technology. Computer vision is a science that studies how to make machines "see". To put it more concretely, it refers to machine vision such as using cameras and computers to replace human eyes to identify, follow and measure targets, and further perform graphic processing to make computer processing into images that are more suitable for human eye observation or transmission to instrument detection. As a scientific discipline, computer vision studies related theories and technologies, and attempts to establish an artificial intelligence system that can obtain information from images or multidimensional data. Computer vision technology usually includes image processing, image recognition, image semantic understanding, image retrieval, OCR, video processing, video semantic understanding, video content / behavior recognition, three-dimensional object reconstruction, 3D technology, virtual reality, augmented reality, simultaneous positioning and map construction, and common biometric recognition technologies such as face recognition and fingerprint recognition. Autonomous driving technology usually includes high-precision maps, environmental perception, behavioral decision-making, path planning, motion control and other technologies.

[0053] In a feasible embodiment, the data processing method provided in the embodiment of the present application is also based on cloud technology and / or blockchain technology. Specifically, it may involve a cloud database in cloud technology, etc. For example, the data required to execute the data processing method (such as map information) is obtained from the cloud database. For another example, the data generated by executing the data processing method (such as the main and auxiliary road switching identification results) can also be stored in the blockchain network in the form of blocks, and the device executing the data processing method can be a node device in the blockchain network.

[0054] In one or more embodiments, the provided data processing method can be applied to Figure 1 The data processing system shown in Figure 1As shown, the data processing system includes: a vehicle 10 and an on-board processing device 11 configured on the vehicle 10. The data processing method can be executed by the on-board processing device 11, and includes the following steps: first, the positioning information of the vehicle is obtained, and the positioning information is used to indicate the current position of the vehicle. The on-board processing device 11 can realize the positioning of the vehicle through the positioning device included therein, etc., in combination with the satellite 12 and / or the signal base station 13 in the data processing system. According to the current position of the vehicle, the reference map information of the road where the vehicle is currently traveling is obtained. The reference map information is the local map information of the road where the vehicle is currently traveling, that is, the map information of a preset distance range (such as 100m, 200m) including the current road position of the vehicle; the on-board processing device 11 can obtain the reference map information from the offline map information stored in the local database of the vehicle, or can obtain the reference map information online from the cloud processing device 14 included in the data processing system. If the vehicle is detected to be in the main and auxiliary road area of ​​the driving road according to the reference map information, the first lane positioning detection result of the vehicle at the first time is determined, and the second lane positioning detection result of the vehicle at a second time with a shorter time interval from the first time is determined, the second time is later than the first time, and the interval between the second time and the first time is less than or equal to the target time interval. Finally, the main and auxiliary road switching recognition result of the vehicle is determined based on the first lane positioning detection result and the second lane positioning detection result. This method identifies the main and auxiliary road switching result based on the lane change of the vehicle in a short period of time. The method is simple, not prone to misjudgment, and has high accuracy.

[0055] In addition, it should be noted that the data processing method provided in the embodiment of the present application can also be executed by the cloud processing device 14. At this time, the cloud processing device 14 can obtain the positioning information of the vehicle through the positioning device included in the vehicle-mounted processing device 11 and the satellite 12 and / or the signal base station 13 in the data processing system, and can determine the first lane positioning detection result of the vehicle at the first time through the positioning device included in the vehicle-mounted processing device 11, and determine the second lane positioning detection result of the vehicle at the second time.

[0056] The above briefly introduces the data processing method provided in the embodiment of the present application. The following is a detailed description of the specific implementation of the data processing method.

[0057] See also Figure 2 , Figure 2 A flow chart of a data processing method provided in an embodiment of the present application. The data processing method described in the embodiment of the present application can be Figure 1 The vehicle-mounted processing device shown in the figure is executed and implemented in combination with other devices in the data processing system, and can also be implemented by Figure 1The data processing method is executed by the cloud processing device shown and implemented in combination with other devices in the data processing system. The data processing method includes but is not limited to the following steps:

[0058] S201. Obtain vehicle positioning information.

[0059] In an embodiment of the present application, the positioning information is used to indicate the current position of the vehicle, which can be represented by coordinates of longitude and latitude. In one embodiment, the positioning information of the vehicle can be directly obtained by a positioning device (such as a GPS device) configured for the vehicle. In another embodiment, in order to improve the positioning accuracy of the vehicle, the positioning information output by the vehicle positioning device, the vehicle control information (including heading angle information, etc.), the vehicle visual perception information (including relevant information such as the vehicle environment collected by the camera) and the inertial measurement unit IMU information can be comprehensively analyzed and processed to accurately obtain the current position of the vehicle.

[0060] S202: Acquire reference map information of the road on which the vehicle is currently traveling according to the positioning information.

[0061] In the embodiment of the present application, the reference map information is the local map information of the road where the vehicle is currently traveling, that is, the map information of a preset distance range (such as 100m, 200m) including the road position where the vehicle is currently traveling; the reference map information can be obtained from the offline map information stored in the local database of the vehicle, or it can be obtained online from the cloud processing device included in the data processing system. The reference map information includes road shape attributes, the connection relationship between roads, and road shape points and directions, etc., wherein the road shape attributes include main roads and auxiliary roads.

[0062] S203: If it is detected according to the reference map information that the vehicle is in the main or auxiliary road area of ​​the driving road, a first lane positioning detection result of the vehicle at the first time is determined.

[0063] In the embodiment of the present application, firstly, according to the information such as the road form attributes included in the reference map information, it is detected whether there is a main-auxiliary road switching position (or the main-auxiliary road exit / entrance) within the preset distance range including the current road position of the vehicle, and the main-auxiliary road switching position refers to the road position where the vehicle can switch between the main road and the auxiliary road according to the traffic rules; if there is a main-auxiliary road switching position within the preset distance range, it is determined whether the main-auxiliary road switching position is located in front of or behind the vehicle's driving direction. When the main-auxiliary road switching position is located in front of the vehicle's driving direction, it is further determined whether the distance between the main-auxiliary road switching position and the vehicle's current position is less than or equal to a preset distance threshold (such as 20m); if it is less than or equal to the preset distance threshold, it is determined that the vehicle is in the main-auxiliary road area of ​​the driving road. On the contrary, if there is no main-auxiliary road switching position within the preset distance range, or the main-auxiliary road switching position is located behind the vehicle's driving direction, or the distance between the main-auxiliary road switching position and the vehicle's current position is greater than the preset distance threshold, it is determined that the vehicle is not in the main-auxiliary road area of ​​the driving road.

[0064] When it is determined that the vehicle is in the main and auxiliary road area of ​​the driving road, a lane positioning detection is performed on the vehicle to determine the first lane positioning detection result of the vehicle at the first time. The first lane positioning detection result is used to indicate the lane position of the vehicle, that is, which lane or part of a certain road in the main and auxiliary road area is located at the first time. The road refers to a road including one or more lanes marked or divided by traffic marking lines (such as single solid lines, double solid lines, yellow solid lines), green belts or railings, which can be any one of the one or more roads included in the driving road mentioned above. The lane position of the vehicle can be determined based on the visual perception information collected for the driving road on which the vehicle is located during driving (including lane line color, nature, shape, lane type, etc.) and the road features obtained from the map information; the lane position of the vehicle can also be determined using RTK (Real-time kinematic) carrier phase difference technology.

[0065] When it is determined that the vehicle is not in the main and auxiliary road area of ​​the driving road, steps S201 to S203 are repeatedly executed at a set time interval. When it is detected that the vehicle is not in the main and auxiliary road area of ​​the driving road, subsequent main and auxiliary road switching identification is not performed, which can save computing resources and reduce power consumption of processing equipment.

[0066] S204: Determine a second lane positioning detection result of the vehicle at a second time, where the second time is later than the first time, and an interval between the second time and the first time is less than or equal to a target time interval.

[0067] In an embodiment of the present application, after determining the first lane positioning detection result of the vehicle at the first time, the lane positioning detection is re-performed on the vehicle according to the set lane positioning detection time interval to determine the second lane positioning detection result of the vehicle at the second time. Among them, the second time and the first time may be separated by one or more lane positioning detection time intervals, but the interval between the second time and the first time is less than or equal to the target time interval, and the target time interval is a shorter time interval. Limiting the interval between the second time and the first time to a smaller range is conducive to ensuring the accuracy of the main and auxiliary road switching identification. In a feasible embodiment, the lane positioning detection time interval and / or the target time interval can be adjusted in real time according to the driving speed of the vehicle.

[0068] Similarly, the second lane positioning detection result is also used to indicate the lane position of the vehicle, that is, which lane or part of a certain road in the main and auxiliary road area the vehicle is in at the second time. The lane position of the vehicle can be determined based on the visual perception information collected for the road on which the vehicle is traveling during driving and the road features obtained from the map information; the lane position of the vehicle can also be determined using RTK carrier phase difference technology.

[0069] In the embodiment of the present application, whether it is the first lane positioning detection result or the second lane positioning detection result, the lane positioning detection result can be accurate or relatively vague. Figure 3 As shown, Figure 3 An accurate lane positioning detection result is shown. The figure shows a 4-lane scene. The double solid lines on the left and right sides represent the edges of the road. The upper part of the figure shows the left-number rule. From the 1st lane on the left to the current lane, the lane positioning detection result is the 2nd lane on the left. The lower part of the figure shows the right-number rule. From the 1st lane on the right to the current lane, the lane positioning detection result is the 3rd lane on the right. The left and right number effects are equivalent and can be converted by the total number of lanes on the road: left number = total number of lanes - right number + 1. Figure 4 As shown, Figure 4 A fuzzy lane positioning detection result is shown. The lane positioning result given is not an accurate number, but the relative position information of "left, center, and right". Among them, "left" and "right" represent the left lane and the right lane respectively, and "center" represents other lanes except the left lane and the right lane. Because the edge of the road is easy to judge, left and right are considered to be unambiguous here and only represent a specific lane. Of course, for roads with more lanes, such as more than 6 lanes, the two lanes on the left can also be defined as left lanes, and the two lanes on the right can be defined as right lanes.

[0070] S205. Determine a primary-auxiliary road switching recognition result of the vehicle according to the first lane positioning detection result and the second lane positioning detection result.

[0071] In an embodiment of the present application, the main-auxiliary road switching identification result can at least be used to indicate whether the vehicle has switched the main-auxiliary road in the main-auxiliary road area. Furthermore, when the vehicle has switched the main-auxiliary road in the main-auxiliary road area, it can also be used to indicate the type of main-auxiliary road switching performed by the vehicle, including switching from the main road to the auxiliary road, or switching from the auxiliary road to the main road.

[0072] In one embodiment, the first lane positioning detection result and the second lane positioning detection result are analyzed. If it is analyzed that the first lane positioning detection result indicates that the vehicle is in the edge lane in the first direction of the main and auxiliary road area at the first time, and the second lane positioning detection result indicates that the vehicle is in the edge lane in the second direction of the main and auxiliary road area at the second time, it is determined that the vehicle has switched the main and auxiliary roads in the main and auxiliary road area. Among them, the second direction is opposite to the first direction, for example, if the first direction is right, then the second direction is left. Since the interval between the first time and the second time is set to be less than or equal to the target time interval in the embodiment of the present application, and the target time interval is a shorter time interval, when the lane position of the vehicle jumps from the edge lane in one direction to the edge lane in the opposite direction in a shorter time, the vehicle is most likely to have switched the main and auxiliary roads, including switching from the main road to the auxiliary road, or from the auxiliary road to the main road; and since the number of lanes on the same road is generally large, the possibility of switching from the edge lane on one side to the edge lane on the other side of the same road in a shorter time is very small. Based on this, the result that the above-mentioned vehicle has switched the main and auxiliary roads in the main and auxiliary road area can be obtained.

[0073] On the contrary, if the results obtained by analyzing the first lane positioning detection results and the second lane positioning detection results are inconsistent with the above results, it can be determined that the vehicle did not switch between the main and auxiliary roads in the main and auxiliary road area, because the possibility of the vehicle switching from a side edge lane of one road (such as the right edge lane) to the same side edge lane of another road (such as the corresponding right edge lane) in a short period of time is very small.

[0074] In another embodiment, the first lane positioning detection result and the second lane positioning detection result, in addition to being used to indicate the lane position of the vehicle at that time, also include characteristic information of the road where the vehicle is at that time. The characteristic information includes one or more of the number of lanes, information such as the color of the road edge, whether it is close to a non-motorized vehicle lane or a sidewalk, the distance from the non-motorized vehicle lane or the sidewalk, and the width of the road. The first lane positioning detection result and the second lane positioning detection result are analyzed to first determine whether the road in the main and auxiliary road area where the vehicle is at the first time is consistent with the road in the main and auxiliary road area at the second time. If not, when the first lane positioning detection result indicates that the vehicle is at the edge lane in the first direction of the main and auxiliary road area at the first time, and the second lane positioning detection result indicates that the vehicle is at the edge lane in the second direction (opposite to the first direction) of the main and auxiliary road area at the second time, it is determined that the vehicle has switched the main and auxiliary roads in the main and auxiliary road area. On the contrary, if the results obtained by analyzing the first lane positioning detection result and the second lane positioning detection result are inconsistent with the above results, it can be determined that the vehicle has not switched the main and auxiliary roads in the main and auxiliary road area. The result determined by this method as to whether the vehicle has switched the main and auxiliary roads in the main and auxiliary road area is more accurate.

[0075] In the embodiment of the present application, when it is determined that the vehicle has switched between main and auxiliary roads in the main and auxiliary road area, it is also possible to combine the characteristic information of the road on which the vehicle was located at the time, included in the first lane positioning detection result and the second lane positioning detection result, and / or, in combination with the vehicle's gyroscope, heading angle and other information, and / or in combination with the three main and auxiliary road switching identification methods first proposed in the embodiment of the present application or the vehicle speed, road trajectory, road width and other information involved therein, to further determine the type of main and auxiliary road switching, that is, to determine whether the vehicle is switched from the main road to the auxiliary road, or from the auxiliary road to the main road. After determining that the vehicle has not switched between the main and auxiliary roads in the main and auxiliary road area, at least part of the steps from step S201 to step S205 may be repeatedly executed, including repeating only steps S203 to step S205 within a period of time (such as under the premise of ensuring that the vehicle has not left the main and auxiliary road switching position).

[0076] The embodiment of the present application obtains reference map information of the road where the vehicle is currently traveling based on the positioning information of the vehicle. When the reference map information detects that the vehicle is in the main and auxiliary road area of ​​the road, the first lane positioning detection result of the vehicle at the first time is determined, and the second lane positioning detection result of the vehicle at the second time with a short time interval from the first time is determined. Finally, based on the first lane positioning detection result and the second lane positioning detection result, the main and auxiliary road switching recognition result of the vehicle is determined, so that the main and auxiliary road switching result can be identified based on the lane change of the vehicle in a short time. The method is simple, not prone to misjudgment, and has high accuracy. Accurate main and auxiliary road switching recognition results are conducive to providing users with more timely and more accurate navigation services, etc.

[0077] In one or more embodiments, a data processing method is provided, that is, a main-auxiliary road switching identification method is provided to further improve the accuracy of the main-auxiliary road switching identification result. Similarly, the data processing method can be Figure 1 The vehicle-mounted processing device shown in the figure is executed and implemented in combination with other devices in the data processing system, and can also be implemented by Figure 1 The cloud processing device shown is executed and implemented in conjunction with other devices in the data processing system. Figure 5 As shown, the data processing method includes but is not limited to the following steps:

[0078] S501. Obtain vehicle positioning information.

[0079] S502: Acquire reference map information of the road on which the vehicle is currently traveling according to the positioning information.

[0080] S503: If it is detected according to the reference map information that the vehicle is in the main or auxiliary road area of ​​the driving road, a first lane positioning detection result of the vehicle at the first time is determined.

[0081] It should be noted that the specific implementation of steps S501 to S503 can refer to the relevant description in the previous embodiment and will not be repeated here.

[0082] S504: Perform lane change detection on the vehicle and determine a lane change detection result of the vehicle.

[0083] In the embodiment of the present application, the lane change detection result is used to indicate whether the vehicle has changed lanes, and when the vehicle has changed lanes, it is also used to indicate the lane change mode of the vehicle, such as changing lanes to the left or to the right, where left / right is relative to the original road direction (or the direction of vehicle travel). It can be combined with one or more of the vehicle's historical driving trajectory information (history refers to a specific time period before the current time), vehicle motion state information (including but not limited to speed information, steering wheel angle information, gyroscope angle change information, heading angle information, etc.), vehicle visual information (including relevant information about the vehicle's environment collected by vehicle sensors such as camera devices and radar devices), road data information (including the road feature information described above), etc., to determine whether the vehicle has changed lanes, and determine the vehicle's lane change mode after determining that the vehicle has changed lanes.

[0084] In one embodiment, after determining the first lane positioning detection result of the vehicle at the first time, the vehicle lane change detection is directly performed to determine the lane change detection result of the vehicle. In another embodiment, after determining the first lane positioning detection result of the vehicle at the first time, if the first lane positioning detection result indicates that the vehicle is in the edge lane of the main and auxiliary road area at the first time, a lane change detection is performed on the vehicle to determine the lane change detection result of the vehicle. On the contrary, if the first lane positioning detection result indicates that the vehicle is not in the edge lane of the main and auxiliary road area at the first time, the lane positioning detection is re-performed on the vehicle according to the set lane positioning detection time interval, and whether to perform the lane change detection is re-determined based on the new lane positioning detection result. Because the vehicle should first change to the edge lane of the road when it needs to switch between the main and auxiliary roads, the lane change detection is performed when the vehicle is in the edge lane of the road, which can avoid useless lane change detection operations, thereby saving computing resources and reducing the power consumption of the processing equipment.

[0085] S505. If the lane change detection result indicates that the vehicle has changed lanes in the main and auxiliary road area, determine a second lane positioning detection result of the vehicle at a second time, where the second time is later than the first time, and the interval between the second time and the first time is less than or equal to a target time interval.

[0086] It should be noted that the specific implementation method of determining the second lane positioning detection result of the vehicle at the second time can refer to the relevant description in the previous embodiment, which will not be repeated here.

[0087] S506: Determine the relative position relationship between the main road and the auxiliary road in the main-auxiliary road area, wherein the relative position relationship can be used to indicate in which direction (such as left or right) the auxiliary road is located with respect to the main road.

[0088] In one embodiment, the relative position relationship between the main road and the auxiliary road in the main-auxiliary road area can be directly determined based on the driving mode of the area where the vehicle is currently located (such as left-hand drive on the right or right-hand drive on the left) and the road planning method (such as for left-hand drive on the right, the auxiliary road is set on the right side of the main road). In another embodiment, when the reference map information obtained in step S502 indicates that there is a main-auxiliary road switching position in the current road area, the reference map information also includes the relative position relationship between the main road and the auxiliary road corresponding to each main-auxiliary road switching position in the current road area, based on which the relative position relationship between the main road and the auxiliary road in the main-auxiliary road area can be directly obtained from the reference map information. The relative position relationship between the main road and the auxiliary road determined in this way is more accurate and can effectively avoid misjudgment.

[0089] S507. Determine a primary-secondary road switching recognition result of the vehicle according to the first lane positioning detection result, the second lane positioning detection result, the lane change detection result, and the relative position relationship.

[0090] In an embodiment of the present application, the main-auxiliary road switching identification result can at least be used to indicate whether the vehicle has switched the main-auxiliary road in the main-auxiliary road area. Furthermore, when indicating that the vehicle has switched the main-auxiliary road in the main-auxiliary road area, it can also be used to indicate the type of main-auxiliary road switching performed, including whether it is switched from the main road to the auxiliary road, or from the auxiliary road to the main road.

[0091] The first lane positioning detection result, the second lane positioning detection result and the lane change detection result are analyzed. If it is analyzed that the first lane positioning detection result indicates that the vehicle is in the edge lane in the first direction of the main and auxiliary road area at the first time, the lane change detection result indicates that the vehicle has changed lanes in the first direction in the main and auxiliary road area, and the second lane positioning detection result indicates that the vehicle is in the edge lane in the second direction of the main and auxiliary road area at the second time, it is determined that the vehicle has switched between the main and auxiliary roads in the main and auxiliary road area. Among them, the second direction is opposite to the first direction. For example, if the vehicle is in the right edge lane of the road at the first time, and subsequently changes lanes to the right, and is in the left edge lane of the road after the lane change, it can be determined that the vehicle has switched between the main and auxiliary roads. It should be noted that it is also possible to determine whether the vehicle has switched between the main and auxiliary roads by combining the judgment of whether the road in which the vehicle is in the main and auxiliary road area at the first time is consistent with the road in which it is in the main and auxiliary road area at the second time (the judgment method can refer to the previous description).

[0092] When it is determined that the vehicle has switched between main and auxiliary roads in the main and auxiliary road area, the main and auxiliary road switching identification result of the vehicle is determined based on the relative position relationship between the main road and the auxiliary road in the main and auxiliary road area, the first direction, and the second direction. In one embodiment, if the relative position relationship indicates that the auxiliary road in the main and auxiliary road area is located in the reference direction of the main road, then when the reference direction is consistent with the first direction and opposite to the second direction, it is determined that the vehicle has entered the auxiliary road from the main road in the main and auxiliary road area. At this time, the main and auxiliary road switching identification result of the vehicle can be determined as the first identification result, and the first identification result is used to indicate that the vehicle has entered the auxiliary road from the main road in the main and auxiliary road area. For example, Figure 6 As shown, the auxiliary road in the main-auxiliary road area is located on the right side of the main road. When the vehicle is initially in the right edge lane of the road, and changes lanes to the right in a short time, and is in the left edge lane of the road after changing lanes, it can be determined that the vehicle has driven from the main road into the auxiliary road.

[0093] In another embodiment, if the relative position relationship indicates that the secondary road in the primary-secondary road area is located in the reference direction of the main road, then when the reference direction is opposite to the first direction and consistent with the second direction, it is determined that the vehicle has entered the main road from the secondary road in the primary-secondary road area. At this time, the primary-secondary road switching recognition result of the vehicle can be determined as the second recognition result, and the second recognition result is used to indicate that the vehicle has entered the main road from the secondary road in the primary-secondary road area. For example, Figure 7 As shown, the auxiliary road in the main-auxiliary road area is located on the right side of the main road. When the vehicle is initially in the left edge lane of the road, and changes lanes to the left in a short time, and is in the right edge lane of the road after changing lanes, it can be determined that the vehicle has entered the main road from the auxiliary road.

[0094] Among them, if the results obtained by analyzing the first lane positioning detection result, the second lane positioning detection result and the lane change detection result are inconsistent with the above results, it can be determined that the vehicle has not switched the main and auxiliary roads in the main and auxiliary road area. At this time, at least part of the steps from step S501 to step S507 can be repeated, including repeating only steps S503 to step S507 within a period of time (such as ensuring that the main and auxiliary road switching position is not left). It should be noted that the relative position relationship can also be used to indicate in which direction (such as left or right) the main road is located on the auxiliary road. The determination method at this time can be inferred by analogy and will not be repeated here.

[0095] In a feasible embodiment, after determining the main-auxiliary road switching recognition result of the vehicle based on the first lane positioning detection result, the second lane positioning detection result, the lane change detection result, and the relative position relationship between the main road and the auxiliary road in the main-auxiliary road area, if the main-auxiliary road switching recognition result indicates that the vehicle has switched the main-auxiliary road in the main-auxiliary road area, then any one or more task operations such as navigation route update, main-auxiliary road deviation detection, and main-auxiliary road starting point calculation are performed on the vehicle.

[0096] The embodiment of the present application obtains reference map information of the road where the vehicle is currently traveling based on the positioning information of the vehicle. When the reference map information detects that the vehicle is in the main and auxiliary road area of ​​the driving road, the first lane positioning detection result of the vehicle at the first time is determined, as well as the lane change detection result of the vehicle. When it is detected that the vehicle has changed lanes at a short time interval from the first time, the second lane positioning detection result of the vehicle at the second time after the lane change is determined. Finally, based on the first lane positioning detection result, the second lane positioning detection result and the lane change detection result, the main and auxiliary road switching recognition result of the vehicle is determined, so that the main and auxiliary road switching result can be identified based on the lane change and lane change behavior of the vehicle in a short period of time. The method is simple, not prone to misjudgment, and has high accuracy. Accurate main and auxiliary road switching recognition results are conducive to providing users with more timely and accurate navigation services, etc.

[0097] In order to better understand the main and auxiliary road switching identification method provided in the embodiment of the present application, the main and auxiliary road switching identification method is as follows: Figure 1 Taking the execution of the vehicle-mounted processing device shown in the figure as an example, the main-auxiliary road switching identification method provided in the embodiment of the present application is further described. The vehicle-mounted processing device can be a processing system, such as Figure 8 As shown, it may include a vehicle positioning module, a map data module, a lane-level positioning module, a lane change detection module and a main-auxiliary road switching recognition module. The above five modules work together to complete the main-auxiliary road switching recognition.

[0098] Among them, the vehicle positioning module obtains the historical status information collected by the vehicle during the historical positioning period, and the historical status information includes but is not limited to global positioning system GPS information, vehicle control information, vehicle visual perception information, and inertial measurement unit IMU information. The vehicle positioning module processes one or more of the above historical status information through set algorithms and rules to obtain the vehicle positioning information at the current moment, such as the coordinates of the longitude and latitude of the current position of the vehicle. It should be noted that the embodiment of the present application does not restrict the way in which the vehicle positioning module realizes vehicle positioning.

[0099] The map data module matches the corresponding road position according to the vehicle positioning information output by the vehicle positioning module, and then obtains the local map information of the current road position, that is, the map information of the preset distance range including the current road position. The local map information includes road morphological attributes (including main roads and auxiliary roads), the connection relationship between roads, road shape points and directions, etc.

[0100] The lane-level positioning module can identify the lane position of the vehicle on the road. The lane-level positioning module can determine the lane position of the vehicle based on the visual perception information collected during the driving process for the road on which the vehicle is traveling (including lane line color, properties, shape, lane type, etc.) and the features obtained from the map information; it can also use RTK carrier phase difference technology to determine the lane position of the vehicle. It should be noted that the embodiments of the present application do not restrict the way in which the lane-level positioning module implements lane positioning. As mentioned above, the lane positioning detection results can be accurate or relatively fuzzy, as shown in the figure. Figure 3 and Figure 4 As shown, no further description is given here.

[0101] The lane change detection module combines the vehicle's historical driving trajectory information, vehicle motion state information (including but not limited to speed information, steering wheel angle information, gyroscope angle change information, heading angle information, etc.), vehicle visual information (including relevant information about the vehicle's environment collected by vehicle sensors such as camera devices and radar devices), road data information (including the road feature information mentioned above), etc., to determine whether the vehicle has changed lanes within a time window, and determine the vehicle's lane change method after determining that the vehicle has changed lanes. The lane change detection results include three types: changing lanes to the left, not changing lanes, and changing lanes to the right. It should be noted that the left / right here is relative to the original road direction or the vehicle's driving direction.

[0102] The main and auxiliary road switching recognition module is the core module of the vehicle-mounted processing equipment to realize the main and auxiliary road switching recognition function. The main and auxiliary road switching recognition module is composed of multiple layers of judgment logic, which includes the following processes: Fig. 9 As shown, including but not limited to the following steps:

[0103] Step 1, determine whether the vehicle has entered the main and auxiliary road area based on the local map information output by the map data module. The method for determining whether the vehicle has entered the main and auxiliary road area can be: determine whether there is a main and auxiliary road area near the vehicle based on the local map data. If there is a main and auxiliary road area, calculate the distance from the vehicle to the main and auxiliary road switching position (i.e., the exit / entrance of the main and auxiliary roads). When the vehicle reaches a first preset distance threshold (such as 20m) from the main and auxiliary road exit / entrance in front, confirm that the vehicle has entered the main and auxiliary road area. When the vehicle leaves the main and auxiliary road exit / entrance and reaches a second preset distance threshold, confirm that the vehicle has left the main and auxiliary road area. If it is determined that the vehicle has entered the main and auxiliary road area, execute step 2, otherwise return to step 1.

[0104] Step 2: Based on the lane positioning detection result output by the lane-level positioning module, determine whether the vehicle is traveling in the left / right edge lane of the road. If it is determined that the vehicle is traveling in the left / right edge lane of the road, execute step 3; otherwise, return to step 1. This is a prerequisite because the vehicle must first travel to the left / right edge lane of the road before switching between the main and auxiliary roads.

[0105] Step 3: Based on the lane change detection result output by the lane change detection module, determine whether the vehicle has changed lanes within the preset time window. If it is determined that the vehicle has changed lanes within the preset time window, execute step 4. Otherwise, return to step 1. Because the vehicle must change lanes to switch between the main and auxiliary roads.

[0106] Step 4, the lane detection result of the vehicle at the current time (i.e. after changing lanes) is obtained again through the lane-level positioning detection module, and it is determined whether the vehicle is traveling in the lane at the edge of the road at this time based on the lane detection result obtained again. If it is determined that the vehicle is not traveling in the lane at the edge of the road at this time, the recognition result that the main and auxiliary roads have not switched is obtained, and the process returns to step 1. If it is determined that the vehicle is traveling in the lane at the edge of the road at this time, the following judgment is further made (here, an example is given for the road planning method of left-hand drive on the right side of the main road):

[0107] a. If the lane positioning detection result in step 2 is that the vehicle is driving in the right lane of the road, the vehicle is detected to have changed lanes to the right in step 3, and the lane positioning detection result in step 4 is that the vehicle is driving in the left lane of the road, then the recognition result of the "main road -> auxiliary road" switch is obtained, and the process returns to step 1. Figure 6 As shown, when the vehicle is to switch from "main road -> secondary road", it first needs to drive in the right lane of the main road, then change lanes to the right, and then drive in the left lane of the secondary road.

[0108] b. If the lane positioning detection result in step 2 is that the vehicle is driving in the lane on the left edge of the road, the vehicle is detected to have changed lanes to the left in step 3, and the lane positioning detection result in step 4 is that the vehicle is driving in the lane on the right edge of the road, then the recognition result of the "secondary road -> main road" switch is obtained, and the process returns to step 1. Figure 7 When the vehicle switches from "secondary road -> main road", it must first drive in the left lane of the secondary road, then change lanes to the left, and then drive in the right lane of the main road.

[0109] c. If the conditions in a or b are not met, the identification result that the main and auxiliary road switching has not occurred is obtained, and the process returns to step 1. Thus, the main and auxiliary road switching identification is completed.

[0110] In addition, in a feasible embodiment, the lane change detection module may not be required, so as to ensure a certain accuracy of recognition of the main and auxiliary road switching while reducing a certain system complexity. Here, an example is still given for the road planning method in which the left-hand steering and right-hand driving mode and the auxiliary road are set on the right side of the main road. By repeatedly obtaining the lane positioning detection results of the vehicle within a window time when entering the main and auxiliary road area, it is determined whether the vehicle has a jump from "right edge lane -> left edge lane" or "left edge lane -> right edge lane". If a jump from "right edge lane -> left edge lane" occurs, the recognition result of the "main road -> auxiliary road" switch can be directly obtained; or if a jump from "left edge lane -> right edge lane" occurs, the recognition result of the "auxiliary road -> main road" switch can be directly obtained. It should be noted that the jump here means that the lane positioning detection does not recognize that the vehicle is driving in the middle of the road, but directly jumps from the left lane of one road to the right lane of another road, or directly jumps from the right lane of one road to the left lane of another road.

[0111] It should be noted that the above-mentioned main-auxiliary road switching method is for the left-hand drive mode, where the auxiliary road is located on the right side of the main road. For some areas where right-hand drive mode is used, where the auxiliary road is located on the left side of the main road, etc., the same principle can be used, except that the judgment methods in a, b, and c above are slightly different.

[0112] The main and auxiliary road switching method provided in the embodiment of the present application can identify the main and auxiliary road switching results more accurately and in real time by comprehensively judging whether the vehicle has switched the main and auxiliary roads based on the vehicle's lane changing behavior in a short period of time and the results of multiple lane positioning detections, and judging the type of main and auxiliary road switching when the main and auxiliary road switching occurs, and is not prone to misjudgment; in addition, this method can achieve efficient and accurate main and auxiliary road switching identification using only the vehicle's own perception information, without the need for high-precision map data, and without relying on external sensors or equipment. It is simple and easy to use, has low implementation costs and high accuracy, and is more versatile. In addition, accurate main and auxiliary road switching identification results can not only provide a reliable reference basis for applications such as main and auxiliary road deviation, main and auxiliary road starting point calculation, and navigation route switching; it can also effectively solve problems such as insufficient GPS accuracy and inaccurate inertial navigation calculation.

[0113] See also Fig.10 , Fig.10 A structural diagram of a data processing device provided in an embodiment of the present application. The data processing device described in the embodiment of the present application can execute the data processing method described above, and the device includes a positioning module 1001, an acquisition module 1002, a processing module 1003 and a lane change detection module 1004. The data processing device may correspond to the vehicle-mounted processing device or the cloud-based processing device described above. When the data processing device corresponds to the vehicle-mounted processing device described above, the positioning module 1001 may correspond to the vehicle positioning module 1001 and the lane-level positioning module 1001 included in the vehicle-mounted processing device described above; the acquisition module 1002 may correspond to the map data module included in the vehicle-mounted processing device described above; the processing module 1003 may correspond to the main-auxiliary road switching identification module included in the vehicle-mounted processing device described above; and the lane change detection module 1004 may correspond to the lane change detection module included in the vehicle-mounted processing device described above. Wherein:

[0114] Positioning module 1001, used to obtain vehicle positioning information;

[0115] An acquisition module 1002 is used to acquire reference map information of the road where the vehicle is currently traveling according to the positioning information;

[0116] The processing module 1003 is used to trigger the positioning module 1001 to determine the first lane positioning detection result of the vehicle at the first time if it is detected that the vehicle is in the main and auxiliary road area of ​​the driving road according to the reference map information;

[0117] The positioning module 1001 is further used to determine a second lane positioning detection result of the vehicle at a second time, where the second time is later than the first time, and the interval between the second time and the first time is less than or equal to a target time interval;

[0118] The processing module 1003 is further used to determine the primary-auxiliary road switching recognition result of the vehicle according to the first lane positioning detection result and the second lane positioning detection result.

[0119] In one embodiment, the apparatus further includes a lane change detection module 1004, configured to:

[0120] After the positioning module 1001 determines the first lane positioning detection result of the vehicle at the first time, a lane change detection is performed on the vehicle to determine the lane change detection result of the vehicle;

[0121] If the lane change detection result indicates that the vehicle has changed lanes in the main and auxiliary road area, the positioning module 1001 is triggered to determine a second lane positioning detection result of the vehicle at a second time.

[0122] In one embodiment, the lane change detection module 1004 is specifically configured to:

[0123] After the positioning module 1001 determines the first lane positioning detection result of the vehicle at the first time, if the first lane positioning detection result indicates that the vehicle is in the edge lane of the main and auxiliary road area at the first time, a lane change detection is performed on the vehicle to determine the lane change detection result of the vehicle.

[0124] In one embodiment, the processing module 1003 is specifically configured to:

[0125] Determine the relative position relationship between the main road and the auxiliary road in the main-auxiliary road area;

[0126] A primary-secondary road switching recognition result of the vehicle is determined based on the first lane positioning detection result, the second lane positioning detection result, the lane change detection result, and the relative position relationship.

[0127] In one embodiment, the processing module 1003 is specifically configured to:

[0128] When the first lane positioning detection result indicates that the vehicle is in an edge lane in a first direction of the main and auxiliary road area at the first time, the lane change detection result indicates that the vehicle has changed lanes in the main and auxiliary road area in the first direction, and the second lane positioning detection result indicates that the vehicle is in an edge lane in a second direction of the main and auxiliary road area at the second time, it is determined that the vehicle has switched between main and auxiliary roads in the main and auxiliary road area; the second direction is opposite to the first direction;

[0129] When it is determined that the vehicle has switched between the main and auxiliary roads in the main and auxiliary road area, a main and auxiliary road switching recognition result of the vehicle is determined according to the relative position relationship, the first direction, and the second direction.

[0130] In one embodiment, the processing module 1003 is specifically configured to:

[0131] If the relative position relationship indicates that the secondary road in the primary-secondary road area is located in the reference direction of the main road, then when the reference direction is consistent with the first direction and opposite to the second direction, it is determined that the primary-secondary road switching recognition result of the vehicle is a first recognition result, and the first recognition result is used to indicate that the vehicle has entered the secondary road from the main road in the primary-secondary road area;

[0132] Alternatively, if the relative position relationship indicates that the auxiliary road in the main-auxiliary road area is located in the reference direction of the main road, then when the reference direction is opposite to the first direction and consistent with the second direction, the main-auxiliary road switching identification result of the vehicle is determined to be the second identification result, and the second identification result is used to indicate that the vehicle has driven into the main road from the auxiliary road in the main-auxiliary road area.

[0133] In one embodiment, the processing module 1003 is also used to perform task operations on the vehicle according to the main-auxiliary road switching identification result, and the task operations include any one or more of navigation route update, main-auxiliary road deviation detection, and main-auxiliary road starting point calculation.

[0134] It can be understood that the functions of each functional unit of the data processing device provided in the embodiment of the present application can be specifically implemented according to the method in the above method embodiment, and its specific implementation process can refer to the relevant description in the above method embodiment, which will not be repeated here.

[0135] The embodiment of the present application obtains reference map information of the road the vehicle is currently traveling on based on the vehicle's positioning information. When it is detected according to the reference map information that the vehicle is in the main and auxiliary road area of ​​the driving road, a first lane positioning detection result of the vehicle at a first time is determined, and a second lane positioning detection result of the vehicle at a second time with a short time interval from the first time is determined. Finally, based on the first lane positioning detection result and the second lane positioning detection result, a main and auxiliary road switching recognition result of the vehicle is determined, thereby identifying the main and auxiliary road switching result based on the lane change of the vehicle in a relatively short period of time. The method is simple, not prone to misjudgment, and has high accuracy.

[0136] See also Fig.11 , Fig.11A schematic diagram of the structure of a computer device provided in an embodiment of the present application. The computer device described in the embodiment of the present application includes: a processor 1101, a positioning device 1102, and a memory 1103. The processor 1101, the positioning device 1102, and the memory 1103 may be connected via a bus or other means, and the embodiment of the present application takes the connection via a bus as an example.

[0137] Among them, the processor 1101 (or CPU (Central Processing Unit)) is the computing core and control core of the computer device, which can parse various instructions in the computer device and process various data of the computer device. For example, the CPU can be used to parse the power on and off instructions sent by the user to the computer device, and control the computer device to perform power on and off operations; for another example, the CPU can transmit various interactive data between the internal structures of the computer device, and so on. The positioning device 1102 is used to achieve positioning, which can be a part of the positioning system or a device that can achieve positioning, such as a visual sensor. The memory 1103 (Memory) is a memory device in the computer device, which is used to store programs and data. It can be understood that the memory 1103 here can include both the built-in memory of the computer device and the extended memory supported by the computer device. The memory 1103 provides a storage space, which stores the operating system of the computer device, which may include but is not limited to: Android system, iOS system, Windows Phone system, etc., and this application does not limit this.

[0138] In a feasible embodiment, the computer device may also include a user interface and / or a communication interface. The user interface is a medium for realizing interaction and information exchange between a user and a computer device. Its specific embodiment may include a display screen (Display) for output and a touch screen, a keyboard (Keyboard) for input, etc. It should be noted that the keyboard here can be either a physical keyboard, a touch screen virtual keyboard, or a keyboard that combines a physical and a touch screen virtual. The communication interface may optionally include a standard wired interface, a wireless interface (such as Wi-Fi, a mobile communication interface, etc.), which is controlled by the processor 1101 for sending and receiving data.

[0139] In the embodiment of the present application, the processor 1101 performs the following operations by running the executable program code in the memory 1104:

[0140] The positioning information of the vehicle is obtained through the positioning device 1102, and the reference map information of the road on which the vehicle is currently traveling is obtained based on the positioning information; if it is detected that the vehicle is in the main and auxiliary road area of ​​the driving road based on the reference map information, the first lane positioning detection result of the vehicle at the first time is determined through the positioning device 1102; the second lane positioning detection result of the vehicle at the second time is determined through the positioning device 1102, the second time is later than the first time, and the interval between the second time and the first time is less than or equal to the target time interval; based on the first lane positioning detection result and the second lane positioning detection result, the main and auxiliary road switching identification result of the vehicle is determined.

[0141] In one embodiment, the processor 1101 is also used to: after determining the first lane positioning detection result of the vehicle at the first time, perform lane change detection on the vehicle to determine the lane change detection result of the vehicle; if the lane change detection result indicates that the vehicle has changed lanes in the main and auxiliary road area, determine the second lane positioning detection result of the vehicle at the second time through the positioning device 1102.

[0142] In one embodiment, the processor 1101 performs lane change detection on the vehicle after determining the first lane positioning detection result of the vehicle at the first time. When determining the lane change detection result of the vehicle, it is specifically used to: after determining the first lane positioning detection result of the vehicle at the first time, if the first lane positioning detection result indicates that the vehicle is in the edge lane of the main and auxiliary road area at the first time, perform lane change detection on the vehicle to determine the lane change detection result of the vehicle.

[0143] In one embodiment, when the processor 1101 determines the main-auxiliary road switching recognition result of the vehicle based on the first lane positioning detection result and the second lane positioning detection result, it is specifically used to: determine the relative position relationship between the main road and the auxiliary road in the main-auxiliary road area; determine the main-auxiliary road switching recognition result of the vehicle based on the first lane positioning detection result, the second lane positioning detection result, the lane change detection result and the relative position relationship.

[0144] In one embodiment, when the processor 1101 determines the primary-secondary road switching recognition result of the vehicle according to the first lane positioning detection result, the second lane positioning detection result, the lane change detection result, and the relative position relationship, it is specifically used to:

[0145] When the first lane positioning detection result indicates that the vehicle is in the edge lane in the first direction of the main and auxiliary road area at the first time, the lane change detection result indicates that the vehicle has changed lanes in the first direction in the main and auxiliary road area, and the second lane positioning detection result indicates that the vehicle is in the edge lane in the second direction of the main and auxiliary road area at the second time, it is determined that the vehicle has switched between main and auxiliary roads in the main and auxiliary road area; the second direction is opposite to the first direction; when it is determined that the vehicle has switched between main and auxiliary roads in the main and auxiliary road area, the main and auxiliary road switching identification result of the vehicle is determined based on the relative position relationship, the first direction and the second direction.

[0146] In one embodiment, when the processor 1101 determines the primary-auxiliary road switching recognition result of the vehicle according to the relative position relationship, the first direction, and the second direction, it is specifically used to:

[0147] If the relative position relationship indicates that the secondary road in the primary-secondary road area is located in the reference direction of the main road, then when the reference direction is consistent with the first direction and opposite to the second direction, it is determined that the primary-secondary road switching recognition result of the vehicle is a first recognition result, and the first recognition result is used to indicate that the vehicle has entered the secondary road from the main road in the primary-secondary road area;

[0148] Or it is specifically used for: if the relative position relationship indicates that the auxiliary road in the main-auxiliary road area is located in the reference direction of the main road, then when the reference direction is opposite to the first direction and consistent with the second direction, the main-auxiliary road switching identification result of the vehicle is determined to be the second identification result, and the second identification result is used to indicate that the vehicle has driven into the main road from the auxiliary road in the main-auxiliary road area.

[0149] In one embodiment, after the processor 1101 determines the main-auxiliary road switching recognition result of the vehicle based on the first lane positioning detection result and the second lane positioning detection result, it is also used to: perform task operations on the vehicle based on the main-auxiliary road switching recognition result, and the task operations include any one or more of navigation route update, main-auxiliary road deviation detection, and main-auxiliary road starting point calculation.

[0150] In a specific implementation, the processor 1101, positioning device 1102 and memory 1103 described in the embodiments of the present application can execute the data processing method provided in the embodiments of the present application, and can also execute the implementation method described in the data processing device provided in the embodiments of the present application, which will not be repeated here.

[0151] The embodiment of the present application obtains reference map information of the road the vehicle is currently traveling on based on the vehicle's positioning information. When it is detected according to the reference map information that the vehicle is in the main and auxiliary road area of ​​the driving road, a first lane positioning detection result of the vehicle at a first time is determined, and a second lane positioning detection result of the vehicle at a second time with a short time interval from the first time is determined. Finally, based on the first lane positioning detection result and the second lane positioning detection result, a main and auxiliary road switching recognition result of the vehicle is determined, thereby identifying the main and auxiliary road switching result based on the lane change of the vehicle in a relatively short period of time. The method is simple, not prone to misjudgment, and has high accuracy.

[0152] The embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is run on a computer, the computer executes the data processing method provided by the embodiment of the present application. The specific implementation method can be referred to the above description, and will not be repeated here.

[0153] The embodiment of the present application also provides a computer program product or a computer program, wherein the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the data processing method provided in the embodiment of the present application. The specific implementation method can be referred to the above description, which will not be repeated here.

[0154] It should be noted that, for the above-mentioned various method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0155] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0156] The above disclosure is only part of the embodiments of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A data processing method, characterized in that: The method comprises: Acquire the positioning information of the vehicle, and acquire the reference map information of the road where the vehicle is currently traveling based on the positioning information; If it is detected according to the reference map information that the vehicle is in the main and auxiliary road area of ​​the driving road, determining a first lane positioning detection result of the vehicle at a first time; Performing lane change detection on the vehicle and determining a lane change detection result of the vehicle; If the lane change detection result indicates that the vehicle has changed lanes in the main and auxiliary road area, determining a second lane positioning detection result of the vehicle at a second time, the second time is later than the first time, and the interval between the second time and the first time is less than or equal to a target time interval; Determine the relative position relationship between the main road and the auxiliary road in the main-auxiliary road area; When the first lane positioning detection result indicates that the vehicle is in an edge lane in a first direction of the main and auxiliary road area at the first time, the lane change detection result indicates that the vehicle has changed lanes in the main and auxiliary road area in the first direction, and the second lane positioning detection result indicates that the vehicle is in an edge lane in a second direction of the main and auxiliary road area at the second time, it is determined that the vehicle has switched between main and auxiliary roads in the main and auxiliary road area; the second direction is opposite to the first direction; When it is determined that the vehicle has switched between the main and auxiliary roads in the main and auxiliary road area, a main and auxiliary road switching recognition result of the vehicle is determined according to the relative position relationship, the first direction, and the second direction.

2. The method according to claim 1, characterized in that The performing lane change detection on the vehicle and determining a lane change detection result of the vehicle includes: After determining a first lane positioning detection result of the vehicle at a first time, if the first lane positioning detection result indicates that the vehicle is in an edge lane of the main and auxiliary road area at the first time, a lane change detection is performed on the vehicle to determine a lane change detection result of the vehicle.

3. The method according to claim 1 or 2, characterized in that The determining, according to the relative position relationship, the first direction, and the second direction, a primary-secondary road switching recognition result of the vehicle includes: If the relative position relationship indicates that the secondary road in the primary-secondary road area is located in the reference direction of the main road, then when the reference direction is consistent with the first direction and opposite to the second direction, it is determined that the primary-secondary road switching recognition result of the vehicle is a first recognition result, and the first recognition result is used to indicate that the vehicle has entered the secondary road from the main road in the primary-secondary road area; Or include: If the relative position relationship indicates that the auxiliary road in the main-auxiliary road area is located in the reference direction of the main road, then when the reference direction is opposite to the first direction and consistent with the second direction, the main-auxiliary road switching identification result of the vehicle is determined to be the second identification result, and the second identification result is used to indicate that the vehicle has driven into the main road from the auxiliary road in the main-auxiliary road area.

4. The method according to claim 1, characterized in that The method further comprises: A task operation is performed on the vehicle according to the main-auxiliary road switching identification result, and the task operation includes any one or more of navigation route update, main-auxiliary road deviation detection, and main-auxiliary road starting point calculation.

5. A data processing device, characterized in that: The device comprises: A positioning module, used to obtain the positioning information of the vehicle; An acquisition module, used to acquire reference map information of the road where the vehicle is currently traveling according to the positioning information; a processing module, configured to trigger the positioning module to determine a first lane positioning detection result of the vehicle at a first time if the vehicle is detected to be in a main or auxiliary road area of ​​the driving road according to the reference map information; a lane change detection module, configured to perform lane change detection on the vehicle and determine a lane change detection result of the vehicle, and if the lane change detection result indicates that the vehicle has changed lanes in the main and auxiliary road area, trigger the positioning module to determine a second lane positioning detection result of the vehicle at a second time, the second time being later than the first time, and the interval between the second time and the first time being less than or equal to a target time interval; The processing module is also used to: determine the relative position relationship between the main road and the secondary road in the main-secondary road area; when the first lane positioning detection result indicates that the vehicle is in the edge lane in the first direction of the main-secondary road area at the first time, the lane change detection result indicates that the vehicle has changed lanes in the first direction in the main-secondary road area, and the second lane positioning detection result indicates that the vehicle is in the edge lane in the second direction of the main-secondary road area at the second time, determine that the vehicle has switched between main and secondary roads in the main-secondary road area; the second direction is opposite to the first direction; when it is determined that the vehicle has switched between main and secondary roads in the main-secondary road area, determine the main-secondary road switching identification result of the vehicle based on the relative position relationship, the first direction and the second direction.

6. A computer device, characterized in that: include: A processor, a positioning device and a memory, wherein the processor, the positioning device and the memory are connected to each other, wherein the memory stores an executable program code, and the processor is used to call the executable program code to execute the data processing method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed on a computer, enables the computer to execute the data processing method according to any one of claims 1 to 4.

8. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium. A processor reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to perform the data processing method according to any one of claims 1 to 4.

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