Lane positioning method, device and electronic equipment

Abstract

The present invention provides a lane positioning method, device and electronic device, the method comprising: obtaining multiple lane segments within a preset range of the vehicle in the driving direction, and the lane image currently captured by the camera module; splicing the multiple lane segments based on a preset lane topology rule to obtain a combined lane; the combined lane is used to indicate information of continuous lanes within the preset range; the lane topology rule is used to indicate the connection mode between lane segments; and determining the target lane where the vehicle is located according to the combined lane and the lane image. The method increases the lane positioning accuracy by splicing multiple lane segments.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a lane positioning method, device and electronic equipment. Background Art

[0002] In L3 and above autonomous driving technologies, high-precision maps play an increasingly important role due to their unique characteristics of high richness and high precision. High-precision maps can not only provide navigation information at the road level, but also at the lane level.

[0003] High-precision positioning technology mainly uses GNSS, lidar, vision, IMU, odometer, etc. for combined positioning. It usually matches visual lane lines with high-precision map lane lines. The specific method is that the front camera of the autonomous driving car identifies the road lane lines, and then matches the identified lane lines with the high-precision map lane lines to locate the lane position of the car.

[0004] However, HD map roads (including lanes) have interruption rules: the road between the starting and ending points is not a complete section, and will be segmented into different lane segments due to changes in the number of lanes, road grade, road attributes and other factors. Each lane segment and the specific lane in the lane segment and the lane line corresponding to the lane have a unique ID. In the process of visual positioning lane line matching, a lane line visually identified is generally matched with a lane line on the HD map to achieve vehicle positioning. When a HD map divides a complete lane into multiple lane lines, vehicle positioning errors occur, resulting in low accuracy of traditional lane positioning. Summary of the invention

[0005] The purpose of the present invention is to provide a lane positioning method, device and electronic equipment to improve the accuracy of lane positioning.

[0006] In a first aspect, an embodiment of the present invention provides a lane positioning method, wherein a positioning device is applied to a vehicle, and the positioning device is connected to a camera module on the vehicle; the positioning device is used to provide a high-precision map, and the high-precision map includes lane segmentation information; the camera module is used to capture a lane image in front of the vehicle; the method includes: obtaining multiple lane segments within a preset range of the vehicle in the driving direction, and the lane image currently captured by the camera module; splicing the multiple lane segments based on a preset lane topology rule to obtain a combined lane; the combined lane is used to indicate information of continuous lanes within the preset range; the lane topology rule is used to indicate the connection method between lane segments; and determining the target lane where the vehicle is located based on the combined lane and the lane image.

[0007] In combination with the first aspect, an embodiment of the present invention provides a first possible implementation of the first aspect, wherein the step of splicing the multiple lane segments based on a preset lane topology rule to obtain a combined lane includes: storing the multiple lane segments to generate a variable container; and splicing the multiple lane segments in the variable container based on the preset lane topology rule to obtain a combined lane.

[0008] In combination with the first possible implementation of the first aspect, an embodiment of the present invention provides a second possible implementation of the first aspect, wherein the step of splicing the multiple lane segments in the variable container based on a preset lane topology rule to obtain a combined lane includes: determining the head lane in the lane segment according to the variable container; the head lane is used to indicate the starting segment of the lane; and splicing the multiple lane segments in the variable container based on the preset lane topology rule and the head lane to obtain a combined lane.

[0009] In combination with the second possible implementation of the first aspect, an embodiment of the present invention provides a third possible implementation of the first aspect, wherein the step of splicing the multiple lane segments in the variable container based on the preset lane topology rule and the head lane to obtain a combined lane includes: determining multiple lane segments uniquely corresponding to the head lane according to the preset lane topology rule; splicing the head lane with the multiple lane segments uniquely corresponding to the head lane to obtain a combined lane.

[0010] In combination with the second possible implementation of the first aspect, an embodiment of the present invention provides a fourth possible implementation of the first aspect, wherein the step of determining the head lane in the lane segment based on the variable container includes: judging whether the lane segment meets the preset characteristics of the head lane based on the variable container; if so, determining the lane segment that meets the characteristics of the head lane as the head lane.

[0011] In combination with the fourth possible implementation of the first aspect, an embodiment of the present invention provides a fifth possible implementation of the first aspect, wherein the characteristics of the preset head lane include: there is no front lane segment corresponding to the lane segment in the variable container, there is no front lane segment corresponding to the lane segment in the preset map data, there are multiple front lane segments corresponding to the lane segment in the variable container, and there are multiple rear lane segments corresponding to the lane segment in the variable container; wherein the front lane segment is used to indicate the front lane segment that is ahead of the lane segment along the direction of travel of the vehicle; and the rear lane segment is used to indicate the rear lane segment that is behind the lane segment along the direction of travel of the vehicle.

[0012] In combination with the first aspect, an embodiment of the present invention provides a sixth possible implementation of the first aspect, wherein the method also includes: determining the visual lane line of the vehicle based on the lane image; the visual lane line is used to indicate the lane line displayed in the lane image; matching the visual lane line with the combined lane to obtain a matching result; determining the positioning information of the vehicle based on the matching result; wherein the combined lane carries the latitude and longitude information of the lane.

[0013] In combination with the sixth possible implementation of the first aspect, an embodiment of the present invention provides a seventh possible implementation of the first aspect, wherein the step of matching the visual lane line with the combined lane to obtain a matching result includes: matching the visual lane line with the longitude and latitude information of the lane carried in the combined lane; and determining the longitude and latitude coordinates in the longitude and latitude information of the lane that are closest to the visual lane line as the matching result.

[0014] In a second aspect, an embodiment of the present invention provides a lane positioning device, wherein a positioning device is applied to a vehicle, and the positioning device is connected to a camera module on the vehicle; the positioning device is used to provide a high-precision map, and the high-precision map includes lane segmentation information; the camera module is used to capture the lane image in front of the vehicle; the device includes: an information acquisition module, used to obtain multiple lane segments of the vehicle within a preset range in the driving direction, and the lane image currently captured by the camera module; a combined lane generation module, used to splice the multiple lane segments based on a preset lane topology rule to obtain a combined lane; the combined lane is used to indicate information of continuous lanes within the preset range; the lane topology rule is used to indicate the connection method between lane segments; a lane positioning module, used to determine the target lane where the vehicle is located based on the combined lane and the lane image.

[0015] In a third aspect, an embodiment of the present invention provides an electronic device, wherein the electronic device includes a processor and a memory, the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the lane positioning method of any one of the first aspect to the seventh possible implementation manner of the first aspect.

[0016] The embodiments of the present invention bring the following beneficial effects:

[0017] The embodiment of the present invention provides a lane positioning method, device and electronic device, wherein a positioning device is applied to a vehicle, the positioning device is connected to a camera module on the vehicle; the positioning device is used to provide a high-precision map, the high-precision map includes lane segmentation information; the camera module is used to capture the lane image in front of the vehicle; the method includes: obtaining multiple lane segments within a preset range of the vehicle in the driving direction, and the lane image currently captured by the camera module; splicing the multiple lane segments based on a preset lane topology rule to obtain a combined lane; the combined lane is used to indicate the information of the continuous lane within the preset range; the lane topology rule is used to indicate the connection mode between the lane segments; according to the combined lane and the lane image, the target lane where the vehicle is located is determined. The method increases the lane positioning accuracy by splicing multiple lane segments.

[0018] Other features and advantages disclosed in this embodiment will be described in the subsequent description, or some features and advantages can be inferred or determined without doubt from the description, or can be learned by implementing the above-mentioned technology of the present disclosure.

[0019] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic flow chart of a lane recognition method provided by an embodiment of the present invention;

[0022] Figure 2 A schematic flow chart of another lane recognition method provided by an embodiment of the present invention;

[0023] Figure 3 A lane segmentation schematic diagram provided by an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of a combined lane provided by an embodiment of the present invention;

[0025] Figure 5 A schematic structural diagram of a lane positioning device provided by an embodiment of the present invention;

[0026] Figure 6A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0027] Icons: 51 - information acquisition module; 52 - combined lane generation module; 53 - lane positioning module; 61 - memory; 62 - processor; 63 - bus; 64 - communication interface. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Traditional lane vision positioning methods usually match a lane line identified by vision with a lane line on a high-precision map to achieve vehicle positioning. When a high-precision map divides a complete lane into multiple lane lines, vehicle positioning errors occur, resulting in low accuracy of traditional lane positioning.

[0030] Based on this, an embodiment of the present invention provides a lane positioning method, device and electronic device to improve lane positioning accuracy. To facilitate understanding of this embodiment, a lane positioning method disclosed in an embodiment of the present invention is first introduced in detail.

[0031] Example 1

[0032] Figure 1 A flow chart of a lane recognition method provided by an embodiment of the present invention is provided. The method is applied to a vehicle positioning device, the positioning device is connected to a camera module on the vehicle; the positioning device is used to provide a high-precision map, the high-precision map includes lane segmentation information; the camera module is used to capture an image of the lane in front of the vehicle; Figure 1 As can be seen, the method comprises the following steps:

[0033] Step S101: Acquire a plurality of lane segments within a preset range of the vehicle's driving direction, and a lane image currently captured by the camera module.

[0034] In this embodiment, the preset range is 50m, and the ID information of multiple lane segments within 50m around the vehicle can be obtained through the positioning device.

[0035] Step S102: splicing the multiple lane segments based on a preset lane topology rule to obtain a combined lane; the combined lane is used to indicate information of a continuous lane within the preset range; the lane topology rule is used to indicate a connection method between lane segments.

[0036] In this embodiment, since the high-precision map provides a preset lane topology rule, the connection relationship of each lane segment can be known. According to the preset lane topology rule, the IDs of the lane segments are combined to obtain a complete combined lane.

[0037] Step S103: Determine the target lane where the vehicle is located according to the combined lane and the lane image.

[0038] In this embodiment, the lane line displayed in the lane image is matched with the combined lane to determine the lane information where the vehicle is currently located, thereby determining the target lane of the vehicle.

[0039] The lane positioning method provided in this embodiment is applied to a positioning device of a vehicle, the positioning device is connected to a camera module on the vehicle; the positioning device is used to provide a high-precision map, the high-precision map includes lane segmentation information; the camera module is used to capture the lane image in front of the vehicle; the method includes: obtaining multiple lane segments within a preset range of the vehicle in the driving direction, and the lane image currently captured by the camera module; splicing the multiple lane segments based on a preset lane topology rule to obtain a combined lane; the combined lane is used to indicate the information of the continuous lane within the preset range; the lane topology rule is used to indicate the connection mode between the lane segments; according to the combined lane and the lane image, the target lane where the vehicle is located is determined. The method increases the lane positioning accuracy by splicing multiple lane segments.

[0040] Example 2

[0041] exist Figure 1 Based on the flowchart of a lane positioning method shown in the figure, this embodiment also provides another lane positioning method. The method is applied to a vehicle positioning device, which is connected to a camera module on the vehicle; the positioning device is used to provide a high-precision map, which includes lane segmentation information; the camera module is used to capture the lane image in front of the vehicle; Figure 2 A schematic flow chart of another lane recognition method provided by an embodiment of the present invention, comprising Figure 2 As can be seen, the method comprises the following steps:

[0042] Step S201: Acquire a plurality of lane segments within a preset range of the vehicle's driving direction, and a lane image currently captured by the camera module.

[0043] Step S202: The multiple lanes are divided into segments and stored to generate a variable container.

[0044] Step S203: splicing the multiple lane segments in the variable container based on a preset lane topology rule to obtain a combined lane.

[0045] In one embodiment, the above step S203 is implemented by the following steps A1-A2:

[0046] Step A1: Determine the head lane in the lane segment according to the variable container; the head lane is used to indicate the starting segment of the lane.

[0047] In actual operation, the above step A1 is implemented through the following steps B1-B2:

[0048] Step B1: judging whether the lane segment meets the preset characteristics of the head lane according to the variable container. The preset characteristics of the head lane include: there is no front lane segment corresponding to the lane segment in the variable container, there is no front lane segment corresponding to the lane segment in the preset map data, there are multiple front lane segments corresponding to the lane segment in the variable container, and there are multiple rear lane segments corresponding to the lane segment in the variable container; wherein the front lane segment is used to indicate the front lane segment ahead of the lane segment along the direction of travel of the vehicle; and the rear lane segment is used to indicate the rear lane segment behind the lane segment along the direction of travel of the vehicle.

[0049] Step B2: If yes, determine the lane segment that meets the characteristics of the head lane as the head lane.

[0050] Step A2: Based on the preset lane topology rule and the head lane, the multiple lane segments in the variable container are spliced ​​to obtain a combined lane.

[0051] In actual operation, the above A2 is specifically implemented by the following steps 11-12:

[0052] Step 11: Determine multiple lane segments that uniquely correspond to the head lane according to the preset lane topology rule.

[0053] In this embodiment, the second lane segment uniquely corresponding to the head lane is first determined according to the preset lane topology rule. Then the second lane segment is determined as the head lane, and then the third lane segment uniquely corresponding to the second lane segment is determined according to the preset lane topology rule, until multiple lane segments uniquely corresponding to the head lane are determined and no lane segment corresponding to it is found again.

[0054] Step 12: Splice the head lane with multiple lane segments uniquely corresponding to the head lane to obtain a combined lane.

[0055] For ease of understanding, Figure 3 A lane segmentation schematic diagram provided by an embodiment of the present invention. Figure 3 What you see: Lane 1-3 to Lane 3-1 are all lane segments.

[0056] Figure 4 A schematic diagram of a combined lane provided by an embodiment of the present invention. Figure 4 What you see: Lane 1-3 ~ connects the lanes into sections Lane 1 ~ Lane 4.

[0057] Step S204: Determine the target lane where the vehicle is located according to the combined lane and the lane image.

[0058] In actual operation, the method further includes the following steps C1-C3:

[0059] Step C1: Determine the visual lane line of the vehicle according to the lane image; the visual lane line is used to indicate the lane line displayed in the lane image.

[0060] Step C2: Match the visual lane line with the combined lane to obtain a matching result.

[0061] In this embodiment, the visual lane line is first matched with the latitude and longitude information of the lane carried in the combined lane, and then the latitude and longitude coordinates closest to the visual lane line in the latitude and longitude information of the lane are determined as the matching result.

[0062] Step C3: Determine the positioning information of the vehicle according to the matching result; wherein the combined lane carries the latitude and longitude information of the lane.

[0063] In this embodiment, the longitude and latitude coordinates closest to the visual lane line in the longitude and latitude information of the lane are determined as the vehicle positioning information.

[0064] Here, in order to allow the visual lane line to match a more complete map lane line (rather than a segmented map lane line, because a visual lane line can only match one map lane line. If the map lane line is segmented, only a part of the map lane line can be matched, and the positioning accuracy cannot be guaranteed), based on this, the length of the matched lane line is longer, and the position difference calculation between the two is more accurate, which is more conducive to improving positioning accuracy.

[0065] The lane positioning method provided in this embodiment is applied to a positioning device of a vehicle, the positioning device is connected to a camera module on the vehicle; the positioning device is used to provide a high-precision map, the high-precision map includes lane segmentation information; the camera module is used to capture the lane image in front of the vehicle; the method includes: obtaining multiple lane segments within a preset range of the vehicle in the driving direction, and the lane image currently captured by the camera module; storing the multiple lane segments to generate a variable container; splicing the multiple lane segments in the variable container based on a preset lane topology rule to obtain a combined lane; determining the target lane where the vehicle is located according to the combined lane and the lane image. The method not only increases the lane positioning accuracy but also increases the data processing speed by splicing the multiple lane segments in the variable container.

[0066] Example 3

[0067] The embodiment of the present invention also provides a lane positioning device, which is applied to a vehicle positioning device, the positioning device is connected to a camera module on the vehicle; the positioning device is used to provide a high-precision map, the high-precision map includes lane segmentation information; the camera module is used to capture the lane image in front of the vehicle; Figure 5 What I see, Figure 5 A schematic structural diagram of a lane positioning device provided in an embodiment of the present invention, the device comprises:

[0068] An information acquisition module 51 is used to acquire a plurality of lane segments of the vehicle within a preset range in the driving direction, and a lane image currently captured by the camera module;

[0069] A combined lane generation module 52 is used to combine the multiple lane segments based on a preset lane topology rule to obtain a combined lane; the combined lane is used to indicate information of continuous lanes within the preset range; the lane topology rule is used to indicate a connection method between lane segments;

[0070] The lane positioning module 53 is used to determine the target lane where the vehicle is located according to the combined lane and the lane image.

[0071] The information acquisition module 51, the combined lane generation module 52 and the lane positioning module 53 are connected in sequence.

[0072] In one embodiment, the combined lane generation module 52 is further used to store the multiple lane segments to generate a variable container; and to splice the multiple lane segments in the variable container based on a preset lane topology rule to obtain a combined lane.

[0073] In one of the embodiments, the combined lane generation module 52 is also used to determine the head lane in the lane segment according to the variable container; the head lane is used to indicate the starting segment of the lane; based on the preset lane topology rules and the head lane, the multiple lane segments in the variable container are spliced ​​to obtain a combined lane.

[0074] In one of the embodiments, the combined lane generation module 52 is also used to determine multiple lane segments uniquely corresponding to the head lane according to the preset lane topology rule; and splice the head lane with the multiple lane segments uniquely corresponding to the head lane to obtain a combined lane.

[0075] In one embodiment, the combined lane generation module 52 is further used to determine whether the lane segment meets the preset characteristics of the head lane based on the variable container; if so, the lane segment that meets the characteristics of the head lane is determined as the head lane.

[0076] Among them, the characteristics of the preset head lane include: there is no front lane segment corresponding to the lane segment in the variable container, there is no front lane segment corresponding to the lane segment in the preset map data, there are multiple front lane segments corresponding to the lane segment in the variable container, and there are multiple rear lane segments corresponding to the lane segment in the variable container; wherein the front lane segment is used to indicate the front lane segment that is ahead of the lane segment along the direction of travel of the vehicle; the rear lane segment is used to indicate the rear lane segment that is behind the lane segment along the direction of travel of the vehicle.

[0077] In one embodiment, the lane positioning module 53 is also used to determine the visual lane line of the vehicle based on the lane image; the visual lane line is used to indicate the lane line displayed in the lane image; the visual lane line is matched with the combined lane to obtain a matching result; based on the matching result, the positioning information of the vehicle is determined; wherein the combined lane carries the latitude and longitude information of the lane.

[0078] In one embodiment, the lane positioning module 53 is also used to match the visual lane line with the latitude and longitude information of the lane carried in the combined lane; and the longitude and latitude coordinates closest to the visual lane line in the latitude and longitude information of the lane are determined as the matching result.

[0079] The lane positioning device provided in the embodiment of the present invention has the same technical features as the lane positioning method provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the device described above can refer to the corresponding process in the above method embodiment, and will not be repeated here.

[0080] Example 4

[0081] This embodiment provides an electronic device, including a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the steps of the lane positioning method.

[0082] See also Figure 6 The structure diagram of an electronic device shown in the figure includes: a memory 61 and a processor 62. The memory stores a computer program that can be run on the processor 62. When the processor executes the computer program, the steps provided by the above lane positioning method are implemented.

[0083] like Figure 6 As shown, the device further includes: a bus 63 and a communication interface 64, a processor 62, a communication interface 64 and a memory 61 are connected via the bus 63; the processor 62 is used to execute executable modules stored in the memory 61, such as computer programs.

[0084] The memory 61 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 64 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0085] The bus 63 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0086] Among them, the memory 61 is used to store the program, and the processor 62 executes the program after receiving the execution instruction. The method performed by the lane positioning device disclosed in any embodiment of the present invention can be applied to the processor 62, or implemented by the processor 62. The processor 62 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 62 or the instruction in the form of software. The above processor 62 can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 61, and the processor 62 reads the information in the memory 61 and completes the steps of the above method in combination with its hardware.

[0087] Furthermore, an embodiment of the present invention also provides a machine-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and executed by the processor 62, the machine-executable instructions prompt the processor 62 to implement the above-mentioned lane positioning method.

[0088] The lane positioning method and lane positioning device provided in the embodiments of the present invention have the same technical features, and therefore can solve the same technical problems and achieve the same technical effects.

[0089] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0090] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

Claims

1. A lane positioning method, characterized in that: A positioning device applied to a vehicle, the positioning device being connected to a camera module on the vehicle; the positioning device being used to provide a high-precision map, the high-precision map including lane segmentation information; The camera module is used to capture the lane image in front of the vehicle; the method comprises: Acquire a plurality of lane segments within a preset range of the vehicle's driving direction, and a lane image currently captured by the camera module; The plurality of lanes are stored in segments to generate a variable container; Determine the head lane in the lane segment according to the variable container; the head lane is used to indicate the starting segment of the lane; splicing the multiple lane segments in the variable container based on a preset lane topology rule and the head lane to obtain a combined lane; The combined lane is used to indicate the information of the continuous lane within the preset range; the lane topology rule is used to indicate the connection mode between lane segments; A target lane in which the vehicle is located is determined according to the combined lane and the lane image.

2. The lane positioning method according to claim 1, characterized in that: The step of splicing the multiple lane segments in the variable container based on the preset lane topology rule and the head lane to obtain a combined lane includes: Determining a plurality of lane segments uniquely corresponding to the head lane according to the preset lane topology rule; The head lane is spliced ​​with multiple lane segments uniquely corresponding to the head lane to obtain a combined lane.

3. The lane positioning method according to claim 1, characterized in that: The step of determining the head lane in the lane segment according to the variable container comprises: According to the variable container, determining whether the lane segment meets the preset characteristics of the head lane; If yes, the lane segment meeting the characteristics of the head lane is determined as the head lane.

4. The lane positioning method according to claim 3, characterized in that: The preset features of the head lane include: no front lane segment corresponding to the lane segment in the variable container, no front lane segment corresponding to the lane segment in the preset map data, multiple front lane segments corresponding to the lane segment in the variable container, and multiple rear lane segments corresponding to the lane segment in the variable container; wherein the front lane segment is used to indicate a front lane segment that is ahead of the lane segment along the direction of travel of the vehicle; and the rear lane segment is used to indicate a rear lane segment that is behind the lane segment along the direction of travel of the vehicle.

5. The lane positioning method according to claim 1, characterized in that: The method further comprises: Determining a visual lane line of the vehicle according to the lane image; the visual lane line is used to indicate a lane line displayed in the lane image; Matching the visual lane line with the combined lane to obtain a matching result; The positioning information of the vehicle is determined according to the matching result; wherein the combined lane carries the latitude and longitude information of the lane.

6. The lane positioning method according to claim 5, characterized in that: The step of matching the visual lane line with the combined lane to obtain a matching result comprises: Matching the visual lane line with the latitude and longitude information of the lane carried in the combined lane; The longitude and latitude coordinates closest to the visual lane line in the longitude and latitude information of the lane are determined as the matching result.

7. A lane positioning device, characterized in that: A positioning device applied to a vehicle, the positioning device being connected to a camera module on the vehicle; the positioning device being used to provide a high-precision map, the high-precision map including lane segmentation information; The camera module is used to capture the lane image in front of the vehicle; the device includes: An information acquisition module, used to acquire a plurality of lane segments of the vehicle within a preset range in the driving direction, and a lane image currently captured by the camera module; A combined lane generation module is used to store the multiple lane segments and generate a variable container; determine the head lane in the lane segment according to the variable container; the head lane is used to indicate the starting segment of the lane; based on a preset lane topology rule and the head lane, the multiple lane segments in the variable container are spliced ​​to obtain a combined lane; The combined lane is used to indicate the information of the continuous lane within the preset range; the lane topology rule is used to indicate the connection mode between lane segments; A lane positioning module is used to determine the target lane where the vehicle is located based on the combined lane and the lane image.

8. An electronic device, characterized in that: The electronic device includes a processor and a memory, the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the lane positioning method according to any one of claims 1 to 6.

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