Lane positioning method, computer device, computer readable storage medium and vehicle

Abstract

The present invention relates to the field of positioning technology, and specifically provides a lane positioning method, computer equipment, computer-readable storage medium, and vehicle, designed to solve the problem of accurately locating the lane in which a vehicle is currently traveling in a road network with road layers of varying heights. To this end, the lane positioning method of the present invention includes positioning the vehicle using a two-dimensional map to determine the vehicle's position; obtaining the lanes surrounding the vehicle's position and the connectivity relationships between the lanes; and determining the lane ID of the vehicle's current lane based on the lanes surrounding the vehicle's position and the connectivity relationships between the lanes. Through the above method, even if the vehicle is traveling in a road network with road layers of varying heights, it is possible to accurately determine which lane the vehicle is traveling in using the two-dimensional map and based on the connectivity relationships between the lanes.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and specifically provides a lane positioning method, computer equipment, computer-readable storage medium, and vehicle. Background Art

[0002] Vehicles are typically equipped with onboard maps, which are used for positioning and navigation during driving. When a vehicle is traveling on a road network with road layers of different heights, if multiple roads of different heights exist at the same location, these roads will be displayed intertwined on the onboard map. When the vehicle is traveling at this location, it will be impossible to accurately locate the vehicle's road using the onboard map. Furthermore, when each road layer contains multiple lanes, it is even more difficult to determine which lane the vehicle is traveling in.

[0003] Accordingly, this field requires a new technical solution to solve the above problems. Summary of the Invention

[0004] In order to overcome the above-mentioned defects, the present invention is proposed to provide a lane positioning method, computer equipment, computer-readable storage medium and vehicle that solve or at least partially solve the technical problem of how to accurately locate the current lane of a vehicle in a road network with road layers of different heights.

[0005] In a first aspect, the present invention provides a lane positioning method, the method comprising:

[0006] Locate the vehicle through a two-dimensional map to determine the vehicle's position;

[0007] Obtaining lanes around the vehicle position and connectivity relationships between lanes;

[0008] The lane ID of the lane where the vehicle is currently located is determined based on the lanes around the vehicle position and the connectivity relationship between the lanes.

[0009] In one technical solution of the lane positioning method described above, the step of "determining the lane ID of the lane currently located by the vehicle based on the lanes surrounding the vehicle position and the connectivity relationship between the lanes" specifically includes:

[0010] Determine whether the last lane ID can be determined based on the last determined vehicle position;

[0011] If it can be determined, the lane ID of the vehicle's current lane is determined based on the map range of the lane corresponding to the previous lane ID on the two-dimensional map and the current vehicle position;

[0012] If it cannot be determined, the lane ID of the vehicle's current lane is determined based on the map range of the lanes within a preset range centered on the current vehicle position and the current vehicle position.

[0013] In one technical solution of the lane positioning method, the step of "determining the lane ID of the vehicle's current lane based on the map range of the lane corresponding to the previous lane ID on the two-dimensional map and the current vehicle position" specifically includes:

[0014] Determining whether the current vehicle position falls within the map range corresponding to the previous lane ID and the two-dimensional map contains only one lane within the map range;

[0015] If yes, the last lane ID is used as the lane ID of the vehicle's current lane;

[0016] If not, obtain other lanes that belong to the same road layer as the lane corresponding to the previous lane ID and have a connectivity relationship with the lane corresponding to the previous lane ID, and determine the lane ID of the lane the vehicle is currently in based on the map range of the other lanes on the two-dimensional map and the current vehicle position.

[0017] In one technical solution of the lane positioning method described above, the step of "determining the lane ID of the lane in which the vehicle is currently located based on the map range of the other lanes on the two-dimensional map and the current vehicle position" specifically includes:

[0018] Determining whether the current vehicle position falls within the map range corresponding to only one of the other lanes;

[0019] If yes, use the lane ID of the other lane as the lane ID of the lane the vehicle is currently in;

[0020] If not, the lane ID of the vehicle's current lane is determined based on the map range of lanes within a preset range centered on the current vehicle position that fall on the two-dimensional map and the current vehicle position.

[0021] In one technical solution of the lane positioning method described above, the step of "determining the lane ID of the vehicle's current lane based on the map range of lanes within a preset range centered on the current vehicle position and falling on the two-dimensional map and the current vehicle position" specifically includes:

[0022] If the current vehicle position falls within the map range corresponding to only one lane within the preset range, the lane ID of the lane within the preset range is used as the lane ID of the vehicle's current lane;

[0023] If the current vehicle position falls within the map range corresponding to multiple lanes within the preset range, the multiple lanes within the preset range are used as candidate lanes, and the lane ID of the vehicle's current lane is filtered out from the lane IDs of the candidate lanes based on lanes that have a connectivity relationship with the lane corresponding to the previous lane ID and / or the current vehicle's posture.

[0024] In one technical solution of the lane positioning method described above, the step of "selecting the lane ID of the vehicle's current lane from the candidate lane IDs based on lanes connected to the lane corresponding to the previous lane ID and / or the current vehicle's position" specifically includes:

[0025] Determining whether the candidate lane is a virtual lane;

[0026] When it is determined to be a virtual lane, a virtual lane matching the current vehicle's position is obtained. If the number of matching virtual lanes is 1, the lane ID of the matching virtual lane is used as the lane ID of the vehicle's current lane. If the number of matching virtual lanes is not 1, initialization processing is performed based on the current vehicle position, the vehicle's starting lane is re-determined, and the lane ID of the starting lane is used as the lane ID of the vehicle's current lane.

[0027] When it is determined that the lane is not a virtual lane, obtaining a lane that is connected to the lane corresponding to the previous lane ID from the candidate lanes;

[0028] If the number of connected lanes is 1, the lane ID of the connected lane is used as the lane ID of the lane the vehicle is currently in; if the number of connected lanes is not 1, initialization processing is performed based on the current vehicle position, the starting lane of the vehicle is re-determined, and the lane ID of the starting lane is used as the lane ID of the lane the vehicle is currently in.

[0029] In one technical solution of the lane positioning method, the method further includes performing initialization processing according to the current vehicle position through the following steps to determine the starting lane of the vehicle:

[0030] Get the lanes within a preset range centered on the current vehicle position;

[0031] Determining whether the current vehicle position falls within a map range corresponding to a lane within the preset range;

[0032] When the vehicle falls within the map range corresponding to only one lane within the preset range, the distance between the current vehicle position and the boundary of the lane within the preset range is obtained; if the distance is greater than or equal to a preset distance threshold, the lane within the preset range is used as the starting lane for the vehicle; if the distance is less than the preset distance threshold, a lane positioning abnormality prompt message is output;

[0033] When the vehicle does not fall within the map range corresponding to only one lane within the preset range, a lane positioning abnormality prompt message is output.

[0034] In a second aspect, a computer device is provided, which includes a processor and a storage device, wherein the storage device is suitable for storing multiple program codes, and the program codes are suitable for being loaded and run by the processor to execute the lane positioning method described in any one of the technical solutions of the above-mentioned lane positioning method.

[0035] In a third aspect, a computer-readable storage medium is provided, which stores a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the lane positioning method described in any one of the technical solutions of the above-mentioned lane positioning method.

[0036] In a fourth aspect, a vehicle is provided, comprising the computer device described in the above-mentioned computer device technical solution.

[0037] The above one or more technical solutions of the present invention have at least one or more of the following beneficial effects:

[0038] In implementing the technical solution of the present invention, the vehicle can first be located using a two-dimensional map to determine the vehicle's position (the vehicle's position is two-dimensional information, for example, the vehicle's position can include the vehicle's x-axis and y-axis coordinates in the world coordinate system). The lanes surrounding the vehicle's position and the connectivity relationships between lanes are then obtained (if a vehicle enters another lane normally from one lane, the two lanes are connected; otherwise, the two lanes are not connected). The lane ID of the vehicle's current lane is determined based on the obtained lanes and connectivity relationships. Through the above technical solution, even if a vehicle is traveling on a road network with road layers of different heights, the vehicle's lane can be accurately determined using the two-dimensional map and the connectivity relationships between lanes.

[0039] Furthermore, in some technical solutions implementing the present invention, to reduce computing resource consumption, when determining the lane ID of the vehicle's current lane based on the lanes surrounding the vehicle's position and the connectivity between lanes, the lane ID of the vehicle's current lane can be determined sequentially based on the map range of the lane corresponding to the previous lane ID on the two-dimensional map, the map range of other lanes that belong to the same road layer and have a connectivity relationship with the lane corresponding to the previous lane ID on the two-dimensional map, and the map range of lanes within a preset range centered on the current vehicle position, combined with the current vehicle position. In this process, once the lane ID of the vehicle's current lane is determined based on a certain map range and the current vehicle position, subsequent analysis is no longer required, thereby significantly reducing computing resource consumption and improving lane positioning efficiency.

[0040] Furthermore, in some technical solutions implementing the present invention, when lane positioning is initially initiated, initialization processing can be performed based on the vehicle's position to determine the vehicle's starting lane, with the lane ID of the starting lane being used as the first lane ID of the vehicle's lane. Furthermore, if the lane ID of the vehicle's current lane cannot be determined during the process of determining the lane ID of the vehicle's current lane based on the surrounding lanes and the connectivity between lanes, initialization processing can also be performed based on the vehicle's position to determine the vehicle's starting lane, with the lane ID of the starting lane being used as the lane ID of the vehicle's current lane. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The disclosure of the present invention will be more easily understood with reference to the accompanying drawings. Those skilled in the art will readily appreciate that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. Furthermore, similar numbers in the drawings represent similar components, wherein:

[0042] Figure 1 This is a flow chart of the main steps of a lane positioning method according to an embodiment of the present invention;

[0043] Figure 2 is a road schematic diagram of road layers at different heights according to one embodiment of the present invention;

[0044] Figure 3 is a schematic diagram of a virtual lane according to an embodiment of the present invention Figure 1 ;

[0045] Figure 4 is a schematic diagram of a virtual lane according to an embodiment of the present invention Figure 2 ;

[0046] Figure 5is a schematic diagram of a virtual lane according to an embodiment of the present invention Figure 3 ;

[0047] Figure 6 1 is a flow chart of the main steps of a method for determining a starting lane according to an embodiment of the present invention. DETAILED DESCRIPTION

[0048] Some embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0049] In the description of the present invention, "processor" may include hardware, software, or a combination of the two. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware, or a combination of the two. Computer-readable storage media include any suitable media that can store program code, such as a magnetic disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, and the like. The term "A and / or B" means all possible combinations of A and B, such as only A, only B, or A and B. The term "at least one A or B" or "at least one of A and B" has a similar meaning to "A and / or B" and may include only A, only B, or A and B. The singular terms "one" and "the" may also include plural forms.

[0050] See attached Figure 1 , Figure 1 FIG. 1 is a flow chart showing the main steps of a lane positioning method according to an embodiment of the present invention. Figure 1 As shown, the lane positioning method in the embodiment of the present invention mainly includes the following steps S101 to S103.

[0051] Step S101: Positioning the vehicle through a two-dimensional map to determine the initial vehicle position.

[0052] A two-dimensional map is a map represented in two dimensions on a plane. By positioning a vehicle on the two-dimensional map, the two-dimensional coordinates of the vehicle in the two-dimensional rectangular coordinate system corresponding to the two-dimensional map can be obtained. The two-dimensional coordinates include the coordinates of the vehicle's x-axis and y-axis in the two-dimensional rectangular coordinate system.

[0053] Step S102: Acquire the lanes around the vehicle position and the connectivity relationship between the lanes.

[0054] If a vehicle can leave one lane and enter another lane, then the two lanes have a connectivity relationship, that is, the two lanes are connected.

[0055] In this embodiment of the present invention, the location of each lane in the road network and the connectivity between different lanes can be pre-determined. Once the vehicle's location is determined, the surrounding lanes can be queried based on the vehicle's location, thereby obtaining the connectivity between these lanes. Furthermore, each lane has a unique lane ID to facilitate differentiation.

[0056] Step S103: Determine the lane ID of the lane the vehicle is currently in based on the lanes surrounding the vehicle position and the connectivity relationship between the lanes.

[0057] When a vehicle is traveling in a road network that includes multiple road layers at different heights, the heights of different roads cannot be displayed because the two-dimensional map lacks the coordinates of the z-axis in the world coordinate system. If there are multiple roads belonging to different road layers at the same location, these roads will be displayed crosswise on the two-dimensional map, and when the vehicle is traveling at this location, it will be impossible to determine which lane the vehicle is traveling on through the two-dimensional map. However, even if multiple roads belonging to different road layers are displayed crosswise at the same location on the two-dimensional map, the vehicle can only travel on lanes that have a connectivity relationship and will not drive from the current lane into another lane that has no connectivity relationship with it. Therefore, the embodiment of the present invention obtains lanes with a connectivity relationship based on the connectivity relationship between lanes, determines which lane the vehicle is traveling on based on these lanes with a connectivity relationship, and then obtains the lane ID of the lane where the vehicle is currently located. Figure 2 As shown, a vehicle is traveling in the lane of a local road. There is a higher-level road above this road. On the 2D map, the local and higher-level roads intersect at a certain point in front of the vehicle. Because the lanes of the local road and the higher-level road are not connected, even if the vehicle reaches this point, it can be determined that the vehicle will not enter the higher-level road and will continue traveling in the lane of the local road.

[0058] Through the method described in steps S101 to S103 above, even if the vehicle is traveling in a road network with road layers of different heights, it is possible to accurately determine which lane the vehicle is traveling in through a two-dimensional map and based on the connectivity relationship between lanes.

[0059] The above step S103 is further explained below.

[0060] There may be multiple lanes around the vehicle. If connectivity judgment and position matching are performed for each lane separately, the consumption of computing resources will be significantly increased. Therefore, to reduce computing resource consumption, the lane ID of the vehicle's current lane can be determined based on the map range of the lane corresponding to the previous lane ID on the 2D map and the vehicle's current position. If the lane ID cannot be determined based on the map range of the lane corresponding to the previous lane ID on the 2D map, connectivity judgment and position matching can be continued for other lanes.

[0061] Specifically, in some implementations of the above-mentioned step S103, the lane ID of the lane where the vehicle is currently located can be determined through the following steps S1031 to S1033, and based on the lanes around the vehicle position and the connectivity relationship between the lanes.

[0062] Step S1031: Determine whether the last lane ID can be determined based on the last determined vehicle position; if the last lane ID can be determined, go to step S1032; if the last lane ID cannot be determined, go to step S1033.

[0063] Step S1032: Determine the lane ID of the vehicle's current lane based on the map range of the lane corresponding to the previous lane ID on the two-dimensional map and the current vehicle position.

[0064] The map range of the lane on the two-dimensional map refers to the map range of the lane on the two-dimensional map determined according to the map scale of the two-dimensional map and the actual position of the lane.

[0065] If the current vehicle position is within the map range where the lane corresponding to the previous lane ID falls on the two-dimensional map, it means that the vehicle is very likely still driving in the lane corresponding to the previous lane ID, and the lane ID of the vehicle's current lane is still the previous lane ID; if the current vehicle position is not within the map range where the lane corresponding to the previous lane ID falls on the two-dimensional map, it means that the vehicle has left the lane corresponding to the previous lane ID. At this time, the lane ID of the vehicle's current lane can be determined from other lanes around the vehicle position.

[0066] Furthermore, in some preferred implementations of step S1032, the lane ID of the vehicle's current lane can be determined by performing the following steps 11 to 13 and based on the map range of the lane corresponding to the previous lane ID on the two-dimensional map and the current vehicle position.

[0067] Step 11: Determine whether the current vehicle position falls within the map range corresponding to the previous lane ID and whether the two-dimensional map contains only one lane within the map range; if the current vehicle position falls within the map range corresponding to the previous lane ID and the two-dimensional map contains only one lane within the map range, go to step 12; otherwise, go to step 13.

[0068] Step 12: Use the previous lane ID as the lane ID of the vehicle's current lane.

[0069] If the current vehicle position is within the map range where the lane corresponding to the previous lane ID falls on the 2D map, the vehicle is likely still traveling in the lane corresponding to the previous lane ID. Furthermore, if the 2D map contains only one lane within the map range, the vehicle must be traveling in the lane corresponding to the previous lane ID. Therefore, the previous lane ID can be directly used as the lane ID of the vehicle's current lane.

[0070] Step 13: Obtain other lanes that belong to the same road layer as the lane corresponding to the previous lane ID and have a connectivity relationship with the lane corresponding to the previous lane ID. Determine the lane ID of the vehicle's current lane based on the map range of the other lanes on the two-dimensional map and the current vehicle position.

[0071] If the current vehicle position is not within the map range corresponding to the previous lane ID, it may be within the map range of other nearby lanes on the same road layer. Therefore, the lane ID of the vehicle's current lane can be determined based on the map ranges of these other lanes on the two-dimensional map and the current vehicle position.

[0072] If the current vehicle position is within the map range corresponding to the previous lane ID, but the 2D map within this map range contains multiple lanes, it means that the vehicle may be at the intersection of road layers at different heights (such as an overpass). If connectivity determination and position matching are performed for lanes in each road layer, this will significantly increase computing resource consumption. Therefore, to reduce computing resource consumption, it is possible to first perform position matching on "other lanes that belong to the same road layer as the lane corresponding to the previous lane ID and have a connectivity relationship with the lane corresponding to the previous lane ID." If the current vehicle position is within the map range corresponding to these other lanes, it means that the vehicle is very likely traveling in these other lanes, and the lane ID of the lane the vehicle is currently in can then be determined.

[0073] By matching the "map range corresponding to the last lane ID" with the current vehicle position through the method described in steps 11 to 13 above, it is possible to accurately determine whether the vehicle continues to travel in the lane corresponding to the last lane ID.

[0074] Furthermore, in some preferred implementations of the above step 13, the lane ID of the lane in which the vehicle is currently located can be determined by performing the following steps 131 to 133 and based on the map range of the other lanes on the two-dimensional map and the current vehicle position.

[0075] Step 131: Determine whether the current vehicle position falls within the map range corresponding to only one of the other lanes; if so, go to step 132; otherwise, go to step 133.

[0076] Step 132: Use the lane ID of the other lane as the lane ID of the lane where the vehicle is currently located.

[0077] If the current vehicle position is within the map range of one of the other lanes on the 2D map, it indicates that the vehicle is very likely traveling in that other lane. Furthermore, if the current vehicle position is within the map range corresponding to only one of the other lanes, it indicates that the vehicle is definitely traveling in that other lane. Therefore, the lane ID of that other lane can be directly used as the lane ID of the vehicle's current lane.

[0078] Step 133: Determine the lane ID of the lane the vehicle is currently in based on the map range of the lanes within the preset range centered on the current vehicle position that fall on the two-dimensional map and the current vehicle position.

[0079] In a case where the current vehicle position is not within the map range where the other lanes fall on the two-dimensional map, the lane search range is expanded by acquiring lanes within a preset range centered on the current vehicle position, thereby increasing the number of roads around the vehicle position so that the lane in which the vehicle is currently located can be determined from these roads.

[0080] By using the method described in steps 131 to 133 above, by matching "other lanes that belong to the same road layer as the lane corresponding to the previous lane ID and have a connectivity relationship with the lane corresponding to the previous lane ID" with the current vehicle position, it is possible to accurately determine whether the vehicle is traveling in the other lanes.

[0081] Furthermore, in some preferred embodiments of the above-mentioned step 133, after determining that the lanes within a preset range centered on the current vehicle position fall within a map range on the two-dimensional map, the map ranges of several lanes within which the current vehicle position falls can be obtained, and different methods are adopted according to the number of lanes to determine the lane ID of the lane in which the vehicle is currently located.

[0082] Specifically, if the current vehicle position falls within the map range corresponding to only one lane within a preset range, it means that the vehicle must be traveling in this lane. At this time, the lane ID of this lane can be used as the lane ID of the lane where the vehicle is currently located.

[0083] If the current vehicle position falls within the map range corresponding to multiple lanes within a preset range, these lanes can be selected as candidate lanes. Based on the lanes that are connected to the lane corresponding to the previous lane ID and / or the current vehicle's pose, the lane ID of the vehicle's current lane can be selected from the candidate lanes' lane IDs. Specifically, the candidate lanes that are connected to the lane corresponding to the previous lane ID can be selected as the vehicle's current lane. Furthermore, the candidate lanes that match the current vehicle's pose can also be selected from the candidate lanes as the vehicle's current lane. In some cases, the candidate lanes that are connected to the lane corresponding to the previous lane ID and that also match the current vehicle's pose can also be selected as the vehicle's current lane. The vehicle's pose refers to both its position and pose. For example, if two candidate lanes, one facing left and one facing right, are identified based on the vehicle's position and the vehicle's pose is turning left, the candidate lane facing left can be determined to match the current vehicle's pose and can be selected as the vehicle's current lane.

[0084] Furthermore, in some preferred embodiments, the lane ID of the lane in which the vehicle is currently located can be filtered out from the lane IDs of the candidate lanes through the following steps 1331 to 1335, based on the lanes that have a connectivity relationship with the lane corresponding to the previous lane ID and / or the current vehicle's posture.

[0085] Step 1331: Determine whether the candidate lane is a virtual lane; if it is a virtual lane, go to step 1332; if it is not a virtual lane, go to step 1334.

[0086] A virtual lane is a lane that is planned when navigating a vehicle through a two-dimensional map and does not have actual lane lines on the actual road.

[0087] like Figure 3 As shown in the figure, the vehicle will pass through a T-junction when driving forward. There is no specific lane in the T-junction, that is, there is no lane line. When navigating the vehicle through a two-dimensional map, two virtual lanes will be generated at this T-junction ( Figure 3 The vehicle can enter the north lane from south to north along one virtual lane (the straight virtual lane), and the vehicle can enter the east lane from south to east along another virtual lane (the right-turn virtual lane).

[0088] Step 1332: Obtain a virtual lane that matches the current vehicle's posture.

[0089] See attached Figure 3 and Figure 4 , when the vehicle is Figure 3 Drive to the location shown Figure 4 At the position shown, the vehicle's position falls within the map range of both virtual lanes. However, only the straight virtual lane matches the current vehicle's position.

[0090] See attached Figure 3 and Figure 5 , when the vehicle is Figure 3 Drive to the location shown Figure 5 At the position shown, the vehicle's position falls within the map range of both virtual lanes. However, only the right-turn virtual lane matches the current vehicle's position.

[0091] Step 1333: Determine whether the number of virtual lanes matching the current vehicle's position is 1; if it is 1, use the lane ID of this matching virtual lane as the lane ID of the vehicle's current lane; if it is not 1, perform initialization processing based on the current vehicle position, re-determine the vehicle's starting lane, and use the lane ID of the starting lane as the lane ID of the vehicle's current lane.

[0092] Step 1334: Obtain a lane from the candidate lanes that is connected to the lane corresponding to the previous lane ID.

[0093] Step 1335: Determine whether the number of lanes that are connected to the lane corresponding to the previous lane ID is 1; if it is 1, use the lane ID of this lane that is connected as the lane ID of the vehicle's current lane; if it is not 1, perform initialization processing based on the current vehicle position, re-determine the vehicle's starting lane, and use the lane ID of the starting lane as the lane ID of the vehicle's current lane.

[0094] Through the method described in steps 1331 to 1335 above, when the current vehicle position falls within the map range corresponding to multiple lanes within a preset range, the lane ID of the lane in which the vehicle is currently located can be accurately determined based on the lane that has a connectivity relationship with the lane corresponding to the previous lane ID and the current vehicle's posture.

[0095] The above is a detailed description of step S1032 , and the following will continue with the description of step S1033 .

[0096] Step S1033: Determine the lane ID of the lane the vehicle is currently in based on the map range of the lanes within the preset range centered on the current vehicle position that fall on the two-dimensional map and the current vehicle position.

[0097] In the absence of a known lane ID, the lane search range is expanded by acquiring lanes within a preset range centered on the current vehicle position, thereby increasing the number of roads surrounding the vehicle position so that the vehicle's current lane can be determined from these roads.

[0098] It should be noted that the method in step S1033 of "determining the lane ID of the lane in which the vehicle is currently located based on the map range of the lane within a preset range centered on the current vehicle position and the current vehicle position on the two-dimensional map" is the same as the method described in step 133 in the aforementioned step S1032, and will not be repeated here.

[0099] See attached Figure 6 In one embodiment of the present invention, when the vehicle just starts the lane positioning function or other situations require re-determining the starting lane of the vehicle (such as the situations described in steps 1333 and 1335), initialization processing can be performed through the following steps S201 to S206 to determine the starting lane of the vehicle.

[0100] Step S201: Acquire lanes within a preset range centered on the current vehicle position.

[0101] Step S202: Determine whether the current vehicle position falls within a map range corresponding to a lane within a preset range; if it falls within a map range corresponding to a lane within a preset range, go to step S203; otherwise, go to step S206.

[0102] Step S203: Obtain the distance between the current vehicle position and the boundary of the lane within the preset range.

[0103] Step S204: If the distance is greater than or equal to the preset distance threshold; if so, go to step S205; if not, go to step S206.

[0104] Step S205: taking the lane within the preset range as the starting lane of the vehicle.

[0105] When determining a vehicle's position using a two-dimensional map, the vehicle's position may fluctuate within a certain range, such as between 5cm and 30cm. If the vehicle's position is too close to the lane boundary, it may be difficult to accurately determine whether the vehicle is in the lane. To mitigate the impact of these fluctuations on the judgment, a distance threshold can be set. Only when the distance between the current vehicle position and the lane boundary is greater than or equal to this distance threshold is the vehicle considered to be in that lane. In this case, that lane can be used as the vehicle's starting lane.

[0106] Step S206: Output lane positioning abnormality prompt information.

[0107] If the vehicle's starting lane cannot be determined through initialization processing, manual intervention or other means are required to resolve the problem. Therefore, in this case, a lane positioning abnormality prompt message can be output to remind the vehicle user or other personnel to deal with the abnormal situation.

[0108] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art will understand that in order to achieve the effects of the present invention, different steps do not have to be performed in such an order. They can be performed simultaneously (in parallel) or in other orders. These changes are within the scope of protection of the present invention.

[0109] Those skilled in the art will appreciate that all or part of the processes in the method for implementing the above-mentioned embodiment of the present invention may also be accomplished by instructing the relevant hardware through a computer program. The computer program may be stored in a computer-readable storage medium. When the computer program is executed by a processor, it may implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which may be in source code form, object code form, executable file, or some intermediate form. The computer-readable storage medium may include: any entity or device, medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal, and software distribution medium capable of carrying the computer program code. It should be noted that the content contained in the computer-readable storage medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0110] Furthermore, the present invention also provides a computer device. In one embodiment of the computer device according to the present invention, the computer device includes a processor and a storage device. The storage device can be configured to store a program for executing the lane positioning method of the above-described method embodiment, and the processor can be configured to execute the program in the storage device, including but not limited to a program for executing the lane positioning method of the above-described method embodiment. For ease of illustration, only the portions relevant to the embodiments of the present invention are shown. For specific technical details not disclosed, please refer to the method section of the embodiments of the present invention. The computer device can be a device formed by various electronic devices.

[0111] Furthermore, the present invention also provides a computer-readable storage medium. In one embodiment of a computer-readable storage medium according to the present invention, the computer-readable storage medium can be configured to store a program for executing the lane positioning method of the above-mentioned method embodiment. The program can be loaded and executed by a processor to implement the above-mentioned lane positioning method. For ease of explanation, only the parts related to the embodiment of the present invention are shown. For specific technical details not disclosed, please refer to the method section of the embodiment of the present invention. The computer-readable storage medium can be a storage device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiment of the present invention is a non-transitory computer-readable storage medium.

[0112] Furthermore, the present invention provides a vehicle. In one embodiment of a vehicle according to the present invention, the vehicle may include the computer device described in the aforementioned computer device embodiment. In this embodiment, the vehicle may be an autonomous vehicle, an unmanned vehicle, or other similar vehicle. Furthermore, based on the type of power source, the vehicle in this embodiment may be a fuel vehicle, an electric vehicle, a hybrid vehicle using a combination of electric and fuel, or a vehicle using other new energy sources.

[0113] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A lane positioning method, characterized in that: The method comprises: Locate the vehicle through a two-dimensional map to determine the vehicle's position; Obtaining lanes around the vehicle position and connectivity relationships between lanes; Determining a lane ID of a lane currently located by the vehicle based on lanes surrounding the vehicle position and connectivity relationships between the lanes; in, Determining the lane ID of the current lane of the vehicle includes: Determine whether the last lane ID can be determined based on the last determined vehicle position; If it can be determined, then determine whether the current vehicle position falls within the last map range and the two-dimensional map contains only one lane within the last map range, where the last map range is the map range where the lane corresponding to the last lane ID falls on the two-dimensional map; if it does, use the last lane ID as the lane ID of the vehicle's current lane; if it does not, obtain other lanes that belong to the same road layer as the lane corresponding to the last lane ID and have a connectivity relationship with the lane corresponding to the last lane ID, and determine the lane ID of the vehicle's current lane based on the map range where the other lanes fall on the two-dimensional map and the current vehicle position; If the previous lane ID cannot be determined, the lane ID of the vehicle's current lane is determined based on the map range of lanes within a preset range centered on the current vehicle position that fall on the two-dimensional map and the current vehicle position.

2. The lane positioning method according to claim 1, characterized in that: The step of “determining the lane ID of the lane in which the vehicle is currently located based on the map range of the other lanes on the two-dimensional map and the current vehicle position” specifically includes: Determining whether the current vehicle position falls within the map range corresponding to only one of the other lanes; If yes, use the lane ID of the other lane as the lane ID of the lane the vehicle is currently in; If not, the lane ID of the vehicle's current lane is determined based on the map range of lanes within a preset range centered on the current vehicle position that fall on the two-dimensional map and the current vehicle position.

3. The lane positioning method according to claim 1 or 2, characterized in that: The step of "determining the lane ID of the lane currently located by the vehicle based on a map range of a lane within a preset range centered on the current vehicle position and falling on the two-dimensional map and the current vehicle position" specifically includes: If the current vehicle position falls within the map range corresponding to only one lane within the preset range, the lane ID of the lane within the preset range is used as the lane ID of the vehicle's current lane; If the current vehicle position falls within the map range corresponding to multiple lanes within the preset range, the multiple lanes within the preset range are used as candidate lanes, and the lane ID of the vehicle's current lane is filtered out from the lane IDs of the candidate lanes based on lanes that have a connectivity relationship with the lane corresponding to the previous lane ID and / or the current vehicle's posture.

4. The lane positioning method according to claim 3, characterized in that: The step of "selecting the lane ID of the lane currently located by the vehicle from the lane IDs of the candidate lanes based on the lanes connected to the lane corresponding to the previous lane ID and / or the current vehicle posture" specifically includes: Determining whether the candidate lane is a virtual lane, where the virtual lane is a lane that is planned when navigating a vehicle using a two-dimensional map and has no actual lane markings on the actual road; When it is determined to be a virtual lane, a virtual lane matching the current vehicle's position is obtained. If the number of matching virtual lanes is 1, the lane ID of the matching virtual lane is used as the lane ID of the vehicle's current lane. If the number of matching virtual lanes is not 1, initialization processing is performed based on the current vehicle position, the vehicle's starting lane is re-determined, and the lane ID of the starting lane is used as the lane ID of the vehicle's current lane. When it is determined that the lane is not a virtual lane, obtaining a lane that is connected to the lane corresponding to the previous lane ID from the candidate lanes; If the number of connected lanes is 1, the lane ID of the connected lane is used as the lane ID of the lane the vehicle is currently in; if the number of connected lanes is not 1, initialization processing is performed based on the current vehicle position, the starting lane of the vehicle is re-determined, and the lane ID of the starting lane is used as the lane ID of the lane the vehicle is currently in.

5. The lane positioning method according to claim 1 or 2, characterized in that: The method further includes performing initialization processing according to the current vehicle position through the following steps to determine a starting lane for the vehicle: Get the lanes within a preset range centered on the current vehicle position; Determining whether the current vehicle position falls within a map range corresponding to a lane within the preset range; When the vehicle falls within the map range corresponding to only one lane within the preset range, the distance between the current vehicle position and the boundary of the lane within the preset range is obtained; if the distance is greater than or equal to a preset distance threshold, the lane within the preset range is used as the starting lane for the vehicle; if the distance is less than the preset distance threshold, a lane positioning abnormality prompt message is output; When the vehicle does not fall within the map range corresponding to only one lane within the preset range, a lane positioning abnormality prompt message is output.

6. A computer device comprising a processor and a storage device, wherein the storage device is suitable for storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by the processor to execute the lane positioning method according to any one of claims 1 to 5.

7. A computer-readable storage medium storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by a processor to execute the lane positioning method according to any one of claims 1 to 5.

8. A vehicle, characterized in that: The vehicle includes the computer device of claim 6.

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