Safety detection method and device for driving reference line
By defining a safe driving zone for the lane and directly determining whether the driving reference line is within that zone, the problem of high computational load in existing technologies is solved, and detection efficiency is improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- AUTONAVI SOFTWARE CO LTD
- Filing Date
- 2022-06-07
- Publication Date
- 2026-05-19
AI Technical Summary
Existing technologies require distance calculations for each point when performing safety checks on driving reference lines, resulting in a large computational load and low efficiency.
By defining a safe driving zone for the lane and determining whether the driving reference line is within that zone, safety can be directly assessed instead of calculating the distance to each point.
This significantly reduces the computational load for driving reference line safety checks and improves detection efficiency.
Smart Images
Figure CN114987545B_ABST
Abstract
Description
Technical Field
[0001] This specification relates to the field of autonomous driving technology, and in particular to a method and apparatus for safety detection of driving reference lines. Background Technology
[0002] Driving reference lines are driving trajectories generated based on lane conditions and are crucial auxiliary data in autonomous driving. In autonomous driving scenarios, vehicles can adjust their driving behavior based on the differences between their actual driving trajectory and the driving reference lines. The safety of the driving reference lines directly impacts the safety of autonomous driving. Summary of the Invention
[0003] In view of this, this specification provides a method and apparatus for safety detection of driving reference lines.
[0004] Specifically, this specification is implemented through the following technical solution:
[0005] A safety detection method for driving reference lines includes:
[0006] Obtain the driving reference line to be tested;
[0007] Determine a safe driving zone for the lane to which the driving reference line belongs;
[0008] Determine whether the driving reference line is located within the driving safety area;
[0009] If the driving reference line is located within the safe driving area, the driving reference line is determined to have passed the safety check.
[0010] Optionally, determining the safe driving zone for the lane to which the driving reference line belongs includes:
[0011] For each lane boundary of the lane, determine the safe distance between the lane boundary and the corresponding driving safety zone boundary;
[0012] The driving safety zone boundary corresponding to the lane boundary is determined based on the safety distance.
[0013] The area between the boundaries of each driving safety zone is the driving safety zone.
[0014] Optionally, determining the safe distance between the lane boundary and the corresponding driving safety zone boundary includes:
[0015] Determine the boundary type of the lane boundary.
[0016] The safe distance between the lane boundary and the corresponding driving safety zone boundary is determined based on the boundary type.
[0017] Optionally, determining the safe distance between the lane boundary and the corresponding driving safety zone boundary based on the boundary type includes:
[0018] When the boundary type is an obstacle, the safe distance between the lane boundary and the corresponding driving safety zone boundary is determined as the first distance;
[0019] When the boundary type is a lane line, the safe distance between the lane boundary and the corresponding driving safety zone boundary is determined as the second distance;
[0020] The first distance is greater than the second distance.
[0021] Optionally, determining the safe distance between the lane boundary and the corresponding driving safety zone boundary includes:
[0022] Get lane width;
[0023] Find the correspondence between lane width range and distance to determine the safe distance between the lane boundary and the corresponding driving safety zone boundary.
[0024] Optionally, determining the boundary of the driving safety zone based on the safety distance includes:
[0025] If multiple safe distances are determined, the boundary of the driving safety zone is determined based on the maximum safe distance.
[0026] Optionally, determining whether the driving reference line is located within the driving safety area includes:
[0027] Determine whether the driving reference line intersects with the boundary of the driving safety zone;
[0028] If the driving reference line does not intersect with the boundary of the driving safety zone, the driving reference line is determined to be located within the driving safety zone.
[0029] A safety detection device for driving reference lines, comprising:
[0030] Reference line acquisition unit acquires the driving reference line to be detected;
[0031] The safe zone determination unit determines a safe driving zone for the lane to which the driving reference line belongs;
[0032] A reference line determination unit determines whether the driving reference line is located within the driving safety area;
[0033] The safety detection unit determines that the driving reference line passes the safety detection if the driving reference line is located within the driving safety area.
[0034] An electronic device, comprising:
[0035] processor;
[0036] Memory used to store processor-executable instructions;
[0037] The processor implements the aforementioned method by running the executable instructions.
[0038] A computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the aforementioned method.
[0039] By adopting the above implementation method, this specification can determine the driving safety zone for the lane to which the driving reference line to be tested belongs, and determine the safety test result of the driving reference line by judging whether the driving reference line is located in the driving safety zone. It is not necessary to judge each point on the driving reference line separately, which greatly reduces the amount of calculation for safety testing and improves the efficiency of driving reference line safety testing. Attached Figure Description
[0040] Figure 1 This is a flowchart illustrating an exemplary embodiment of a safety detection method for driving reference lines.
[0041] Figure 2 This is a flowchart illustrating an exemplary embodiment of a method for determining a safe driving area.
[0042] Figure 3 This is a schematic diagram of a driving safety area shown in an exemplary embodiment of this specification.
[0043] Figure 4 This is a schematic diagram of a driving reference line shown in an exemplary embodiment of this specification.
[0044] Figure 5 This is a schematic diagram of another driving reference line shown in an exemplary embodiment of this specification.
[0045] Figure 6 This is a hardware structure diagram of an electronic device containing a driving reference line safety detection device, as illustrated in an exemplary embodiment of this specification.
[0046] Figure 7 This is a block diagram illustrating a safety detection device for driving reference lines, as shown in an exemplary embodiment of this specification. Detailed Implementation
[0047] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed in the appended claims.
[0048] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.
[0049] It should be understood that although the terms first, second, third, etc., may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."
[0050] Driving reference lines are driving trajectories generated based on lane conditions and are crucial auxiliary data in autonomous driving. In autonomous driving scenarios, vehicles can adjust their driving behavior based on the differences between their actual driving trajectory and the driving reference lines. The safety of the driving reference lines directly impacts the safety of autonomous driving.
[0051] In related technologies, multiple different driving reference lines can be generated for each lane using various methods. Then, a better driving reference line can be selected from these driving reference lines. Subsequently, in autonomous driving scenarios, the selected better driving reference line can be provided to the vehicle so that the vehicle can adjust its driving behavior.
[0052] For example, when the vehicle's actual driving trajectory is to the left of the driving reference line, the direction can be corrected to the right; when the vehicle's actual driving trajectory is to the right of the driving reference line, the direction can be corrected to the left, and so on.
[0053] If there are safety issues with the driving reference lines, such as the driving reference lines being too close to the right edge of the lane, adjusting driving behavior based on the driving reference lines may lead to accidents such as scrapes on the right side of the vehicle, thus affecting driving safety.
[0054] Currently, when conducting safety checks on driving reference lines, each point on the driving reference line can be checked. For example, the distance between each point and the left and right boundaries of the lane can be calculated. When the distance on one side is less than half of the preset vehicle width, it can be determined that the driving reference line is unsafe.
[0055] This approach requires detecting multiple points on the driving reference line for each lane, resulting in a large computational load and low efficiency.
[0056] This specification provides a method for safety detection of driving reference lines, which can determine a safe driving zone for a lane and detect the safety of the driving reference lines by judging whether they are located within the safe driving zone. This method can greatly reduce the computational workload of driving reference line safety detection and thus improve detection efficiency.
[0057] Figure 1 This is a flowchart illustrating an exemplary embodiment of a safety detection method for driving reference lines.
[0058] Please refer to Figure 1 The safety detection method for the driving reference line may include the following steps:
[0059] Step 102: Obtain the driving reference line to be detected.
[0060] In this specification, for each lane, multiple driving reference lines generated within that lane can be obtained. Each driving reference line can be a set of position coordinates for a series of points along that driving reference line, and these position coordinates may include latitude and longitude coordinates.
[0061] In this specification, the lane to which the driving reference line belongs can also be obtained, which can be represented by a set of position coordinates of a series of points on the left and right boundaries of the lane. In this specification, the left and right sides of the lane are defined based on the vehicle's direction of travel.
[0062]
[0063] Table 1
[0064] Please refer to the example in Table 1. Assuming three driving reference lines are generated for each lane, driving reference lines 1-1, 1-2, and 1-3 can be obtained for lane 1, and driving reference lines 2-1, 2-2, and 2-3 for lane 2. Table 1 above is for illustrative purposes only; in other examples, it is not necessary to organize the table in this way.
[0065] Step 104: Determine the safe driving zone for the lane to which the driving reference line belongs.
[0066] Based on the aforementioned step 102, after obtaining the driving reference line, a safe driving zone can be determined for the lane to which the driving reference line belongs. The safe driving zone is the area where the vehicle's centerline is located, ensuring safe driving while maintaining vehicle safety. In other words, the vehicle's centerline can be positioned anywhere within the safe driving zone to ensure safe driving.
[0067] The driving safety zone may include two boundaries, such as a left boundary and a right boundary. These two boundaries may correspond to the left boundary and the right boundary of the lane, respectively. The area between these two boundaries is the driving safety zone.
[0068] The shape of the driving safety zone is usually the same as the shape of the lane.
[0069] For example, if the lane is a straight line, meaning both the left and right boundaries of the lane are straight lines, then both the left and right boundaries of the safe driving area are also straight lines.
[0070] For example, if the lane is curved, meaning both the left and right boundaries of the lane are curved, then both the left and right boundaries of the safe driving area are also curved.
[0071] In this specification, for each lane boundary, a safe distance between the lane boundary and the driving safety zone boundary can be determined, and then the driving safety zone boundary is determined based on the safe distance. The driving safety zone boundary can also be represented by a set of position coordinates of a series of points, and the specific determination method will be described in detail in subsequent embodiments.
[0072] Step 106: Determine whether the driving reference line is located within the driving safety area.
[0073] Step 108: If the driving reference line is within the driving safety area, determine that the driving reference line has passed the safety check.
[0074] Based on the aforementioned step 104, after determining the driving safety zone of the lane, it can be determined whether the driving reference line is located within the driving safety zone.
[0075] If the driving reference line is located within the safe driving area, it indicates that it is safe for the vehicle to drive based on the driving reference line, thus ensuring that the driving reference line passes the safety test.
[0076] If the driving reference line is not completely within the driving safety area, for example, if a portion of the driving reference line is outside the driving safety area, it can be determined that the driving reference line has failed the safety test.
[0077] The driving reference line being located within the driving safety area includes both the driving reference line being located inside the driving safety area and the driving reference line being located on the boundary of the driving safety area.
[0078] In this manual, it can be determined whether a driving reference line is located within a safe driving area by judging whether it intersects with the boundary of the safe driving area. For example, tools such as JST spatial analysis can be used to determine the intersection based on the position coordinates of a series of points on the driving reference line and the position coordinates of a series of points on the boundary of the safe driving area. The result can be obtained through a single spatial calculation.
[0079] If the driving reference line does not intersect with the boundary of the driving safety zone, it can be determined that the driving reference line is located within the driving safety zone.
[0080] If the driving reference line intersects with the boundary of the driving safety zone, it can be determined that the driving reference line is not within the driving safety zone.
[0081] When the driving reference line coincides with the boundary of the driving safety zone, it can be determined that the driving reference line is located within the driving safety zone.
[0082] Taking Table 1 as an example, for lane 1, assuming that driving reference line 1-1 and driving reference line 1-2 are located within the safe driving area of lane 1, it can be determined that driving reference line 1-1 and driving reference line 1-2 have passed the safety test.
[0083] As can be seen from the above description, this manual can determine the safe driving zone for the lane to which the driving reference line to be tested belongs, and determine the safety test result of the driving reference line by judging whether the driving reference line is located in the safe driving zone. It is not necessary to judge each point on the driving reference line separately, which greatly reduces the amount of calculation for safety testing and improves the efficiency of driving reference line safety testing.
[0084] Figure 2 This is a flowchart illustrating an exemplary embodiment of a method for determining a safe driving area.
[0085] Please refer to Figure 2 The method for determining the safe driving area may include the following steps:
[0086] Step 202: For each lane boundary, determine the safe distance between the lane boundary and the corresponding driving safety zone boundary.
[0087] In this manual, each lane has two boundaries, left and right. Correspondingly, the driving safety zone also has two boundaries, left and right. Please refer to... Figure 3 Example, Figure 3The left boundary L1 of the straight lane shown corresponds to the left boundary E1 of the driving safety area, and the right boundary L2 of the lane corresponds to the right boundary E2 of the driving safety area.
[0088] In this manual, the safe distance between each lane boundary and the corresponding safe driving zone boundary can be determined. The safe distance between different lane boundaries and the corresponding safe driving zone boundaries can be the same or different.
[0089] Please continue to refer to this. Figure 3 The safe distance between L1 and E1 can be denoted as D1, and the safe distance between L2 and E2 can be denoted as D2. D1 and D2 can be the same or different.
[0090] In one example, when determining the safe distance, the boundary type of the lane boundary can be determined first, and then the safe distance between the lane boundary and the corresponding driving safety zone boundary can be determined based on the boundary type.
[0091] In this example, the correspondence between lane boundary types and safety distances can be preset.
[0092] The lane boundary types may include obstacles, lane lines, etc. Obstacles may include fences, hedges, etc., and lane lines may include solid white lines, dashed white lines, solid yellow lines, dashed yellow lines, etc.
[0093] Boundary type safe distance obstacle First distance Lane lines Second distance
[0094] Table 2
[0095] Please refer to the examples in Table 2. You can pre-set a first distance for boundary-type obstacles and a second distance for boundary-type lane lines. In actual driving, touching the boundaries of obstacles such as fences and barriers will result in a scrape accident, so a stricter safety distance can be set. Lane lines, however, are not physical obstacles, and driving over them generally does not cause a scrape accident, so a relatively lenient safety distance can be set. Therefore, the first distance can be set greater than the second distance; for example, the first distance can be set to 1.2 meters, 1.5 meters, etc., and the second safety distance can be set to 1 meter, etc.
[0096] Of course, the boundary types can be further subdivided. Lane lines can be further divided into solid lines and dashed lines. Since driving over solid lines may be a violation, the safety distance for solid boundary type lane lines can be set to be greater than the safety distance for dashed boundary type lane lines. This manual does not impose any special restrictions on this.
[0097] In this example, when determining the safe distance between the lane boundary and the corresponding safe driving zone boundary, the boundary type of the lane boundary can be determined first. For example, the specific details of the lane boundary can be obtained from a high-precision map to determine the boundary type of the lane boundary. Then, the safe distance corresponding to the boundary type of the lane boundary can be determined from a pre-set correspondence between boundary types and safe distances. This safe distance is the safe distance between the lane boundary and the corresponding safe driving zone boundary.
[0098] In practical applications, the types of the left and right boundaries of a lane may be different. Therefore, the safety distance can be determined separately for the left and right boundaries of the lane.
[0099] For example, lane 1 is the rightmost lane of a two-way four-lane road system. The right boundary of lane 1 is a fence, and its boundary type is obstacle. The left boundary of lane 1 is a white dashed line, and its boundary type is lane line. Based on the preset correspondence between boundary types and safe distances, the safe distance between the left boundary of lane 1 and the left boundary of the driving safety zone is 1 meter, and the safe distance between the right boundary of lane 1 and the right boundary of the driving safety zone is 1.2 meters. That is, in this example, D1 equals 1 meter, and D2 equals 1.2 meters. D1 is different from D2.
[0100] In another example, the correspondence between lane width range and safe distance can be preset. When determining the safe distance between the lane boundary and the corresponding safe driving area boundary, the lane width can be obtained first, and then the safe distance between the lane boundary and the corresponding safe driving area boundary can be determined according to the correspondence.
[0101] Generally speaking, the lane width varies depending on the road class. For Class I highways, the lane width is typically 3.75 meters, while for Class II highways, it is typically 3.5 meters. Understandably, the wider the lane, the greater the safe distance that can be set between the lane boundary and the driving safety zone boundary.
[0102] Lane width range safe distance 3 meters or more Third distance Less than 3 meters Fourth distance
[0103] Table 3
[0104] Please refer to the examples in Table 3. A 3-meter baseline can be used for lane width division. For lanes wider than or equal to 3 meters, a third safety distance can be set; for lanes narrower than 3 meters, a fourth safety distance can be set. The third distance is greater than the fourth distance; for example, the third distance is 1.2 meters and the fourth distance is 1 meter. Of course, in other examples, the lane width division can also be based on 3.2 meters; this manual does not impose any special restrictions on this.
[0105] When the aforementioned safe distance is determined based on the lane width, the safe distance between the left and right boundaries of the lane and the boundary of the driving safety zone can be the same.
[0106] In this example, when determining the safe distance between the lane boundary and the corresponding safe driving zone boundary, the lane width can be determined first. For example, the lane width can be obtained from a high-precision map. Then, the safe distance corresponding to the lane width can be determined from the pre-set correspondence between the lane width range and the safe distance. This safe distance is the safe distance between the lane boundary and the corresponding safe driving zone boundary.
[0107] For example, assuming that the width of lane 1 is 3.5 meters, based on the preset correspondence between lane width range and safe distance, it can be found that the safe distance between the lane boundary of lane 1 and the boundary of the driving safe area is 1.2 meters, that is, D1 equals D2 equals 1.2 meters.
[0108] In other examples in this manual, the safe distance between the lane boundary and the driving safety zone boundary can also be determined by combining the lane boundary type and lane width.
[0109] For example, the safe distance between the lane boundary and the driving safety zone boundary can be determined based on the lane boundary type and the lane width, respectively. Then, the maximum safe distance can be selected, and the driving safety zone boundary can be determined based on the maximum safe distance.
[0110] Basis for determining safe distance D1 D2 Lane boundary type 1 meter 1.5 meters lane width 1.2 meters 1.2 meters
[0111] Table 4
[0112] For example, referring to the examples in Table 4, assuming the lane width is 3.5 meters, based on the lane width, D1 and D2 are both 1.2 meters. The left lane boundary type is a lane line, and the corresponding safe distance for the lane line is 1 meter, that is, D1 equals 1 meter. The right lane boundary type is a fence, and the corresponding safe distance for the obstacle is 1.5 meters, that is, D2 equals 1.5 meters.
[0113] To ensure safety, the maximum value can be taken as the safe distance between the lane boundary and the driving safety zone boundary. That is, the safe distance D1 between the left edge of the lane and the left edge of the driving safety zone is determined to be 1.2 meters, and the safe distance D2 between the right edge of the lane and the right edge of the driving safety zone is determined to be 1.5 meters.
[0114] Of course, since the safety distance is set on the basis of fully ensuring safety, in other cases, if multiple safety distances are determined, the minimum value can be selected as the safety distance between the lane boundary and the driving safety zone boundary.
[0115] Step 204: Determine the boundary of the driving safety zone based on the safety distance.
[0116] Based on the aforementioned step 202, after determining the safe distance between the lane boundary and the corresponding driving safety zone boundary, the driving safety zone boundary can be determined based on this safe distance.
[0117] In this specification, the lane boundary can be a set of position coordinates of a series of points, and the driving safety zone boundary determined based on the safety distance can also be a set of position coordinates of a series of points. For example, for each point on the lane boundary, the position coordinates of the point corresponding to that point on the driving safety zone boundary can be determined based on the position coordinates of that point and the safety distance.
[0118] In this manual, the area between the boundaries of the safe driving zone is defined as the safe driving zone. Subsequently, the safety of the driving reference lines can be checked by determining whether they lie within the safe driving zone.
[0119] Please refer to Figure 4 Assuming the driving reference line is X, in Figure 4 In the example, the driving reference line X does not intersect with either of the two boundaries of the driving safety area, meaning that the driving reference line X is located within the driving safety area, and it can be determined that the driving reference line X passes the safety detection.
[0120] Please refer to Figure 5 Still assuming the driving reference line is X, in Figure 5 In the example, the driving reference line X intersects with the boundary of the driving safety zone E1, which indicates that the driving reference line X has not passed the safety detection.
[0121] Using the driving reference line safety detection scheme provided in this manual, a safe driving zone can be determined for the lane to which the driving reference line to be detected belongs. The safety detection result of the driving reference line is determined by judging whether the driving reference line intersects with the boundary of the safe driving zone. The safety detection result of the driving reference line can be obtained by judging whether the intersection occurs in one step, without having to judge each point on the driving reference line separately, which greatly reduces the amount of calculation for safety detection and improves the efficiency of driving reference line safety detection.
[0122] Corresponding to the embodiments of the aforementioned driving reference line safety detection method, this specification also provides embodiments of a driving reference line safety detection device.
[0123] The embodiments of the driving reference line safety detection device described in this manual can be applied to electronic devices. The device embodiments can be implemented through software, hardware, or a combination of both. Taking software implementation as an example, as a logical device, it is formed by the processor of the electronic device loading the corresponding computer program instructions from non-volatile memory into memory for execution. From a hardware perspective, such as... Figure 6 The diagram shown is a hardware structure diagram of the electronic device containing the driving reference line safety detection device in this manual. (Except for...) Figure 5 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in which the device is located in the embodiment may also include other hardware depending on the actual function of the electronic device, which will not be described in detail here.
[0124] Of course, in addition to the software implementation, one or more embodiments in this specification do not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. That is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.
[0125] Figure 7 This is a block diagram illustrating a safety detection device for driving reference lines, as shown in an exemplary embodiment of this specification.
[0126] Please refer to Figure 7 The safety detection device for the driving reference line can be applied in Figure 6 The electronic device shown includes: a reference line acquisition unit, a safety area determination unit, a reference line judgment unit, and a safety detection unit.
[0127] Among them, the reference line acquisition unit acquires the driving reference line to be detected;
[0128] The safe zone determination unit determines a safe driving zone for the lane to which the driving reference line belongs;
[0129] A reference line determination unit determines whether the driving reference line is located within the driving safety area;
[0130] The safety detection unit determines that the driving reference line passes the safety detection if the driving reference line is located within the driving safety area.
[0131] Optionally, the safe area determination unit:
[0132] For each lane boundary of the lane, determine the safe distance between the lane boundary and the corresponding driving safety zone boundary;
[0133] The driving safety zone boundary corresponding to the lane boundary is determined based on the safety distance.
[0134] The area between the boundaries of each driving safety zone is the driving safety zone.
[0135] Optionally, the safe area determination unit:
[0136] Determine the boundary type of the lane boundary.
[0137] The safe distance between the lane boundary and the corresponding driving safety zone boundary is determined based on the boundary type.
[0138] Optionally, the safe area determination unit:
[0139] When the boundary type is an obstacle, the safe distance between the lane boundary and the corresponding driving safety zone boundary is determined as the first distance;
[0140] When the boundary type is a lane line, the safe distance between the lane boundary and the corresponding driving safety zone boundary is determined as the second distance;
[0141] The first distance is greater than the second distance.
[0142] Optionally, the safe area determination unit: obtains the lane width;
[0143] Find the correspondence between lane width range and distance to determine the safe distance between the lane boundary and the corresponding driving safety zone boundary.
[0144] Optionally, the safe area determination unit:
[0145] If multiple safe distances are determined, the boundary of the driving safety zone is determined based on the maximum safe distance.
[0146] Optionally, the reference line determination unit:
[0147] Determine whether the driving reference line intersects with the boundary of the driving safety zone;
[0148] If the driving reference line does not intersect with the boundary of the driving safety zone, the driving reference line is determined to be located within the driving safety zone.
[0149] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.
[0150] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the solution in this specification according to actual needs. Those skilled in the art can understand and implement this without creative effort.
[0151] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, which can take the form of a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email sending and receiving device, game console, tablet computer, wearable device, or any combination of these devices.
[0152] In a typical configuration, a computer includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.
[0153] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.
[0154] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.
[0155] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0156] Corresponding to the embodiments of the aforementioned safety detection method for driving reference lines, this specification also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the following steps:
[0157] Obtain the driving reference line to be tested;
[0158] Determine a safe driving zone for the lane to which the driving reference line belongs;
[0159] Determine whether the driving reference line is located within the driving safety area;
[0160] If the driving reference line is located within the safe driving area, the driving reference line is determined to have passed the safety check.
[0161] Optionally, determining the safe driving zone for the lane to which the driving reference line belongs includes:
[0162] For each lane boundary of the lane, determine the safe distance between the lane boundary and the corresponding driving safety zone boundary;
[0163] The driving safety zone boundary corresponding to the lane boundary is determined based on the safety distance.
[0164] The area between the boundaries of each driving safety zone is the driving safety zone.
[0165] Optionally, determining the safe distance between the lane boundary and the corresponding driving safety zone boundary includes:
[0166] Determine the boundary type of the lane boundary.
[0167] The safe distance between the lane boundary and the corresponding driving safety zone boundary is determined based on the boundary type.
[0168] Optionally, determining the safe distance between the lane boundary and the corresponding driving safety zone boundary based on the boundary type includes:
[0169] When the boundary type is an obstacle, the safe distance between the lane boundary and the corresponding driving safety zone boundary is determined as the first distance;
[0170] When the boundary type is a lane line, the safe distance between the lane boundary and the corresponding driving safety zone boundary is determined as the second distance;
[0171] The first distance is greater than the second distance.
[0172] Optionally, determining the safe distance between the lane boundary and the corresponding driving safety zone boundary includes:
[0173] Get lane width;
[0174] Find the correspondence between lane width range and distance to determine the safe distance between the lane boundary and the corresponding driving safety zone boundary.
[0175] Optionally, determining the boundary of the driving safety zone based on the safety distance includes:
[0176] If multiple safe distances are determined, the boundary of the driving safety zone is determined based on the maximum safe distance.
[0177] Optionally, determining whether the driving reference line is located within the driving safety area includes:
[0178] Determine whether the driving reference line intersects with the boundary of the driving safety zone;
[0179] If the driving reference line does not intersect with the boundary of the driving safety zone, the driving reference line is determined to be located within the driving safety zone.
[0180] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.
[0181] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.
Claims
1. A safety detection method for driving reference lines, comprising: Obtain the driving reference lines that have been generated within the lane and are to be detected; Based on the lane boundaries of the lane, a safe driving zone is determined for the lane to which the driving reference line belongs; Determine whether the driving reference line is located within the driving safety area; If the driving reference line is located within the safe driving area, it is determined that the driving reference line has passed the safety check. The step of determining whether the driving reference line is within the driving safety zone includes: Determine whether the driving reference line intersects with the boundary of the driving safety zone; If the driving reference line does not intersect with the boundary of the driving safety zone, the driving reference line is determined to be located within the driving safety zone.
2. The method according to claim 1, wherein determining the safe driving zone for the lane to which the driving reference line belongs includes: For each lane boundary of the lane, determine the safe distance between the lane boundary and the corresponding driving safety zone boundary; The driving safety zone boundary corresponding to the lane boundary is determined based on the safety distance. The area between the boundaries of each driving safety zone is the driving safety zone.
3. The method according to claim 2, wherein determining the safe distance between the lane boundary and the corresponding driving safety zone boundary includes: Determine the boundary type of the lane boundary. The safe distance between the lane boundary and the corresponding driving safety zone boundary is determined based on the boundary type.
4. The method according to claim 3, wherein determining the safe distance between the lane boundary and the corresponding driving safety zone boundary based on the boundary type includes: When the boundary type is an obstacle, the safe distance between the lane boundary and the corresponding driving safety zone boundary is determined as the first distance; When the boundary type is a lane line, the safe distance between the lane boundary and the corresponding driving safety zone boundary is determined as the second distance; The first distance is greater than the second distance.
5. The method according to claim 2, wherein determining the safe distance between the lane boundary and the corresponding driving safety zone boundary includes: Get lane width; Find the correspondence between lane width range and distance to determine the safe distance between the lane boundary and the corresponding driving safety zone boundary.
6. The method according to claim 2, wherein determining the boundary of the driving safety zone based on the safety distance comprises: If multiple safe distances are determined, the boundary of the driving safety zone is determined based on the maximum safe distance.
7. A safety detection device for driving reference lines, comprising: The reference line acquisition unit acquires the driving reference lines to be detected that have been generated within the lane; The safe zone determination unit determines a safe driving zone for the lane to which the driving reference line belongs, based on the lane boundary of the lane. A reference line determination unit determines whether the driving reference line is located within the driving safety area; The safety detection unit determines that the driving reference line passes the safety detection when the driving reference line is located within the driving safety area; The reference line determination unit determines whether the driving reference line intersects with the boundary of the driving safety area. If the driving reference line does not intersect with the boundary of the driving safety area, it determines that the driving reference line is located within the driving safety area.
8. An electronic device, comprising: processor; Memory used to store processor-executable instructions; The processor implements the method as described in any one of claims 1-6 by executing the executable instructions.
9. A computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the steps of the method as claimed in any one of claims 1-6.