Method and device for determining vehicle driving boundary

Abstract

The present application discloses a method for determining a vehicle driving boundary. First, lane line information and physical separation line information on a certain side of the road on which the vehicle is traveling are monitored, wherein the physical separation line of the road is formed on the side of the road by a physical structure for isolating the road. Then, it is determined whether the physical separation line information meets the requirements of an advanced driving assistance system (ADAS). If the physical separation line information meets the requirements of ADAS and the lane line information that meets ADAS exists, the physical separation line and the lane line information that meets ADAS are used to determine the first driving boundary of the vehicle. If the physical separation line information meets the requirements of ADAS but the lane line information that meets ADAS does not exist, the physical separation line information is used to determine the first driving boundary.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving, and in particular to a method and device for determining vehicle driving boundaries. Background Art

[0002] Advanced Driving Assistance System (ADAS) uses sensors such as cameras, radars, and lasers installed on the vehicle's front and rear bumpers, side mirrors, inside the steering column, or on the windshield to detect light, heat, pressure, or other variables used to monitor the vehicle's status. It collects environmental data inside and outside the vehicle in real time and performs technical processing such as identification, detection, and tracking of static and dynamic objects. This allows it to detect possible dangers as quickly as possible and then control the vehicle or remind the driver to drive within the permitted area.

[0003] ADAS includes multiple functional modules, such as the Lane Departure Warning System (LDWS), Lane Departure Prevention System (LDPS), and Lane Keep Assistance System (LKAS). To accurately control the vehicle or remind the driver to stay within the permitted area, ADAS typically first determines the vehicle's driving boundaries based on road boundaries, such as lane markings. Once the driving boundaries are determined, it then executes driver assistance functions such as lane departure warnings.

[0004] Current ADAS typically determines a vehicle's driving boundaries based on lane markings on both sides of the road. However, in addition to lane markings, road boundaries can also be physical barriers such as curbs, fences, and trenches. If a vehicle is traveling on a road with lane markings on one side and both lane markings and a physical barrier such as a curb on the other side, drivers without ADAS will typically steer away from non-lane markings such as curbs, reducing driving pressure, given that these physical barriers are raised above the road surface or the boundary between concrete and grass. However, since current ADAS usually does not take physical dividing lines such as curbs into consideration, and only determines the vehicle's driving boundaries based on the lane lines on both sides, this will cause the driver to distrust the judgment made by the ADAS and cause panic. If there is a lane line on one side of the road and only a physical dividing line such as a curb on the other side, the current ADAS will usually choose to activate the inhibition function, causing the ADAS to stop making judgments on the vehicle's driving information. This will result in a reduction in the ADAS's Operation Design Domain (ODD). When there are lane lines on both sides, the ADAS will stop activating the inhibition function. Frequent entry and exit of the ADAS will reduce the effectiveness of the driving assistance system and provide a poor user experience.

[0005] Therefore, a method is urgently needed to solve the above problems. Summary of the Invention

[0006] The technical problem to be solved by this application is to provide a method for determining the driving boundaries of a vehicle, so as to solve the current problem that ADAS usually determines the driving boundaries of the vehicle based on the lane lines on both sides of the road, resulting in drivers' distrust of the judgment made by ADAS, and frequent entry and exit of ADAS will reduce the effectiveness of the driving assistance system and provide a poor user experience.

[0007] In a first aspect, an embodiment of the present application provides a method for determining a vehicle driving boundary, the method comprising:

[0008] Monitoring lane marking information and physical separation line information on a first side of a road on which the vehicle is traveling, wherein the physical separation line is formed on the side of the road by a physical structure for separating the road;

[0009] Determining whether the physical isolation line information meets the requirements of an advanced driver assistance system (ADAS);

[0010] If the physical separation line information meets the requirements of ADAS and the lane line information that meets ADAS exists, determining a first driving boundary of the vehicle using the physical separation line and the lane line information that meets ADAS;

[0011] If the physical separation line information meets the requirements of ADAS, but the lane line information that meets the requirements of ADAS does not exist, the physical separation line information is used to determine the first driving boundary.

[0012] Optionally, the physical isolation line information meeting ADAS requirements includes:

[0013] At least one of the length, width, curvature, parameter change rate, and confidence level of the physical isolation line information meets ADAS requirements;

[0014] The parameter change rate includes one or more of a lateral offset distance change rate, a heading angle tangent value change rate, and a curvature change rate, and the lateral offset distance is the shortest distance between the physical isolation line and the vehicle.

[0015] Optionally, the lane line information meeting ADAS requirements includes:

[0016] At least one of the length, width, curvature, parameter change rate, and confidence level of the lane line information meets ADAS requirements;

[0017] The parameter change rate includes one or more of a lateral offset distance change rate, a heading angle tangent value change rate, and a curvature change rate, and the lateral offset distance is the shortest distance between the lane line and the vehicle.

[0018] Optionally, the determining the first driving boundary of the vehicle by using the physical isolation line and the ADAS-compliant lane line information includes:

[0019] determining the lateral offset distance of the first driving boundary based on the lateral offset distance of the lane line, the lateral offset distance of the physical dividing line, and a pre-stored correspondence between a difference between the lateral offset distances of the lane line and the lateral offset distances of the physical dividing line and the lateral offset distance of the first driving boundary;

[0020] Determining a heading angle tangent value of the first driving boundary according to the length of the lane line, the length of the physical separation line, the heading angle tangent value of the lane line, and the heading angle tangent value of the physical separation line;

[0021] determining a curvature of the first driving boundary based on the length of the lane line, the length of the physical separation line, the curvature of the lane line, and the curvature of the physical separation line;

[0022] determining a curvature change rate of the first driving boundary according to the length of the lane line, the length of the physical separation line, the curvature change rate of the lane line, and the curvature change rate of the physical separation line;

[0023] The first driving boundary is determined according to a lateral offset distance of the first driving boundary, a tangent value of a heading angle of the first driving boundary, a curvature of the first driving boundary, and a curvature change rate of the first driving boundary.

[0024] Optionally, the determining the first driving boundary of the vehicle by using the physical isolation line information includes:

[0025] determining the lateral offset distance of the first driving boundary according to the driving speed of the vehicle, the lateral offset distance of the physical isolation line, and a pre-stored correspondence between the driving speed of the vehicle and the change in the lateral offset distance of the physical isolation line;

[0026] Determining the heading angle tangent value of the physical isolation line as the heading angle tangent value of the first driving boundary;

[0027] determining the curvature of the physical isolation line as the curvature of the first driving boundary;

[0028] determining a curvature change rate of the physical isolation line as a curvature change rate of the first driving boundary;

[0029] The first driving boundary is determined according to a lateral offset distance of the first driving boundary, a tangent value of a heading angle of the first driving boundary, a curvature of the first driving boundary, and a curvature change rate of the first driving boundary.

[0030] Optionally, the method further includes:

[0031] determining a driving boundary on a second side of the driving road as a second driving boundary;

[0032] The width of the vehicle driving road is determined according to the first driving boundary and the second driving boundary.

[0033] Optionally, determining the driving boundary of the second side of the driving road includes:

[0034] determining whether the physical barrier line information on the second side of the driving road meets the requirements of an advanced driver assistance system (ADAS);

[0035] If the physical separation line information on the second side of the driving road meets the ADAS requirement and there is lane line information on the second side of the driving road that meets the ADAS requirement, determining a second driving boundary of the vehicle using the physical separation line and the lane line information on the second side of the driving road that meets the ADAS requirement;

[0036] If the physical separation line information on the second side of the driving road meets the requirements of ADAS, but there is no lane line information on the second side of the driving road that meets the requirements of ADAS, the physical separation line information on the second side of the driving road is used to determine the second driving boundary.

[0037] In a second aspect, an embodiment of the present application provides a device for determining a vehicle driving boundary, the device comprising:

[0038] A monitoring module, configured to monitor lane line information and physical isolation line information on a first side of a road on which the vehicle is traveling, wherein the physical isolation line is formed on the side of the road by a physical structure for isolating the road;

[0039] A judgment module is used to judge whether the physical isolation line information meets the requirements of the advanced driver assistance system ADAS;

[0040] A first determination module is configured to: if the physical isolation line information meets the requirements of the ADAS and the lane line information that meets the ADAS requirements exists, determine a first driving boundary of the vehicle using the physical isolation line and the lane line information that meets the ADAS requirements;

[0041] The second determination module is configured to: if the physical isolation line information meets the requirements of ADAS, but the lane line information meeting the requirements of ADAS does not exist, use the physical isolation line information to determine the first driving boundary.

[0042] Optionally, the physical isolation line information meeting ADAS requirements includes:

[0043] At least one of the length, width, curvature, parameter change rate, and confidence level of the physical isolation line information meets ADAS requirements;

[0044] The parameter change rate includes one or more of a lateral offset distance change rate, a heading angle tangent value change rate, and a curvature change rate, and the lateral offset distance is the shortest distance between the physical isolation line and the vehicle.

[0045] Optionally, the lane line information meeting ADAS requirements includes:

[0046] At least one of the length, width, curvature, parameter change rate, and confidence level of the lane line information meets ADAS requirements;

[0047] The parameter change rate includes one or more of a lateral offset distance change rate, a heading angle tangent value change rate, and a curvature change rate, and the lateral offset distance is the shortest distance between the lane line and the vehicle.

[0048] Optionally, the first determining module is configured to:

[0049] determining the lateral offset distance of the first driving boundary based on the lateral offset distance of the lane line, the lateral offset distance of the physical dividing line, and a pre-stored correspondence between a difference between the lateral offset distances of the lane line and the lateral offset distances of the physical dividing line and the lateral offset distance of the first driving boundary;

[0050] Determining a heading angle tangent value of the first driving boundary according to the length of the lane line, the length of the physical separation line, the heading angle tangent value of the lane line, and the heading angle tangent value of the physical separation line;

[0051] determining a curvature of the first driving boundary based on the length of the lane line, the length of the physical separation line, the curvature of the lane line, and the curvature of the physical separation line;

[0052] determining a curvature change rate of the first driving boundary according to the length of the lane line, the length of the physical separation line, the curvature change rate of the lane line, and the curvature change rate of the physical separation line;

[0053] The first driving boundary is determined according to a lateral offset distance of the first driving boundary, a tangent value of a heading angle of the first driving boundary, a curvature of the first driving boundary, and a curvature change rate of the first driving boundary.

[0054] Optionally, the second determining module is configured to:

[0055] determining the lateral offset distance of the first driving boundary according to the driving speed of the vehicle, the lateral offset distance of the physical isolation line, and a pre-stored correspondence between the driving speed of the vehicle and the change in the lateral offset distance of the physical isolation line;

[0056] Determining the heading angle tangent value of the physical isolation line as the heading angle tangent value of the first driving boundary;

[0057] determining the curvature of the physical isolation line as the curvature of the first driving boundary;

[0058] determining a curvature change rate of the physical isolation line as a curvature change rate of the first driving boundary;

[0059] The first driving boundary is determined according to a lateral offset distance of the first driving boundary, a tangent value of a heading angle of the first driving boundary, a curvature of the first driving boundary, and a curvature change rate of the first driving boundary.

[0060] Optionally, the device further includes:

[0061] A third determining module is configured to determine a driving boundary on a second side of the driving road as a second driving boundary;

[0062] The fourth determining module is configured to determine a width of the road on which the vehicle is traveling according to the first driving boundary and the second driving boundary.

[0063] Optionally, the third determining module is configured to:

[0064] determining whether the physical barrier line information on the second side of the driving road meets the requirements of an advanced driver assistance system (ADAS);

[0065] If the physical separation line information on the second side of the driving road meets the ADAS requirement and there is lane line information on the second side of the driving road that meets the ADAS requirement, determining a second driving boundary of the vehicle using the physical separation line and the lane line information on the second side of the driving road that meets the ADAS requirement;

[0066] If the physical separation line information on the second side of the driving road meets the requirements of ADAS, but there is no lane line information on the second side of the driving road that meets the requirements of ADAS, the physical separation line information on the second side of the driving road is used to determine the second driving boundary.

[0067] Compared with the prior art, the embodiments of the present application have the following advantages:

[0068] An embodiment of the present application provides a method for determining a vehicle's driving boundary. First, lane line information and physical separation line information on a certain side of the road on which the vehicle is traveling are monitored, wherein the physical separation line of the road is formed on the side of the road by a physical structure used to separate the road. Then, it is determined whether the physical separation line information meets the requirements of an advanced driving assistance system (ADAS). If the physical separation line information meets the requirements of ADAS and there is lane line information that meets ADAS, the physical separation line and the lane line information that meets ADAS are used to determine the first driving boundary of the vehicle. If the physical separation line information meets the requirements of ADAS but there is no lane line information that meets ADAS, the physical separation line information is used to determine the first driving boundary. It can be seen from this that if the physical isolation line information and the lane line information both meet the requirements of ADAS, the lane line information is not the only one used to determine the vehicle's driving boundary, but the lane line information and the physical isolation line information are used to jointly determine the first driving boundary of the vehicle, thereby solving the problem of user distrust of ADAS; if only the physical isolation line information meets the ADAS requirements, and the lane line information does not meet the ADAS requirements, the inhibition function will not be activated at this time, but the physical isolation line information is used to determine the first driving boundary of the vehicle, so that ADAS can always be kept in use, avoiding frequent entry and exit of ADAS to reduce the use effect of the driving assistance system. Through this method, the user experience is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0070] Figure 1 A flow chart of a method for determining a vehicle driving boundary according to an embodiment of the present application;

[0071] Figure 2 This is a structural diagram of a device for determining a vehicle driving boundary in an embodiment of the present application. DETAILED DESCRIPTION

[0072] In order to help those skilled in the art better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0073] After research, the inventors of this application found that, currently, since ADAS usually determines the vehicle's driving boundaries based on the lane lines on both sides of the road, the driver is likely to distrust the judgment made by ADAS, and frequently entering and exiting ADAS will reduce the effectiveness of the driving assistance system and provide a poor user experience.

[0074] In order to solve the above problem, in an embodiment of the present application, the lane line information and physical separation line information on a certain side of the road where the vehicle is traveling are first monitored, wherein the physical separation line of the road is formed on the said side of the road by a physical structure used to separate the road. Then, it is determined whether the physical separation line information meets the requirements of the advanced driving assistance system ADAS. If the physical separation line information meets the requirements of ADAS and the lane line information that meets ADAS exists, the physical separation line and the lane line information that meets ADAS are used to determine the first driving boundary of the vehicle; if the physical separation line information meets the ADAS requirements but the lane line information that meets ADAS does not exist, the physical separation line information is used to determine the first driving boundary. It can be seen from this that if the physical isolation line information and the lane line information both meet the requirements of ADAS, the lane line information is not the only one used to determine the vehicle's driving boundary, but the lane line information and the physical isolation line information are used to jointly determine the first driving boundary of the vehicle, thereby solving the problem of user distrust of ADAS; if only the physical isolation line information meets the ADAS requirements, and the lane line information does not meet the ADAS requirements, the inhibition function will not be activated at this time, but the physical isolation line information is used to determine the first driving boundary of the vehicle, so that ADAS can always be kept in use, avoiding frequent entry and exit of ADAS to reduce the use effect of the driving assistance system. Through this method, the user experience is improved.

[0075] Various non-limiting embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0076] Exemplary Methods

[0077] See also Figure 1 , which shows a flow chart of a method for determining a vehicle driving boundary in an embodiment of the present application. Figure 1The method shown, in one implementation, may be performed, for example, by an autonomous driving device.

[0078] In this embodiment, Figure 1 The method shown can be implemented, for example, through the following steps S101 - S104 .

[0079] S101: monitoring lane line information and physical isolation line information on a first side of a road on which a vehicle is traveling, wherein the physical isolation line is formed on the side of the road by a physical structure for isolating the road.

[0080] In order to determine the driving boundary of the vehicle, the lane line information and physical isolation line information on both sides of the vehicle driving road can be monitored first. The first side is taken as an example below. The first side can be any side of the driving road.

[0081] In this embodiment, for example, the lane line information and the physical isolation line information on the first side can be monitored by a camera. The lane line can be a manually painted boundary line, and the physical isolation line is formed on the side of the road by a physical structure used to isolate the road, such as a curb, a fence, and a ditch.

[0082] S102: Determine whether the physical isolation line information meets the requirements of an advanced driver assistance system (ADAS).

[0083] When the physical barrier line exists on the first side, to determine whether the physical barrier line can serve as the first driving boundary of the vehicle, it is first determined whether the physical barrier line information meets ADAS requirements. In one example, the physical barrier line information meeting ADAS requirements may be that at least one of the length, width, curvature, parameter change rate, and confidence level in the physical barrier line information meets ADAS requirements. In one implementation, the length, width, curvature, parameter change rate, and confidence level in the physical barrier line information can all meet ADAS requirements.

[0084] The length that meets the requirements of ADAS may be that the length is not less than a first length threshold. By setting the first length threshold, it is avoided that the physical isolation line that is too short causes the ADAS function to frequently switch between entering and exiting. The first length threshold is determined according to the actual situation, and this embodiment does not impose any restrictions. It should be noted that a lane that is too wide or too narrow may affect the functional performance of the ADAS system. In order to determine whether the width meets the requirements of ADAS, a first width interval can be set. When the width does not exceed the first width interval, it can be determined that the width meets the requirements of ADAS. The first width interval is determined according to the actual situation, for example, it can be 2.8 meters to 4.8 meters, and this embodiment does not impose any restrictions.

[0085] In this example, the curvature may be the inverse of the length. The curvature meeting the ADAS requirement may be that the curvature does not exceed a first curvature threshold. The first curvature threshold may be set according to the ODD, for example, (1 / 250) meters. -1 By setting the first curvature threshold, the physical isolation line with excessive curvature can be excluded, so that the physical isolation line meets the requirements of ADAS. The confidence level is used to characterize the credibility of the physical isolation line. The higher the confidence level, the more credible the physical isolation line. In this example, whether the physical isolation line meets the requirements of ADAS can be determined by setting the confidence threshold of the physical isolation line. In one implementation, for different functional modules in ADAS, such as LDWS and LKAS, the required confidence levels of the physical isolation lines may be different. Therefore, by setting different confidence thresholds, it can be determined whether the physical isolation line meets the requirements of a certain functional module in ADAS.

[0086] It should be noted that when the vehicle passes through a bumpy road section or the physical isolation line has an abnormality, certain parameters of the physical isolation line may change significantly. At this time, it is possible to determine whether the physical isolation line meets the requirements of ADAS by judging whether the change rate of certain parameters of the physical isolation line meets their respective corresponding thresholds. Among them, the parameter change rate includes one or more of the lateral offset distance change rate, the heading angle tangent value change rate and the curvature change rate. The lateral offset distance is the shortest distance between the physical isolation line and the vehicle. The threshold value of the parameter change rate can be determined according to actual conditions. For example, the lateral offset distance change rate can be 2m / s 2 The rate of change of the tangent value of the heading angle can be 0.2m / s 2 , the curvature change rate can be 0.01m / s 2 , this example does not impose any restrictions.

[0087] S103: If the physical isolation line information meets the requirements of ADAS and the lane line information that meets ADAS exists, the physical isolation line and the lane line information that meets ADAS are used to determine a first driving boundary of the vehicle.

[0088] After determining that the physical separation line meets the requirements of ADAS, it can be further determined whether the lane line information that meets the requirements of ADAS exists. In one example, determining whether the lane line information meets the requirements of ADAS is consistent with determining whether the physical separation line information meets the requirements of ADAS, which will not be repeated here. It can be understood that if the physical separation line information meets the requirements of ADAS and the lane line information that meets the requirements of ADAS exists, at this time, if the physical separation lines such as curbs are not considered, and the vehicle's driving boundary is determined only based on the lane lines on both sides, the driver may not trust the judgment made by ADAS, causing panic to the driver. Therefore, in this embodiment, the physical separation line information and the lane line information that meets ADAS are used to determine the first driving boundary of the vehicle to improve the user experience.

[0089] For ease of description, the lateral offset distance, heading angle tangent value, curvature, and curvature change rate of the first driving boundary are represented by C0, C1, C2, and C3, respectively. It is understood that the first driving boundary can be described by a first driving boundary equation. For example, a coordinate system is established with the vehicle's current driving position as the origin, the vehicle's driving direction as the x-coordinate, and the direction perpendicular to the vehicle's driving direction, pointing from the vehicle to the lane line or physical separation line, as the y-coordinate. The coordinate system is parallel to the road surface on which the vehicle is traveling. In this coordinate system, the first driving boundary equation can be, for example,:

[0090]

[0091] It should be noted that the physical isolation line and the lane line each have their own lateral offset distance, heading angle tangent value, curvature and curvature change rate. In this example, the lateral offset distance, heading angle tangent value, curvature and curvature change rate of the physical isolation line are represented by C 0R 、C 1R 、C 2R and C 3R Indicates that the lateral offset distance, the heading angle tangent value, the curvature and the curvature change rate of the lane line are represented by C 0L 、C 1L 、C 2L and C 3L express.

[0092] It is understandable that the use of the physical isolation line and the lane line information that complies with ADAS to determine the first driving boundary of the vehicle can be based on the C of the physical isolation line. 0R 、C 1R 、C 2R 、C 3R , and the lane line C0L 、C 1L 、C 2L 、C 3L , determine C0, C1, C2 and C3 of the first driving boundary. It can be seen from the expression of the first driving boundary equation that the first driving boundary equation can be determined based on C0, C1, C2 and C3. Therefore, through C 0R 、C 1R 、C 2R 、C 3R , and C 0L 、C 1L 、C 2L 、C 3L After determining C0, C1, C2, and C3, the first driving boundary equation can be determined, that is, the first driving boundary is determined.

[0093] The following describes how to pass C 0R 、C 1R 、C 2R 、C 3R , and C 0L 、C 1R 、C 2L 、C 3L , determine C0, C1, C2, and C3.

[0094] When determining the lateral offset distance of the first driving boundary, i.e., C0, in order to reduce the driver's panic when driving, the first driving boundary can be appropriately offset to the inside of the road, i.e., C0 can be appropriately reduced. In one example, C0 can be pre-stored. 0L 、C 0R The corresponding relationship between the difference between and C0, then, according to C 0L 、C 0R , and the corresponding relationship determines C0. It can be understood that, in the pre-stored C 0L 、C 0R When the difference between the two corresponds to C0, C 0L 、C 0R The larger the difference between them, the greater the distance between the physical isolation line and the lane line, the less panic the driver feels, and the smaller C0 can be.

[0095] In C 1R and C 1L When determining C1, you can refer to the following formula:

[0096] C1=W1*C 1L +(1-W1)*C 1R

[0097] Where W1 is the lane line length L LIn L L The length of the physical isolation line L R The proportion of the sum:

[0098]

[0099] Therefore, through L L With L R , and C 1R and C 1L , C1 can be determined.

[0100] Similarly, in the 2R and C 2L When determining C2, you can refer to the following formula:

[0101] C2=W2*C 2L +(1-W2)*C 2R

[0102] Where W2 is the square of the lane length exist The square of the length of the physical isolation line The proportion of the sum:

[0103]

[0104] By L L With L R , and C 2R and C 2L , C2 can be determined.

[0105] Similarly, in the 3R and C 3L When determining C3, you can refer to the following formula:

[0106] C3=W3*C 3L +(1-W3)*C 3R

[0107] Where W3 is the cube of the lane line length exist The cube of the physical isolation line length The proportion of the sum:

[0108]

[0109] By L L With L R , and C 3R and C 3L , C3 can be determined.

[0110] After C0, C1, C2, and C3 are determined, the first driving boundary equation can be determined based on C0, C1, C2, and C3, that is, the first driving boundary is determined.

[0111] S104: If the physical isolation line information meets the requirements of ADAS, but the lane line information that meets the requirements of ADAS does not exist, the physical isolation line information is used to determine the first driving boundary.

[0112] In this embodiment, if the physical separation line information meets the requirements of ADAS, but the lane line information that meets the requirements of ADAS does not exist, ADAS will not activate the suppression function, but will use the physical separation line information to determine the first driving boundary of the vehicle. Through this method, ADAS can always be kept in use, avoiding frequent entry and exit of ADAS, which reduces the effectiveness of the driving assistance system and improves the user experience.

[0113] In one example, the heading angle tangent value C of the physical isolation line can be 1R The tangent value of the heading angle C1 of the first driving boundary is determined, and the curvature C 2R Determine the curvature C2 of the first driving boundary and the curvature change rate C of the physical isolation line 3R The curvature change rate C3 of the first driving boundary is determined. When determining C0, in order to reduce the driver's panic when driving, the lateral offset distance C of the physical isolation line can be 0R After being moderately offset to the inside of the road, the lateral offset distance C0 is used as the first driving boundary. 0R The value of the offset to the inside of the road can be determined by the speed of the vehicle. It is understandable that the faster the speed, the larger the offset value is, so as to ensure that ADAS can promptly remind the driver or actively control the vehicle to maintain a safe distance from the physical isolation line. Considering that the road width has a certain limit, the maximum value of the offset can be set, for example, it can be 0.5 meters. Before determining the value of the offset, the corresponding relationship between the vehicle's speed and the offset value can be saved in advance, and the C value at the speed can be determined based on the vehicle's speed and the corresponding relationship. 0R Offset distance, and then C 0R With the C 0R Subtract the offset distance to get C0.

[0114] The above example illustrates a method for determining the driving boundary of the first side of the vehicle's driving road. On this basis, the driving boundary of the second side of the vehicle's driving road can be further determined, which is recorded as the second driving boundary. In one example, the second driving boundary can be determined using the same method as that for determining the first driving boundary, which will not be repeated here. It can be understood that if only the lane line on the second side meets the requirements of ADAS, the lateral offset distance, heading angle tangent value, curvature and curvature change rate of the lane line on the second side can be used as the lateral offset distance, heading angle tangent value, curvature and curvature change rate of the second driving boundary, respectively, to determine the driving boundary equation of the second side, which is recorded as the second driving boundary equation, that is, the driving boundary of the second side is determined; if both the lane line and the physical isolation line on the second side do not meet the requirements of ADAS, then all parameters in the second driving boundary equation are 0, and it can be considered that the second driving boundary does not exist.

[0115] After determining the driving boundaries on both sides of the vehicle's road, the lane width can be further determined. In one example, if neither driving boundary exists on the vehicle's road, the lane width can be set to 0 meters. If both driving boundaries exist, the lane width can be the sum of the absolute value of the lateral offset distance C0 in the first driving boundary equation and the absolute value of the lateral offset distance C′0 in the second driving boundary equation. If only one driving boundary exists on the vehicle's road, the lane width can be set to remain constant for a preset time interval. After the preset time interval, the lane width gradually decreases to 0 meters. The constant lane width means that the lane width is the same as the lateral offset distance on the side with the driving boundary. By setting the preset time interval, the parameters of the driving boundaries will not change significantly when a driving boundary appears on the other side of the road or disappears. Furthermore, after the preset time interval, unexpected assisted driving behaviors such as warnings and corrections can be effectively avoided in uncertain environments. The preset time interval can be 3 seconds.

[0116] Exemplary devices

[0117] Based on the method provided in the above embodiment, the embodiment of the present application further provides a device, which is described below in conjunction with the accompanying drawings.

[0118] See also Figure 2 , shows a schematic structural diagram of a device for determining a vehicle's driving boundary in an embodiment of the present application. The device may specifically include:

[0119] A monitoring module 201 is configured to monitor lane line information and physical separation line information on a first side of a road on which a vehicle is traveling, wherein the physical separation line is formed on the side of the road by a physical structure for separating the road;

[0120] The judging module 202 is configured to judge whether the physical isolation line information meets the requirements of an advanced driver assistance system (ADAS);

[0121] A first determining module 203 is configured to: if the physical barrier line information meets the ADAS requirement and the lane line information that meets the ADAS requirement exists, determine a first driving boundary of the vehicle using the physical barrier line and the lane line information that meets the ADAS requirement;

[0122] The second determining module 204 is configured to: if the physical isolation line information meets the requirements of the ADAS, but the lane line information meeting the requirements of the ADAS does not exist, determine the first driving boundary using the physical isolation line information.

[0123] Through this device, if the physical separation line information and the lane line information both meet the requirements of ADAS, the lane line information is not used alone to determine the vehicle's driving boundary, but the lane line information and the physical separation line information are used to jointly determine the first driving boundary of the vehicle, thereby solving the problem of user distrust of ADAS; if only the physical separation line information meets the ADAS requirements, and the lane line information does not meet the ADAS requirements, the inhibition function will not be activated at this time, but the physical separation line information is used to determine the first driving boundary of the vehicle, so that ADAS can always be kept in use, avoiding frequent entry and exit of ADAS to reduce the use effect of the driving assistance system. Through this device, the user experience is improved.

[0124] In one implementation, the physical isolation line information meeting ADAS requirements includes:

[0125] At least one of the length, width, curvature, parameter change rate, and confidence level of the physical isolation line information meets ADAS requirements;

[0126] The parameter change rate includes one or more of a lateral offset distance change rate, a heading angle tangent value change rate, and a curvature change rate, and the lateral offset distance is the shortest distance between the physical isolation line and the vehicle.

[0127] In one implementation, the lane information meeting ADAS requirements includes:

[0128] At least one of the length, width, curvature, parameter change rate, and confidence level of the lane line information meets ADAS requirements;

[0129] The parameter change rate includes one or more of a lateral offset distance change rate, a heading angle tangent value change rate, and a curvature change rate, and the lateral offset distance is the shortest distance between the lane line and the vehicle.

[0130] In one implementation, the first determining module is configured to:

[0131] determining the lateral offset distance of the first driving boundary based on the lateral offset distance of the lane line, the lateral offset distance of the physical dividing line, and a pre-stored correspondence between a difference between the lateral offset distances of the lane line and the lateral offset distances of the physical dividing line and the lateral offset distance of the first driving boundary;

[0132] Determining a heading angle tangent value of the first driving boundary according to the length of the lane line, the length of the physical separation line, the heading angle tangent value of the lane line, and the heading angle tangent value of the physical separation line;

[0133] determining a curvature of the first driving boundary based on the length of the lane line, the length of the physical separation line, the curvature of the lane line, and the curvature of the physical separation line;

[0134] determining a curvature change rate of the first driving boundary according to the length of the lane line, the length of the physical separation line, the curvature change rate of the lane line, and the curvature change rate of the physical separation line;

[0135] The first driving boundary is determined according to a lateral offset distance of the first driving boundary, a tangent value of a heading angle of the first driving boundary, a curvature of the first driving boundary, and a curvature change rate of the first driving boundary.

[0136] In one implementation, the second determining module is configured to:

[0137] determining the lateral offset distance of the first driving boundary according to the driving speed of the vehicle, the lateral offset distance of the physical isolation line, and a pre-stored correspondence between the driving speed of the vehicle and the change in the lateral offset distance of the physical isolation line;

[0138] Determining the heading angle tangent value of the physical isolation line as the heading angle tangent value of the first driving boundary;

[0139] determining the curvature of the physical isolation line as the curvature of the first driving boundary;

[0140] determining a curvature change rate of the physical isolation line as a curvature change rate of the first driving boundary;

[0141] The first driving boundary is determined according to a lateral offset distance of the first driving boundary, a tangent value of a heading angle of the first driving boundary, a curvature of the first driving boundary, and a curvature change rate of the first driving boundary.

[0142] In one implementation, the apparatus further includes:

[0143] A third determining module is configured to determine a driving boundary on a second side of the driving road as a second driving boundary;

[0144] The fourth determining module is configured to determine a width of the road on which the vehicle is traveling according to the first driving boundary and the second driving boundary.

[0145] In one implementation, the third determining module is configured to:

[0146] determining whether the physical barrier line information on the second side of the driving road meets the requirements of an advanced driver assistance system (ADAS);

[0147] If the physical separation line information on the second side of the driving road meets the ADAS requirement and there is lane line information on the second side of the driving road that meets the ADAS requirement, determining a second driving boundary of the vehicle using the physical separation line and the lane line information on the second side of the driving road that meets the ADAS requirement;

[0148] If the physical separation line information on the second side of the driving road meets the requirements of ADAS, but there is no lane line information on the second side of the driving road that meets the requirements of ADAS, the physical separation line information on the second side of the driving road is used to determine the second driving boundary.

[0149] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0150] It should be understood that the present application is not limited to the precise structure described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

[0151] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A method for determining a vehicle's travel boundary, characterized in that: The method comprises: Monitoring lane marking information and physical separation line information on a first side of a road on which the vehicle is traveling, wherein the physical separation line is formed on the side of the road by a physical structure for separating the road; Determining whether the physical isolation line information meets the requirements of an advanced driver assistance system (ADAS); If the physical separation line information meets the requirements of ADAS and the lane line information that meets ADAS exists, determining a first driving boundary of the vehicle using the physical separation line and the lane line information that meets ADAS; If the physical separation line information meets the requirements of ADAS, but the lane line information that meets the requirements of ADAS does not exist, using the physical separation line information to determine the first driving boundary; Determining the first driving boundary of the vehicle by using the physical isolation line information includes: determining the lateral offset distance of the first driving boundary according to the driving speed of the vehicle, the lateral offset distance of the physical isolation line, and a pre-stored correspondence between the driving speed of the vehicle and the change in the lateral offset distance of the physical isolation line; Determining the heading angle tangent value of the physical isolation line as the heading angle tangent value of the first driving boundary; determining the curvature of the physical isolation line as the curvature of the first driving boundary; determining a curvature change rate of the physical isolation line as a curvature change rate of the first driving boundary; The first driving boundary is determined according to a lateral offset distance of the first driving boundary, a tangent value of a heading angle of the first driving boundary, a curvature of the first driving boundary, and a curvature change rate of the first driving boundary.

2. The method according to claim 1, characterized in that The physical isolation line information that meets ADAS requirements includes: At least one of the length, width, curvature, parameter change rate, and confidence level of the physical isolation line information meets ADAS requirements; The parameter change rate includes one or more of a lateral offset distance change rate, a heading angle tangent value change rate, and a curvature change rate, and the lateral offset distance is the shortest distance between the physical isolation line and the vehicle.

3. The method according to claim 1, characterized in that The lane line information meets the requirements of ADAS including: At least one of the length, width, curvature, parameter change rate, and confidence level of the lane line information meets ADAS requirements; The parameter change rate includes one or more of a lateral offset distance change rate, a heading angle tangent value change rate, and a curvature change rate, and the lateral offset distance is the shortest distance between the lane line and the vehicle.

4. The method according to claim 1, wherein Determining the first driving boundary of the vehicle by using the physical isolation line and the lane line information that complies with ADAS includes: determining the lateral offset distance of the first driving boundary based on the lateral offset distance of the lane line, the lateral offset distance of the physical dividing line, and a pre-stored correspondence between a difference between the lateral offset distances of the lane line and the lateral offset distances of the physical dividing line and the lateral offset distance of the first driving boundary; Determining a heading angle tangent value of the first driving boundary according to the length of the lane line, the length of the physical separation line, the heading angle tangent value of the lane line, and the heading angle tangent value of the physical separation line; determining a curvature of the first driving boundary based on the length of the lane line, the length of the physical separation line, the curvature of the lane line, and the curvature of the physical separation line; determining a curvature change rate of the first driving boundary according to the length of the lane line, the length of the physical separation line, the curvature change rate of the lane line, and the curvature change rate of the physical separation line; The first driving boundary is determined according to a lateral offset distance of the first driving boundary, a tangent value of a heading angle of the first driving boundary, a curvature of the first driving boundary, and a curvature change rate of the first driving boundary.

5. The method according to claim 1, wherein The method further comprises: determining a driving boundary on a second side of the driving road as a second driving boundary; The width of the vehicle driving road is determined according to the first driving boundary and the second driving boundary.

6. The method according to claim 5, characterized in that Determining the driving boundary of the second side of the driving road includes: determining whether the physical barrier line information on the second side of the driving road meets the requirements of an advanced driver assistance system (ADAS); If the physical separation line information on the second side of the driving road meets the ADAS requirement and there is lane line information on the second side of the driving road that meets the ADAS requirement, determining a second driving boundary of the vehicle using the physical separation line and the lane line information on the second side of the driving road that meets the ADAS requirement; If the physical separation line information on the second side of the driving road meets the requirements of ADAS, but there is no lane line information on the second side of the driving road that meets the requirements of ADAS, the physical separation line information on the second side of the driving road is used to determine the second driving boundary.

7. A device for determining a vehicle's travel boundary, characterized in that: The device comprises: A monitoring module, configured to monitor lane line information and physical isolation line information on a first side of a road on which the vehicle is traveling, wherein the physical isolation line is formed on the side of the road by a physical structure for isolating the road; A judgment module is used to judge whether the physical isolation line information meets the requirements of the advanced driver assistance system ADAS; A first determination module is configured to: if the physical isolation line information meets the requirements of the ADAS and the lane line information that meets the ADAS requirements exists, determine a first driving boundary of the vehicle using the physical isolation line and the lane line information that meets the ADAS requirements; a second determining module, configured to: if the physical isolation line information meets the requirements of the ADAS, but the lane line information meeting the requirements of the ADAS does not exist, determine the first driving boundary using the physical isolation line information; The second determining module is used for: determining the lateral offset distance of the first driving boundary according to the driving speed of the vehicle, the lateral offset distance of the physical isolation line, and a pre-stored correspondence between the driving speed of the vehicle and the change in the lateral offset distance of the physical isolation line; Determining the heading angle tangent value of the physical isolation line as the heading angle tangent value of the first driving boundary; determining the curvature of the physical isolation line as the curvature of the first driving boundary; determining a curvature change rate of the physical isolation line as a curvature change rate of the first driving boundary; The first driving boundary is determined according to a lateral offset distance of the first driving boundary, a tangent value of a heading angle of the first driving boundary, a curvature of the first driving boundary, and a curvature change rate of the first driving boundary.

8. The device according to claim 7, characterized in that The physical isolation line information that meets ADAS requirements includes: At least one of the length, width, curvature, parameter change rate, and confidence level of the physical isolation line information meets ADAS requirements; The parameter change rate includes one or more of a lateral offset distance change rate, a heading angle tangent value change rate, and a curvature change rate, and the lateral offset distance is the shortest distance between the physical isolation line and the vehicle.

9. The device according to claim 7, characterized in that The lane line information meets the requirements of ADAS including: At least one of the length, width, curvature, parameter change rate, and confidence level of the lane line information meets ADAS requirements; The parameter change rate includes one or more of a lateral offset distance change rate, a heading angle tangent value change rate, and a curvature change rate, and the lateral offset distance is the shortest distance between the lane line and the vehicle.

10. The device according to claim 7, characterized in that The first determining module is used for: determining the lateral offset distance of the first driving boundary based on the lateral offset distance of the lane line, the lateral offset distance of the physical dividing line, and a pre-stored correspondence between a difference between the lateral offset distances of the lane line and the lateral offset distances of the physical dividing line and the lateral offset distance of the first driving boundary; Determining a heading angle tangent value of the first driving boundary according to the length of the lane line, the length of the physical separation line, the heading angle tangent value of the lane line, and the heading angle tangent value of the physical separation line; determining a curvature of the first driving boundary based on the length of the lane line, the length of the physical separation line, the curvature of the lane line, and the curvature of the physical separation line; determining a curvature change rate of the first driving boundary according to the length of the lane line, the length of the physical separation line, the curvature change rate of the lane line, and the curvature change rate of the physical separation line; The first driving boundary is determined according to a lateral offset distance of the first driving boundary, a tangent value of a heading angle of the first driving boundary, a curvature of the first driving boundary, and a curvature change rate of the first driving boundary.

11. The device according to claim 7, characterized in that The device further comprises: A third determining module is configured to determine a driving boundary on a second side of the driving road as a second driving boundary; The fourth determining module is configured to determine a width of the road on which the vehicle is traveling according to the first driving boundary and the second driving boundary.

12. The device according to claim 11, characterized in that The third determining module is configured to: determining whether the physical barrier line information on the second side of the driving road meets the requirements of an advanced driver assistance system (ADAS); If the physical separation line information on the second side of the driving road meets the ADAS requirement and there is lane line information on the second side of the driving road that meets the ADAS requirement, determining a second driving boundary of the vehicle using the physical separation line and the lane line information on the second side of the driving road that meets the ADAS requirement; If the physical separation line information on the second side of the driving road meets the requirements of ADAS, but there is no lane line information on the second side of the driving road that meets the requirements of ADAS, the physical separation line information on the second side of the driving road is used to determine the second driving boundary.

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