Lane centerline determination method, device, electronic device, and storage medium

Abstract

An embodiment of the present application provides a lane centerline determination method, device, electronic device and storage medium, the method comprising the steps of: after acquiring lane information, determining multiple abstract points based on the lane information; determining the spherical coordinates corresponding to the abstract points in a spherical coordinate system, the spherical coordinate system being established with the initial abstract point as the origin and the zenith angle, azimuth angle and distance as coordinate axes; sending the spherical coordinates of the abstract points to a vehicle end, and the vehicle end determining the relative coordinates of the abstract points based on the spherical coordinates of the abstract points. By using the lane centerline determination method provided by an embodiment of the present application, the number of abstract points used is reduced, the communication overhead during data transmission is reduced, the computational overhead of the vehicle end is reduced, and a certain amount of computing resources are saved.

Description

Technical Field

[0001] The present application relates to the field of intelligent connected technology, and in particular to a method for determining a lane centerline. Background Art

[0002] Map messages are a critical component of the V2X message protocol layer stack, providing vehicles with high-precision map information of regional roads. In map messages, abstract points on the centerlines of road sections and lanes depict the shape, location, and other characteristics of the road network, and are also the largest portion of data. Existing technical standards clearly define the data expression format for road sections and lane centerlines contained in map information, using longitude and latitude to express and calculate abstract points. However, this algorithm places significant computational pressure on both the road and vehicle sides. Summary of the Invention

[0003] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide a lane centerline determination method, device, electronic device and storage medium.

[0004] According to a first aspect of an embodiment of the present application, a method for determining a lane centerline is provided, comprising:

[0005] After obtaining the lane information, multiple abstract points are determined based on the lane information;

[0006] Determine the spherical coordinates corresponding to the abstract point in the spherical coordinate system. The spherical coordinate system is established with the initial abstract point as the origin and the zenith angle, azimuth angle and distance as the coordinate axes.

[0007] Send the spherical coordinates of the abstract point to the vehicle;

[0008] The vehicle side determines the relative coordinates of the abstract point based on the spherical coordinates of the abstract point.

[0009] Optionally, in one embodiment of the present application, determining the spherical coordinates corresponding to the abstract point in the spherical coordinate system includes: setting a zenith angle value range between the kth abstract point and the k-1th abstract point according to a first threshold range.

[0010] Optionally, in one embodiment of the present application, determining the spherical coordinates corresponding to the abstract point in the spherical coordinate system further includes: setting an azimuth angle value range between the kth abstract point and the k-1th abstract point according to a second threshold range.

[0011] Optionally, in one embodiment of the present application, determining the spherical coordinates corresponding to the abstract point in the spherical coordinate system further includes: setting a distance value range between the kth abstract point and the k-1th abstract point according to a third threshold range.

[0012] Optionally, in one embodiment of the present application, the vehicle side determines the relative coordinates of the abstract point based on the spherical coordinates of the abstract point, including: determining the relative coordinates of the kth abstract point based on the zenith angle value of the k-1th abstract point and the distance value of the kth abstract point.

[0013] Optionally, in one embodiment of the present application, abstract points are selected based on both sides of the lane centerline.

[0014] Optionally, in one embodiment of the present application, the spherical coordinates of the abstract point are sent to the vehicle end via wireless communication.

[0015] According to another aspect of an embodiment of the present application, a lane centerline determination device is provided, comprising:

[0016] An abstract point determination module, used to determine multiple abstract points based on lane information;

[0017] The coordinate conversion module is used to determine the spherical coordinates of the abstract point in the spherical coordinate system. The spherical coordinates are established with the initial abstract point as the origin and the zenith angle, azimuth angle and distance as the coordinate axes.

[0018] The sending module is used to send the spherical coordinates of the abstract point to the vehicle end;

[0019] The determination module is used to determine the relative coordinates of the abstract point according to the spherical coordinates of the abstract point.

[0020] According to another aspect of an embodiment of the present application, based on the lane centerline determination method described above, an embodiment of the present application further provides an electronic device, including: a processor, and a memory storing a program;

[0021] The program includes instructions, which, when executed by a processor, cause the processor to execute any of the above lane centerline determination methods.

[0022] According to another aspect of an embodiment of the present application, based on the above-mentioned lane centerline determination method of the present application, an embodiment of the present application also provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute any of the above-mentioned lane centerline determination methods.

[0023] The present invention provides a lane centerline determination method, device, and computer storage medium. The method includes the following steps: obtaining lane information, determining multiple abstract points based on the lane information on the road side; determining the spherical coordinates corresponding to the abstract points in a spherical coordinate system, where the spherical coordinate system is established with the initial abstract point as the origin and the zenith angle, azimuth, and distance as coordinate axes; and transmitting the spherical coordinates of the abstract points to the vehicle side, which determines the relative coordinates of the abstract points based on the spherical coordinates of the abstract points. The lane centerline determination method provided by the present invention reduces the number of abstract points used, lowers communication overhead during data transmission, reduces computational overhead on the vehicle side, and conserves computing resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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 the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0025] Figure 1 A flowchart of the steps for determining a lane centerline according to an embodiment of the present application;

[0026] Figure 2 A schematic structural diagram of a lane centerline determination device provided according to an embodiment of the present application;

[0027] Figure 3 The figure is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of the embodiments of the present application.

[0029] Map messages are a critical component of the V2X message protocol layer stack. Existing map information requires building maps based on lanes, road sections, and abstract points. Lanes and road sections specifically contain fields, which are ordered lists containing latitude, longitude, and altitude. Specifically, they represent the centerline of a lane or section. The fields use a piecewise linear approach to obtain the fitted lane. The position of the abstract point is determined based on the road section and lane information, using latitude, longitude, and altitude data, provided that the distance between any two consecutive points in the road section point set and the lane point set, and the vertical distance from the centerline of the road actually covered, are less than 0.5 meters and 2 meters, respectively. In another implementation, the positional relationship of the abstract point is determined using a trajectory coordinate system (ST coordinate system), and the traditional latitude and longitude values ​​are replaced by the horizontal and vertical coordinates relative to the reference line.

[0030] Regarding V2X (vehicle-to-everything wireless communication technology), that is, the information interaction between the vehicle and the outside world, including but not limited to communication between the on-board unit and other devices, including but not limited to communication between on-board units (V2V, Vehicle-To-Vehicle), communication between on-board units and roadside units (V2I, Vehicle-To-Infrastructure), communication between on-board units and pedestrian devices (V2P, Vehicle-To-Pedestrian), and communication between on-board units and networks (V2N, Vehicle-To-Network), V2X can enable information interaction between vehicles, vehicles and base stations, and base stations and base stations, so as to obtain real-time traffic information such as road conditions, road information, pedestrian information, etc., reduce congestion, and improve driving safety.

[0031] According to the above technical solution, the onboard unit needs to parse the corresponding longitude, latitude, and altitude data, and convert the longitude and latitude information into plane coordinates to construct the road centerline. Based on the existing technical solution, the onboard unit needs to process a large amount of data, which bears a heavy computing pressure. Therefore, this application proposes a new lane centerline determination method, device, electronic device, and computer storage medium to at least partially address the above problem.

[0032] The specific implementation of the embodiment of the present application is further explained below in conjunction with the accompanying drawings of the embodiment of the present application.

[0033] This application embodiment provides a method for determining the lane centerline, referring to Figure 1 , Figure 1 1 is a flow chart of a method for determining a lane centerline, as shown in FIG. 1 , wherein the method comprises the following steps:

[0034] Step 101: After obtaining lane information, multiple abstract points are determined according to the lane information.

[0035] In one implementation, a roadside unit (RSU) can use an inscribed circle estimation algorithm to determine abstract points. Specifically, this algorithm approximates the curved portion of the lane as an arc, takes two points on the arc as abstract points, uses the relative distance between the two abstract points as the chord length, and calculates the direction difference between the two abstract points as the center angle corresponding to the chord. The maximum distance between the chord and the arc can be obtained, that is, the maximum deviation between the fitted centerline and the actual centerline.

[0036] The method for determining abstract points provided by the embodiment of the present application only needs to consider the positions and directions of the two abstract points themselves, and the computational complexity is low. However, when the lane deviates significantly from the standard arc, there will be a large error between the fitted centerline determined by the abstract points determined by the above algorithm and the actual centerline.

[0037] To at least partially solve the above-mentioned problem, this embodiment proposes a method for determining abstract points. The abstract points can be selected on the extension line of the estimated line segment. The method for determining abstract points provided by the embodiment of the present application can reduce the number of abstract points to be selected, thereby reducing the communication overhead of the roadside unit.

[0038] The estimated line segment here refers to a road segment obtained based on the acquired road information.

[0039] Communication overhead refers to the need to convert data formats during data transmission. During the conversion process, some redundant data is inevitably added. These redundant data are indispensable in the data transmission process. The proportion of redundant data in the source data is the communication overhead. The source data refers to the data that the roadside unit needs to send to the vehicle-mounted unit.

[0040] Furthermore, the abstract point selection method provided in the embodiments of the present application can reduce the number of abstract points in extreme cases, thereby reducing the computational overhead consumed in the centerline fitting process. The extreme case here refers to the road shape being close to a sine function. Here, the sine function is expressed as follows, based on the amplitude being less than 1 m:

[0041]

[0042] It should be noted that the roadside unit is used to obtain lane information and is responsible for processing the acquired lane information. Through DSRC (Dedicated-Short-Range-Communication) technology, it exchanges data with the on-board unit (OBU) to realize the transmission of abstract point coordinates, so that the on-board unit can receive the spherical coordinates of the abstract point and perform centerline fitting operations.

[0043] The lanes here include motor vehicle lanes and emergency lanes. Motor vehicle lanes specifically refer to the lanes on highways and urban roads from the first vehicle lane dividing line on the right to the center line (if there is no center line, the geometric center line shall prevail). Emergency lanes are generally set up on expressways and urban ring roads. Specifically, they refer to the road surface section adjacent to the right road lane, with a width of more than 3 meters including the hard shoulder, an effective length greater than or equal to 30 meters, and can meet the parking needs of motor vehicles.

[0044] The lane information here includes road width, number of lanes, lane dividing lines, lane connectivity, etc. Specifically, road width refers to the average width of the normally driven portion of the selected road section. The normally driven portion of the road section here refers to excluding possible lane extensions at the entry or exit sections, as well as extended portions such as bus stops. The lane connectivity relationship can be the drivable direction of the lane or the accessible relationship between adjacent lanes. For example, if the lane marking between two adjacent lanes changes from a dotted line to a solid line along the road direction, the vehicle can change lanes in the dotted line section, but cannot change lanes in the solid line section.

[0045] Preferably, abstract points are selected based on both sides of the actual center line of the lane. By selecting abstract points on both sides of the actual center line of the lane, it is possible to avoid the situation where all abstract points are selected above or below the actual center line, causing the overall deviation of the fitted center line from the actual center line, thereby improving the accuracy of abstract point selection and fitted center line.

[0046] Step 102: Determine the spherical coordinates corresponding to the abstract point in the spherical coordinate system. The spherical coordinate system is established with the initial abstract point as the origin and the zenith angle, azimuth angle, and distance as coordinate axes.

[0047] The roadside unit establishes a spherical coordinate system (Spherical-Coordinates) based on the obtained initial abstract point as the origin, and the zenith angle, azimuth angle and distance as the coordinate axes. Here, the zenith angle specifically refers to the angle between the direction of the line connecting the k-1th abstract point and the kth abstract point and the horizontal plane; the azimuth angle specifically refers to the angle between the direction of the line connecting the k-1th abstract point and the kth abstract point and the north direction; the distance specifically refers to the distance between the kth abstract point and the k-1th abstract point (not the initial abstract point).

[0048] As shown in Table 1, Table 1 shows the results of selecting abstract points for the same road section using latitude and longitude and spherical coordinate systems (altitude and zenith angle data are omitted here). The initial abstract points are the same and are both expressed in absolute latitude and longitude. The coordinates of the initial abstract points are specifically expressed as latitude = 312513171, longitude =

[0049] =1214287406;

[0050]

[0051] Table 1

[0052] It can be seen that after excluding the initial abstract points, 16 abstract points are required to determine the abstract points by using longitude and latitude, while only 12 abstract points are required by using the spherical coordinate system, which reduces the number of abstract points and reduces the communication overhead.

[0053] In the embodiment of the present application, by expressing the data of the abstract point using spherical coordinates, the number of bytes of a single field can be reduced while ensuring that the granularity of the data progress remains unchanged, thereby improving the efficiency of data transmission and data processing.

[0054] In one embodiment of the present application, determining the spherical coordinates corresponding to the abstract point in the spherical coordinate system specifically includes: setting a zenith angle value range between the kth abstract point and the k-1th abstract point according to a first threshold range.

[0055] Here, the first threshold range is based on the fact that the vertical deviation between the abstract point determined by the latitude and longitude deviation and the actual road is less than 1m, and the valid value range is -7200~7199, that is, the standard range of the first threshold range is -90°~89.9875°, among which the value 7200 (90°) is the default invalid value, that is, the default value.

[0056] Preferably, the first threshold range may be defined as a part of the standard range, and its specific value range is determined according to a dichotomy based on the standard range, so as to reduce communication overhead during data transmission.

[0057] The dichotomy method here refers to determining the midpoint within the first threshold range and gradually narrowing the range of the first threshold so that the data expression uses fewer bytes, thereby reducing the communication overhead during data transmission.

[0058] Optionally, determining the spherical coordinates corresponding to the abstract point in the spherical coordinate system further includes: setting an azimuth angle value range between the kth abstract point and the k-1th abstract point according to a second threshold range.

[0059] Specifically, the valid numerical range of the second threshold is 0 to 28799, that is, the standard range of the second threshold is 0 to 359.9875°, wherein the value 28800 (360°) is a default invalid value, that is, a default value.

[0060] Specifically, the value is taken from the north direction as 0° and the clockwise direction as the positive direction.

[0061] In order to avoid doubling the direction error when the distance is too large, the value of the second threshold range is a multiple of 0.0125°. By setting the value of the second threshold range to a multiple of 0.0125°, the corresponding truncation error can be eliminated. The truncation error is the method error. When solving a model based on a practical problem, an approximate solution is usually obtained by numerical method, which is usually manifested as using a finite calculation process instead of an infinite calculation process. The error between the exact solution of this model and the approximate solution obtained by the numerical method is the truncation error.

[0062] Optionally, determining the spherical coordinates corresponding to the abstract point in the spherical coordinate system further includes: setting a range of distance values ​​between the kth abstract point and the k-1th abstract point according to a third threshold range.

[0063] Here, the second threshold range is based on the fact that the vertical deviation between the abstract point determined by the latitude and longitude deviation and the actual road is less than 1m, and the valid value range is 0 to 32766, that is, the standard value of the second threshold range is 0 to 409.575m, among which the value 32767 is the default invalid value, that is, the default value.

[0064] Preferably, the third threshold range may be defined as a part of the standard value, and the specific value range is determined based on the standard range using a dichotomy method to reduce the amount of data calculation.

[0065] Step 103: Send the spherical coordinates of the abstract point to the vehicle.

[0066] In an embodiment of the present application, the spherical coordinates of the abstract point are sent to the vehicle end via wireless communication. Specifically, data transmission can be performed via Ethernet, dedicated short-range communication technology, etc. to ensure the security and reliability of the transmission of the spherical coordinates of the abstract point.

[0067] In step 104 , the vehicle side determines the relative coordinates of the abstract point based on the spherical coordinates of the abstract point.

[0068] In one embodiment of the present application, the vehicle side determines the relative coordinates of the abstract point based on the spherical coordinates of the abstract point. The relative coordinates are specifically rectangular coordinates, including:

[0069] According to the relative coordinates of the k-1th abstract point, the distance value and the zenith angle value of the kth abstract point, the relative coordinates of the kth abstract point are determined using the following formula:

[0070] X k =distance k *sin(azimuthAngle k )+X k-1 (2)

[0071] Y k =distancek *cos(azimuthAngle k )+Y k-1 (3)

[0072] According to the relative coordinates of the k-1th abstract point, combined with the distance value and zenith angle value of the kth abstract point, the relative coordinates of all abstract points can be obtained in sequence using trigonometric functions, which makes it easy to draw the fitting center line based on the relative coordinates of the abstract points.

[0073] According to the above calculation method, the computational overhead on the vehicle side is reduced. Specifically, the relative coordinates of an abstract point can be calculated using two trigonometric function operations plus four floating-point operations, which can reduce the computational overhead on the vehicle side and save a certain amount of computing resources.

[0074] It should be noted that floating-point is a real number, a way of expressing numbers that uses the mantissa and exponent to represent a number. The value of the number is the mantissa multiplied by the exponential power of the base. Floating-point can express a wider range of real numbers with fewer bytes, reducing the computing overhead on the vehicle side.

[0075] Floating-point operations are real number operations, which involve floating-point numbers.

[0076] Combined with the method for determining the center line of the vehicle lane described in the above embodiment, combined with Figure 2 , Figure 2 A schematic structural diagram of a lane centerline determination device provided in an embodiment of the present application, the lane centerline determination device comprising: an abstract point determination module 10, a coordinate conversion module 20, a sending module 30, and a determination module 40;

[0077] An abstract point determination module 10, configured to determine a plurality of abstract points based on lane information;

[0078] A coordinate conversion module 20 is used to determine the spherical coordinates corresponding to the abstract point in the spherical coordinate system. The spherical coordinate system is established with the initial abstract point as the origin and the zenith angle, azimuth angle and distance as coordinate axes.

[0079] A sending module 30 is used to send the spherical coordinates of the abstract point to the vehicle end;

[0080] The determination module 40 is configured to determine the relative coordinates of the abstract point according to the spherical coordinates of the abstract point.

[0081] The lane centerline determination device provided in the embodiment of the present application is used to implement the corresponding lane centerline determination method in the aforementioned multiple method embodiments. Through the lane centerline determination device provided in the embodiment of the present application, the number of abstract points can be reduced, the communication overhead during data transmission can be reduced, the computing overhead on the vehicle side can be reduced, and a certain amount of computing resources can be saved.

[0082] In a specific embodiment, the coordinate conversion module 20 in the lane centerline determination device includes:

[0083] The distance module 201 is configured to set a distance value range between the kth abstract point and the k-1th abstract point according to a first threshold range.

[0084] The lane centerline determination device provided in the embodiment of the present application is used to implement the corresponding lane centerline determination methods in the aforementioned multiple method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0085] In a specific embodiment, the coordinate conversion module 20 in the lane centerline determination device further includes:

[0086] The azimuth module 202 is configured to set an azimuth value range between the kth abstract point and the k-1th abstract point according to a second threshold range.

[0087] The lane centerline determination device provided in the embodiment of the present application is used to implement the corresponding lane centerline determination methods in the aforementioned multiple method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0088] In a specific embodiment, the coordinate conversion module 20 in the lane centerline determination device further includes:

[0089] The zenith angle module 203 is configured to set a zenith angle value range between the kth abstract point and the k-1th abstract point according to a third threshold range.

[0090] The lane centerline determination device provided in the embodiment of the present application is used to implement the corresponding lane centerline determination methods in the aforementioned multiple method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0091] The exemplary embodiments of the present application further provide an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program executable by the at least one processor, wherein the computer program, when executed by the at least one processor, causes the electronic device to perform a method according to an embodiment of the present application.

[0092] The exemplary embodiments of the present application further provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to perform the method according to each embodiment of the present application.

[0093] The exemplary embodiments of the present application further provide a computer program product, including a computer program, wherein when the computer program is executed by a processor of a computer, it is used to enable the computer to perform the method according to each embodiment of the present application.

[0094] refer to Figure 3 , a block diagram of an electronic device 300 that can serve as a server or client of the present application will now be described, which is an example of a hardware device that can be applied to various aspects of the present application. The electronic device is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0095] like Figure 3 As shown, electronic device 300 includes a computing unit 301, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 302 or a computer program loaded from a storage unit 308 into a random access memory (RAM) 303. Various programs and data required for the operation of device 300 can also be stored in RAM 303. Computing unit 301, ROM 302, and RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 305 is also connected to bus 304.

[0096] Multiple components within electronic device 300 are connected to I / O interface 305, including an input unit 306, an output unit 307, a storage unit 308, and a communication unit 309. Input unit 306 can be any type of device capable of inputting information into electronic device 300. Input unit 306 can receive input numeric or character information and generate key input signals related to user settings and / or function control of the electronic device. Output unit 307 can be any type of device capable of presenting information and may include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. Storage unit 304 may include, but is not limited to, a magnetic disk or an optical disk. Communication unit 309 allows electronic device 300 to exchange information / data with other devices via computer networks such as the Internet and / or various telecommunication networks and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver and / or a chipset, such as a Bluetooth™ device, a Wi-Fi device, a WiMax device, a cellular communication device, and / or the like.

[0097] The computing unit 301 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 301 performs the various methods and processes described above. For example, in some embodiments, the lane centerline determination method of the aforementioned embodiments can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as the storage unit 308. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 300 via the ROM 302 and / or the communication unit 309. In some embodiments, the computing unit 301 can be configured as the lane centerline determination method by any other appropriate means (e.g., by means of firmware).

[0098] The program code for implementing the methods of the present application can be written in any combination of one or more programming languages. Such program code can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the program code is executed by the processor or controller, the functions / operations specified in the flow charts and / or block diagrams are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0099] In the context of the present application, a machine-readable medium can be a tangible medium that can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0100] As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and / or device (e.g., a magnetic disk, an optical disk, a memory, a programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0101] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0102] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0103] Computer systems may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The client and server relationship arises through computer programs running on the respective computers and having a client-server relationship to each other.

[0104] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0105] The above description is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes, modifications, and combinations made by any person skilled in the art without departing from the concept and principle of the present invention should fall within the scope of protection of the present invention.

Claims

1. A method for determining a lane centerline, characterized in that: include: After obtaining lane information, determining a plurality of abstract points according to the lane information; Determine the spherical coordinates corresponding to the abstract point in a spherical coordinate system, where the spherical coordinate system is established with the initial abstract point as the origin and the zenith angle, azimuth angle, and distance as coordinate axes; Sending the spherical coordinates of the abstract point to the vehicle end; The vehicle end determines the relative coordinates of the abstract point according to the spherical coordinates of the abstract point.

2. The lane centerline determination method according to claim 1, characterized in that: Determining the spherical coordinates corresponding to the abstract point in the spherical coordinate system includes: According to the first threshold range, the zenith angle value range between the kth abstract point and the k-1th abstract point is set.

3. The lane centerline determination method according to claim 1, characterized in that: Determining the spherical coordinates corresponding to the abstract point in the spherical coordinate system further includes: According to the second threshold range, the azimuth angle value range between the kth abstract point and the k-1th abstract point is set.

4. The lane centerline determination method according to claim 1, characterized in that: Determining the spherical coordinates corresponding to the abstract point in the spherical coordinate system further includes: According to the third threshold range, a distance value range between the kth abstract point and the k-1th abstract point is set.

5. The lane centerline determination method according to claim 2, characterized in that: The vehicle end determines the relative coordinates of the abstract point according to the spherical coordinates of the abstract point, including: The relative coordinates of the k-th abstract point are determined according to the zenith angle value of the k-1th abstract point and the distance value of the k-th abstract point.

6. The lane centerline determination method according to claim 1, characterized in that: The abstract points are selected based on both sides of the lane centerline.

7. The lane centerline determination method according to claim 1, characterized in that: The sending of the spherical coordinates of the abstract point to the vehicle end includes: The spherical coordinates of the abstract point are sent to the vehicle end via wireless communication.

8. A lane centerline determination device, characterized in that: include: An abstract point determination module, configured to determine a plurality of abstract points based on the lane information after acquiring the lane information; A coordinate conversion module is used to determine the spherical coordinates corresponding to the abstract point in a spherical coordinate system, wherein the spherical coordinate system is established with the initial abstract point as the origin and the zenith angle, azimuth angle and distance as coordinate axes; A sending module, configured to send the spherical coordinates of the abstract point to the vehicle end; The determining module is configured to determine the relative coordinates of the abstract point according to the spherical coordinates of the abstract point.

9. An electronic device comprising: processor; as well as Memory for storing programs; The program includes instructions, which, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 7.

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