Lane line data processing method and device, vehicle-mounted equipment and storage medium

Abstract

The application provides a lane line data processing method and device, a vehicle-mounted device and a storage medium, and relates to the technical field of data processing. The method comprises the following steps: acquiring continuous multiple frames of road images, wherein each frame of road image comprises a lane line; performing smoothing processing on multiple first position data of each sampling point in the multiple sampling points on the lane line to obtain second position data of each sampling point; wherein the multiple first position data of each sampling point are position data of each sampling point in the multiple frames of road images; and displaying a virtual lane line corresponding to the lane line in a graphical user interface according to the second position data of the multiple sampling points. According to the second position data of the multiple sampling points, the virtual lane line corresponding to the lane line is displayed in the graphical user interface, so that the displayed lane line is more stable, the shaking of the displayed lane line is reduced, and the user experience is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, in particular to a lane line data processing method and device, a vehicle-mounted device and a storage medium. BACKGROUND

[0002] With the progress and development of science and technology, the intelligent degree of vehicles is also getting higher and higher. A camera and a vehicle-mounted terminal can be configured in a vehicle. The camera can collect road images around the vehicle, and the vehicle-mounted terminal can display the road images so as to better drive the vehicle.

[0003] In the related art, during vehicle driving, a vehicle-mounted terminal can acquire road images around the vehicle containing lane lines, and display the road images containing lane lines.

[0004] However, in the related art, during vehicle driving, the displayed road images containing lane lines may have a jitter problem, which reduces user experience. SUMMARY

[0005] The present application aims at the above-mentioned deficiencies in the prior art, and provides a lane line data processing method and device, a vehicle-mounted device and a storage medium, so as to solve the problem that in the related art, during vehicle driving, the displayed road images containing lane lines may have a jitter problem, which reduces user experience.

[0006] To achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0007] In a first aspect, the embodiments of the present application provide a lane line data processing method, comprising:

[0008] acquiring continuous multiple frames of road images, wherein each frame of road image comprises lane lines;

[0009] performing smoothing processing on multiple first position data of each sampling point in multiple sampling points on the lane lines to obtain second position data of the each sampling point; wherein the multiple first position data of each sampling point are position data of the each sampling point in the multiple frames of road images, respectively;

[0010] displaying a virtual lane line corresponding to the lane lines in a graphical user interface according to the second position data of the multiple sampling points.

[0011] Optionally, the performing smoothing processing on the multiple first position data of each sampling point in the multiple sampling points on the lane lines to obtain the second position data of the each sampling point comprises:

[0012] calculating an average value of the multiple first position data of the each sampling point;

[0013] Smoothing is performed on the plurality of first position data of each sampling point and the average value to obtain the second position data of each sampling point.

[0014] Optionally, performing smoothing processing on the plurality of first position data of each sampling point and the average value to obtain the second position data of each sampling point includes:

[0015] Determine whether the absolute value of each first position data of each sampling point is greater than the absolute value of the average value;

[0016] If yes, modifying the first position data to the average value to obtain a plurality of modified first position data for each sampling point;

[0017] The second position data of each sampling point is determined according to the modified plurality of first position data of each sampling point.

[0018] Optionally, determining the second position data of each sampling point according to the modified plurality of first position data of each sampling point includes:

[0019] The second position data of each sampling point is determined according to the modified plurality of first position data of each sampling point and the corresponding preset weights.

[0020] Optionally, determining the second position data of each sampling point according to the modified plurality of first position data of each sampling point and the corresponding preset weights includes:

[0021] Determining target position data of each sampling point according to the modified plurality of first position data of each sampling point and a preset weight;

[0022] The plurality of first position data of each sampling point and the target position data of each sampling point are used as the second position data of each sampling point.

[0023] Optionally, determining the second position data of each sampling point according to the modified plurality of first position data of each sampling point and the corresponding preset weights includes:

[0024] Determining target position data of each sampling point according to the modified plurality of first position data of each sampling point and a preset weight;

[0025] The last first position data of each sampling point is replaced by the target position data of each sampling point to obtain the second position data of each sampling point.

[0026] Optionally, the preset weight is in a normal distribution.

[0027] In a second aspect, the embodiments of the present application further provide a lane line data processing apparatus, comprising:

[0028] an acquisition module, configured to acquire continuous multiple frames of road images, wherein each frame of road image comprises lane lines;

[0029] a smoothing processing module, configured to perform smoothing processing on multiple first position data of each sampling point in the lane lines, to obtain second position data of the each sampling point; wherein the multiple first position data of the each sampling point are position data of the each sampling point in the multiple frames of road images respectively;

[0030] a display module, configured to display a virtual lane line corresponding to the lane lines in a graphical user interface according to the second position data of the multiple sampling points.

[0031] Optionally, the smoothing processing module is further configured to calculate an average value of the multiple first position data of the each sampling point; and perform smoothing processing on the multiple first position data of the each sampling point and the average value, to obtain the second position data of the each sampling point.

[0032] Optionally, the smoothing processing module is further configured to judge whether an absolute value of each first position data of the each sampling point is greater than an absolute value of the average value; if yes, modify the first position data to the average value, to obtain modified multiple first position data of the each sampling point; and determine the second position data of the each sampling point according to the modified multiple first position data of the each sampling point.

[0033] Optionally, the smoothing processing module is further configured to determine the second position data of the each sampling point according to the modified multiple first position data of the each sampling point and a preset weight corresponding to the each sampling point.

[0034] Optionally, the smoothing processing module is further configured to determine target position data of the each sampling point according to the modified multiple first position data of the each sampling point and a preset weight; and take the multiple first position data of the each sampling point and the target position data of the each sampling point as the second position data of the each sampling point.

[0035] Optionally, the smoothing processing module is further configured to determine target position data of the each sampling point according to the modified multiple first position data of the each sampling point and a preset weight; and replace a last first position data of the each sampling point with the target position data of the each sampling point, to obtain the second position data of the each sampling point.

[0036] Optionally, the preset weight is normally distributed.

[0037] In a third aspect, an embodiment of the present application further provides a vehicle-mounted device, comprising a memory and a processor, the memory stores a computer program executable by the processor, and the processor implements the lane line data processing method of any one of the first aspect when executing the computer program.

[0038] In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, the storage medium stores a computer program, and the computer program is read and executed to implement the lane line data processing method of any one of the first aspect.

[0039] The present application has the beneficial effects that: the embodiment of the present application provides a lane line data processing method, comprising: acquiring continuous multiple frames of road images, wherein each frame of road image comprises lane lines; performing smoothing processing on multiple first position data of each sampling point in multiple sampling points on the lane lines to obtain second position data of each sampling point; wherein the multiple first position data of each sampling point are position data of each sampling point in multiple frames of road images respectively; and displaying a virtual lane line corresponding to the lane line in a graphical user interface according to the second position data of the multiple sampling points. The multiple first position data of each sampling point in the multiple sampling points on the lane lines in the multiple frames of road images are smoothed to obtain the second position data of each sampling point, the second position data of each sampling point is relatively close to and smooth to the multiple first position data of each sampling point; and the virtual lane line corresponding to the lane line is displayed in the graphical user interface according to the second position data of the multiple sampling points, which can make the displayed lane line more stable, reduce the jitter of the displayed lane line, and improve the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0041] Figure 1 A flowchart of a lane line data processing method provided by an embodiment of the present application is shown in the figure;

[0042] Figure 2 A schematic diagram of a graphical user interface provided by an embodiment of the present application is shown in the figure;

[0043] Figure 3A flowchart of a lane line data processing method provided by an embodiment of the present application is shown in FIG. 1.

[0044] Figure 4 A flowchart of a lane line data processing method provided by an embodiment of the present application is shown in FIG. 1.

[0045] Figure 5 A flowchart of a lane line data processing method provided by an embodiment of the present application is shown in FIG. 1.

[0046] Figure 6 A flowchart of a lane line data processing method provided by an embodiment of the present application is shown in FIG. 1.

[0047] Figure 7 A flowchart of a lane line data processing method provided by an embodiment of the present application is shown in FIG. 1.

[0048] Figure 8 A flowchart of a lane line data processing method provided by an embodiment of the present application is shown in FIG. 1.

[0049] Figure 9 A flowchart of a lane line data processing method provided by an embodiment of the present application is shown in FIG. 1. DETAILED DESCRIPTION

[0050] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application.

[0051] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0052] In the description of the present application, it should be noted that if the terms "upper", "lower", etc. indicate the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the present application is usually placed, only for the convenience of describing the present application and simplifying the description, and it does not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application.

[0053] Furthermore, the terms "first", "second", and the like, in the description and in the claims of the present application, as well as above-mentioned drawings, are used for distinguishing between similar objects and not necessarily for describing a specific sequential or chronological order. It is to be understood that the use of the terms so construed can be interchanged, under appropriate circumstances, without changing the meaning of the description and / or the claims. Furthermore, the terms "comprise", "comprising", "include", "including", and the like, when used in this specification and in the following claims, are intended to specify the presence of stated features, integers, steps, or components but do not preclude the presence or addition of one or more other features, integers, steps, components, or groups thereof.

[0054] It should be noted that the features of the embodiments of the present application can be combined with each other without conflict.

[0055] In the related art, during vehicle driving, a vehicle-mounted terminal can acquire a road image containing lane lines around the vehicle, and display the road image containing lane lines. However, in the related art, during vehicle driving, the displayed road image containing lane lines may appear to be jittery, which reduces the user experience.

[0056] In view of the above technical problems in the related art, the embodiments of the present application provide a lane line data processing method, which performs smoothing processing on a plurality of first position data of each of a plurality of sampling points on a lane line in a plurality of road images, to obtain second position data of each of the sampling points, the second position data of each of the sampling points being relatively close to and smooth with the plurality of first position data of each of the sampling points; and displays a virtual lane line corresponding to the lane line in a graphical user interface according to the second position data of the plurality of sampling points, so that the displayed lane line is more stable, the jitter of the displayed lane line is reduced, and the user experience is improved.

[0057] The execution subject of the lane line data processing method provided by the embodiments of the present application can be a processing device, which can be a vehicle-mounted device arranged in a vehicle, or a terminal device arranged outside the vehicle. For example, the terminal device can be any one of a desktop computer, a notebook computer, a tablet computer, a smart phone, and the like.

[0058] The lane line data processing method provided by the embodiments of the present application is described below.

[0059] Figure 1 A flowchart of the lane line data processing method provided by the embodiments of the present application is shown in FIG. 1, which can include the following steps. Figure 1

[0060] ​S101, acquire continuous multiple frames of road images, wherein each frame of road image comprises a lane line.

[0061] In some embodiments, the road where the vehicle is located can have a lane line, and through an image acquisition device arranged on the vehicle, continuous multiple frames of road images are acquired, each frame of road image can comprise a lane line, which can be a lane line around the vehicle.

[0062] It should be noted that the multiple frames of road images can be images acquired during vehicle driving, of course, can also be images acquired during vehicle stationary, and the multiple frames of road images can be real-time acquired images.

[0063] S102, smooth multiple first position data of each sampling point on the lane line to obtain second position data of each sampling point.

[0064] Wherein, the multiple first position data of each sampling point are respectively position data of each sampling point in the multiple frames of road images.

[0065] In some embodiments, a preset processing algorithm or a preset processing rule is used to smooth the multiple first position data of each sampling point on the lane line to obtain the second position data of each sampling point.

[0066] In addition, each frame of road image has multiple sampling points on the lane line, which can be regarded as a group of sampling points, and the sampling point positions on the lane line in different frames of road images are the same. The multiple frames of road images can be a preset number, for example, the number of road images can be 5 frames, and the number of first position data of each sampling point can also be 5.

[0067] In the embodiments of the present application, the lane line has a certain width, and the multiple sampling points can be uniformly distributed on the lane line. Optionally, multiple sampling points can be uniformly distributed on the left edge line of the lane line, and multiple sampling points can also be distributed on the right edge line of the lane line. The number of sampling points on the lane line can be set according to actual needs, for example, 3 sampling points can be uniformly distributed on the left edge line of the lane line, and 3 sampling points can also be uniformly distributed on the right edge line of the lane line.

[0068] S103, according to the second position data of the multiple sampling points, display a virtual lane line corresponding to the lane line in a graphical user interface.

[0069] It should be noted that the second position data of each sampling point is obtained by smoothing the plurality of first position data of each sampling point, and the second position data of each sampling point is closer to and smoother than the plurality of first position data of each sampling point. Therefore, according to the second position data of the plurality of sampling points, the displayed virtual lane line is less jittered.

[0070] In the method, the road images can be acquired, and after a plurality of road images are acquired, if a new road image is acquired, the road images other than the first road image in the plurality of road images and the new road image are taken as new plurality of road images, and the processes of S102 to S103 are performed to maintain the stable display of the virtual lane line.

[0071] In addition, the virtual lane line corresponding to the lane line can be displayed in the graphical user interface, and at least one of the following can also be displayed in the graphical user interface: a virtual vehicle, a virtual road, a virtual map, and the like. Figure 2 A schematic diagram of a graphical user interface provided by an embodiment of the present application is shown in FIG. 1. Figure 2 As shown in the figure, the graphical user interface displays a virtual lane line, a virtual road, a virtual vehicle, and the like.

[0072] In summary, the present application provides a lane line data processing method, which comprises: acquiring a plurality of continuous road images, wherein each road image comprises a lane line; smoothing a plurality of first position data of each sampling point in a plurality of sampling points on the lane line to obtain second position data of each sampling point; wherein the plurality of first position data of each sampling point is the position data of each sampling point in the plurality of road images; and displaying a virtual lane line corresponding to the lane line in a graphical user interface according to the second position data of the plurality of sampling points. The plurality of first position data of each sampling point in the plurality of sampling points on the lane line in the plurality of road images is smoothed to obtain the second position data of each sampling point, and the second position data of each sampling point is closer to and smoother than the plurality of first position data of each sampling point. According to the second position data of the plurality of sampling points, the displayed lane line is more stable, the jitter of the displayed lane line is reduced, and the user experience is improved.

[0073] Figure 3 A flowchart of a lane line data processing method provided by an embodiment of the present application is shown in FIG. 2. Figure 3 As shown in the figure, the process of smoothing the plurality of first position data of each sampling point in the plurality of sampling points on the lane line in S102 to obtain the second position data of each sampling point can comprise:

[0074] S201, calculate the average value of the plurality of first position data of each sampling point.

[0075] In some embodiments, the sum value of the plurality of first position data of each sampling point can be calculated, the number of the plurality of first position data of each sampling point can be counted, and the ratio of the sum value to the number can be taken as the average value of the plurality of first position data of each sampling point.

[0076] For example, the sampling points can include sampling point A and sampling point B, the plurality of first position data of the sampling point A can include data a1, data a2, data a3 and data a4, and the plurality of first position data of the sampling point B can include data b1, data b2, data b3 and data b4. The average value of the data a1, the data a2, the data a3 and the data a4 can be calculated to obtain the average value of the plurality of first position data of the sampling point A, and the average value of the data b1, the data b2, the data b3 and the data b4 can be calculated to obtain the average value of the plurality of first position data of the sampling point B.

[0077] S202, performing smoothing processing on the plurality of first position data of each sampling point and the average value to obtain second position data of each sampling point.

[0078] In some embodiments, the size relationship between the plurality of first position data of each sampling point and the corresponding average value can be determined, and the plurality of first position data of each sampling point can be smoothed according to the size relationship to obtain the second position data of each sampling point.

[0079] Optionally, Figure 4 A flowchart of a lane line data processing method provided by an embodiment of the present application is shown in FIG. 2. Figure 4 As shown in FIG. 2, the process of performing smoothing processing on the plurality of first position data of each sampling point and the average value to obtain the second position data of each sampling point in S202 can include:

[0080] S301, determining whether the absolute value of each first position data of each sampling point is greater than the absolute value of the average value.

[0081] The absolute value of each first position data of each sampling point and the absolute value of the average value can be calculated respectively, and the calculation can be performed simultaneously or sequentially, and then the process of S301 can be performed.

[0082] S302, if yes, modifying the first position data to the average value to obtain the modified plurality of first position data of each sampling point.

[0083] In the embodiment of the present application, if the absolute value of the first position data is greater than the absolute value of the average value, the first position data is modified as the average value, and if the absolute value of the first position data is not greater than the absolute value of the average value, the first position data remains unchanged, and then the modified multiple first position data of each sampling point can be obtained.

[0084] The modified multiple first position data of each sampling point can mean that part of the multiple first position data is modified, or can mean that all of the multiple first position data is modified.

[0085] For example, the multiple first position data of one sampling point in multiple road images can be represented as x1, x2, x3, x4, and x5, the average value can be mid=(x1+x2+x3+x4+x5) / 5, If(abs(x1)>abs(mid)), x1=mid, that is, if the absolute value of x1 is greater than the absolute value of the average value, x1 is modified as the average value mid, and the calculation process of x2, x3, x4, and x5 is similar, which will not be described here.

[0086] S303, determining the second position data of each sampling point according to the modified multiple first position data of each sampling point.

[0087] It should be noted that the average value of the modified multiple first position data of each sampling point can be used as the second position data of each sampling point, or the modified multiple first position data of each sampling point can be processed in other ways to obtain the second position data of each sampling point, and the embodiment of the present application does not make specific limitation.

[0088] Optionally, the process of determining the second position data of each sampling point according to the modified multiple first position data of each sampling point in S303 can include:

[0089] Determining the second position data of each sampling point according to the modified multiple first position data of each sampling point and the corresponding preset weight.

[0090] Each modified first position data has a corresponding preset weight.

[0091] It should be noted that the sum of the corresponding preset weights of the modified multiple first position data of the same sampling point can be 1.

[0092] In some embodiments, for one sampling point, a product of the modified first position data of the sampling point and the corresponding preset weight can be calculated, the modified first position data corresponds to a plurality of products, and the plurality of products are summed to obtain the second position data of the sampling point, that is, the second position data of each sampling point is obtained by weighted summation according to the modified first position data of each sampling point and the corresponding preset weight.

[0093] Optionally, Figure 5 A flowchart of a lane line data processing method provided by an embodiment of the present application is shown in FIG. 1. Figure 5 As shown in FIG. 1, the process of determining the second position data of each sampling point according to the modified first position data of each sampling point and the corresponding preset weight can include:

[0094] S401, determining the target position data of each sampling point according to the modified first position data of each sampling point and the preset weight.

[0095] In this way, the target position data of each sampling point is obtained by weighted summation of the modified first position data of each sampling point and the preset weight.

[0096] S402, taking the first position data of each sampling point and the target position data of each sampling point as the second position data of each sampling point.

[0097] It should be noted that the first position data of each sampling point and the target position data of each sampling point are taken as the second position data of each sampling point, and the virtual lane line corresponding to the lane line can be displayed according to the first position data of each sampling point and the target position data of each sampling point.

[0098] In this way, the first position data of each sampling point and the target position data of each sampling point are relatively close, and the data is smoother, and the virtual lane line of the multi-frame graphical user interface displayed based on these data is more stable, and the shaking is reduced.

[0099] In the embodiment of the present application, the plurality of first position data of each sampling point can include: n, n+1, n+2, n+3, n+4, n+5 is obtained by smoothing processing n, n+1, n+2, n+3, n+4, and the virtual lane line in the graphical user interface can be displayed according to n, n+1, n+2, n+3, n+4, n+5. Wherein, n+4 is obtained by smoothing processing n-1, n, n+1, n+2, n+3, n+3 is obtained by smoothing processing n-2, n-1, n, n+1, n+2, n+2 is obtained by smoothing processing n-3, n-2, n-1, n, n+1, and so on, which will not be repeated here.

[0100] Optionally, the preset weight is normally distributed.

[0101] For example, if the number of the plurality of first position data of each sampling point is 5, the corresponding preset weight can be 0.1, 0.2, 0.4, 0.2, and 0.1 respectively.

[0102] Optionally, Figure 6 The flowchart of the lane line data processing method provided by the embodiment of the present application is shown in Figure 6 According to the modified plurality of first position data of each sampling point and the corresponding preset weight, the process of determining the second position data of each sampling point can include:

[0103] S501, according to the modified plurality of first position data of each sampling point and the preset weight, determine the target position data of each sampling point.

[0104] The process of S501 is similar to the process of S401, which will not be repeated here.

[0105] S502, replace the last first position data of each sampling point with the target position data of each sampling point to obtain the second position data of each sampling point.

[0106] It should be noted that the other first position data of each sampling point and the target position data of each sampling point are relatively close, wherein the other first position data refers to the data of the plurality of first position data except the last first position data. The data is more smooth, and the virtual lane line of the plurality of frames of graphical user interface based on these data is more stable, and the shaking is reduced.

[0107] In the embodiment of the present application, the plurality of first position data of each sampling point can include: n, n+1, n+2, n+3, n+4, n+5 is obtained by smoothing processing n, n+1, n+2, n+3, n+4, and the virtual lane line in the graphical user interface can be displayed according to n, n+1, n+2, n+3, n+5. Wherein, n+3 is obtained by smoothing processing n-1, n, n+1, n+2, n+m, wherein, after obtaining n+3, n+m is replaced by n+3, and the same is true for the subsequent.

[0108] In the embodiment of the present application, the image acquisition device can send the road image to the processing device at a preset frequency. For example, the preset frequency can be 50 frames of road images per second. The first preset number of frames of road images collected at the beginning do not have other road images as the basis for smoothing processing, and the graphical user interface can not be displayed, or the graphical user interface can also be displayed according to the first preset number of frames of road images collected at the beginning. Even if there is jitter, it is difficult for the naked eye to perceive because the time is short. The subsequent plurality of frames of road images can all use the method provided in the embodiment of the present application to perform the processes of S101 to S103, and the iteration is continuously looped. The data is more and more smooth, so that the virtual lane line displayed in the graphical user interface is always in a stable state during the driving of the vehicle, and the user experience is improved.

[0109] Optionally, Figure 7 The processing result schematic diagram provided by the embodiment of the present application is shown in the figure Figure 7 After the lane line data processing method provided in the embodiment of the present application is used for processing, the data is more smooth.

[0110] In summary, the embodiment of the present application provides a lane line data processing method. The plurality of first position data of each sampling point on the lane line in the plurality of frames of road images is smoothed to obtain the second position data of each sampling point. The second position data of each sampling point is relatively close to and smooth to the plurality of first position data of each sampling point. The virtual lane line corresponding to the lane line is displayed in the graphical user interface according to the second position data of the plurality of sampling points. The displayed lane line can be more stable, the jitter of the displayed lane line is reduced, and the user experience is improved.

[0111] The lane line data processing device, the vehicle-mounted device and the storage medium for executing the lane line data processing method provided in the present application are described below. For specific implementation process and technical effects, refer to the related content of the lane line data processing method described above. The following will not be repeated.

[0112] Figure 8 The structure schematic diagram of the lane line data processing device provided by the embodiment of the present application is shown in the figure Figure 8As shown, the apparatus can include:

[0113] The acquisition module 701 is configured to acquire continuous multiple frames of road images, wherein each frame of road image includes lane lines.

[0114] The smoothing processing module 702 is configured to perform smoothing processing on multiple first position data of each sampling point in the multiple sampling points on the lane lines, to obtain second position data of the each sampling point; wherein the multiple first position data of each sampling point are position data of the each sampling point in the multiple frames of road images, respectively.

[0115] The display module 703 is configured to display a virtual lane line corresponding to the lane lines in a graphical user interface according to the second position data of the multiple sampling points.

[0116] Optionally, the smoothing processing module 702 is further configured to calculate an average value of the multiple first position data of the each sampling point; and perform smoothing processing on the multiple first position data of the each sampling point and the average value, to obtain the second position data of the each sampling point.

[0117] Optionally, the smoothing processing module 702 is further configured to determine whether an absolute value of each first position data of the each sampling point is greater than an absolute value of the average value; if yes, modify the first position data to the average value, to obtain modified multiple first position data of the each sampling point; and determine the second position data of the each sampling point according to the modified multiple first position data of the each sampling point.

[0118] Optionally, the smoothing processing module 702 is further configured to determine the second position data of the each sampling point according to the modified multiple first position data of the each sampling point and a corresponding preset weight.

[0119] Optionally, the smoothing processing module 702 is further configured to determine target position data of the each sampling point according to the modified multiple first position data of the each sampling point and a preset weight; and take the multiple first position data of the each sampling point and the target position data of the each sampling point as the second position data of the each sampling point.

[0120] Optionally, the smoothing processing module 702 is further configured to determine target position data of the each sampling point according to the modified multiple first position data of the each sampling point and a preset weight; and replace a last first position data of the each sampling point with the target position data of the each sampling point, to obtain the second position data of the each sampling point.

[0121] Optionally, the preset weight is in a normal distribution.

[0122] The device is used for executing the method provided by the foregoing embodiments, and has similar implementation principles and technical effects, which will not be described here again.

[0123] The above modules can be one or more integrated circuits configured to implement the above method, for example, one or more application specific integrated circuits (ASICs), or one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs), or the like. For another example, when a certain module above is implemented in the form of a processing element scheduling code, the processing element can be a general-purpose processor, for example, a central processing unit (CPU) or other processor that can invoke program code. For another example, the modules can be integrated together to be implemented in the form of a system on a chip (SOC).

[0124] Figure 9 A structural diagram of a vehicle-mounted device provided by an embodiment of the application is shown in FIG. 1, which can include a processor 801 and a memory 802. Figure 9 The memory 802 is configured to store a program, and the processor 801 invokes the program stored in the memory 802 to execute the above method embodiments. The specific implementation manners and technical effects are similar, which will not be described here again.

[0125] The memory 802 is configured to store a program, and the processor 801 invokes the program stored in the memory 802 to execute the above method embodiments. The specific implementation manners and technical effects are similar, which will not be described here again.

[0126] Optionally, the application further provides a program product, for example, a computer readable storage medium, including a program, which is used for executing the above method embodiments when executed by a processor.

[0127] In several embodiments provided by the application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0128] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0129] In addition, each functional unit in each embodiment of the application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0130] The integrated unit realized in the form of software functional unit can be stored in a computer readable storage medium. The software functional unit stored in a storage medium includes a plurality of instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) execute part of the steps of the method described in each embodiment of the application. And the foregoing storage medium includes: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, for short: ROM), random access memory (English: Random Access Memory, for short: RAM), magnetic disk or optical disk and various program code storage media.

[0131] The above is only the preferred embodiment of the application and is not used to limit the application. For those skilled in the art, the application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A method for processing lane line data, characterized in that: include: Acquire a continuous multi-frame road image, wherein each frame of the road image includes: a lane line; Smoothing the plurality of first position data of each sampling point among the plurality of sampling points on the lane line to obtain the second position data of each sampling point; wherein the plurality of first position data of each sampling point are respectively the position data of each sampling point in the plurality of frames of road images; Displaying a virtual lane line corresponding to the lane line in a graphical user interface according to the second position data of the plurality of sampling points; The smoothing of the plurality of first position data of each sampling point among the plurality of sampling points on the lane line to obtain the second position data of each sampling point includes: Calculating an average value of the plurality of first position data of each sampling point; Determine whether the absolute value of each first position data of each sampling point is greater than the absolute value of the average value; If yes, modifying the first position data to the average value to obtain a plurality of modified first position data for each sampling point; The second position data of each sampling point is determined according to the modified plurality of first position data of each sampling point.

2. The method according to claim 1, characterized in that Determining the second position data of each sampling point according to the modified plurality of first position data of each sampling point includes: The second position data of each sampling point is determined according to the modified plurality of first position data of each sampling point and the corresponding preset weights.

3. The method according to claim 2, characterized in that The determining the second position data of each sampling point according to the modified plurality of first position data of each sampling point and the corresponding preset weights includes: Determining target position data of each sampling point according to the modified plurality of first position data of each sampling point and a preset weight; The plurality of first position data of each sampling point and the target position data of each sampling point are used as the second position data of each sampling point.

4. The method according to claim 2, characterized in that The determining the second position data of each sampling point according to the modified plurality of first position data of each sampling point and the corresponding preset weights includes: Determining target position data of each sampling point according to the modified plurality of first position data of each sampling point and a preset weight; The last first position data of each sampling point is replaced by the target position data of each sampling point to obtain the second position data of each sampling point.

5. The method according to claim 2, characterized in that The preset weights are normally distributed.

6. A lane line data processing device, characterized in that: include: An acquisition module is used to acquire a continuous plurality of frames of road images, wherein each frame of the road image includes: a lane line; a smoothing processing module, configured to perform smoothing processing on a plurality of first position data of each sampling point among a plurality of sampling points on the lane line to obtain second position data of each sampling point; wherein the plurality of first position data of each sampling point are respectively position data of each sampling point in the plurality of frames of road images; A display module, configured to display a virtual lane line corresponding to the lane line in a graphical user interface according to the second position data of the plurality of sampling points; The smoothing processing module is further configured to calculate an average value of the multiple first position data of each sampling point; determine whether the absolute value of each first position data of each sampling point is greater than the absolute value of the average value; if so, modify the first position data to the average value to obtain the modified multiple first position data of each sampling point; and determine the second position data of each sampling point based on the modified multiple first position data of each sampling point.

7. A vehicle-mounted device, characterized in that: include: A memory and a processor, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, the method for processing lane line data according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is read and executed, the lane line data processing method described in any one of claims 1 to 5 is implemented.

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