A method, device, equipment and storage medium for determining a lane center line

Abstract

The present invention discloses a method, device, equipment and storage medium for determining a lane center line. The method includes: obtaining the road boundary lines of a target road and vehicle motion trajectory information generated when a vehicle travels within the target road, where the vehicle motion trajectory information includes: a vehicle trajectory line and pose information corresponding to trajectory points on the vehicle trajectory line; determining a lane center reference line based on the trajectory points on the vehicle trajectory line and the boundary points mapped by the trajectory points on the road boundary lines; determining the total error of the vehicle trajectory line according to the vehicle motion trajectory information and the lane center reference line; and optimizing the positions of the trajectory points on the vehicle trajectory line according to the total error to obtain the lane center line of the target road. The present invention can realize determining an accurate, complete and smooth lane center line without being affected by the lack of road boundary lines, and improve the comfort of the vehicle when traveling or parking along the lane center line.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and particularly to a method, device, equipment and storage medium for determining a lane center line. Background Art

[0002] When planning a vehicle path or parking a vehicle, the lane center line is often required. Currently, the method for determining the lane center line is mainly based on the road boundary line to determine the lane center line.

[0003] The method for determining the lane center line based on the road boundary line (or lane boundary line) has the following problems: First, when the road boundary line is missing, especially at the road turning, the road boundary line may be lost for a long distance, and the lane center line cannot be accurately determined. Second, the lane center line determined according to the road boundary line is not smooth enough. Especially at the road turning, the deviation between the determined lane center line and the actual driving path of the vehicle is large, resulting in a poor driving experience when the vehicle drives along the lane center line or parks. Summary of the Invention

[0004] The present invention provides a method, device, equipment and storage medium for determining a lane center line. By determining the lane center line according to the vehicle motion trajectory information and the road boundary line, the problem that the existing method for determining the lane center line based on the road boundary line is limited by the integrity of the road boundary line and the determined lane center line is not smooth enough is solved. It is realized that the lane center line is accurately, completely and smoothly determined without being affected by the missing of the road boundary line, and the comfort of the vehicle driving along the lane center line or parking is improved.

[0005] According to one aspect of the present invention, a method for determining a lane center line is provided. The method includes:

[0006] Obtain the road boundary line of the target road and the vehicle motion trajectory information generated when the vehicle travels in the target road. The vehicle motion trajectory information includes: the vehicle trajectory line and the pose information corresponding to the trajectory points on the vehicle trajectory line;

[0007] Determine the lane center reference line according to the trajectory points on the vehicle trajectory line and the boundary points mapped by the trajectory points on the road boundary line;

[0008] Determine the total error of the vehicle trajectory line according to the vehicle motion trajectory information and the lane center reference line;

[0009] Optimize the positions of the trajectory points on the vehicle trajectory line according to the total error to obtain the lane center line of the target road.

[0010] According to another aspect of the present invention, there is provided an apparatus for determining a lane center line, the apparatus comprising:

[0011] An acquisition module, configured to acquire a road boundary line of a target road and vehicle motion trajectory information generated when the vehicle travels within the target road, where the vehicle motion trajectory information includes: a vehicle trajectory line and pose information corresponding to trajectory points on the vehicle trajectory line;

[0012] A reference line determination module, configured to determine a lane center reference line based on the trajectory points on the vehicle trajectory line and the boundary points mapped by the trajectory points on the road boundary line;

[0013] An error determination module, configured to determine a total error of the vehicle trajectory line based on the vehicle motion trajectory information and the lane center reference line;

[0014] An optimization module, configured to perform position optimization on the trajectory points on the vehicle trajectory line according to the total error to obtain the lane center line of the target road.

[0015] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the method for determining a lane center line according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the method for determining a lane center line according to any embodiment of the present invention when executed.

[0020] The technical solution of the embodiment of the present invention obtains the road boundary line of the target road and the vehicle motion trajectory information generated when the vehicle travels in the target road. The vehicle motion trajectory information includes: the vehicle trajectory line and the pose information corresponding to the trajectory points on the vehicle trajectory line. According to the trajectory points on the vehicle trajectory line and the boundary points mapped by the trajectory points on the road boundary line, the lane center reference line is determined. According to the vehicle motion trajectory information and the lane center reference line, the total error of the vehicle trajectory line is determined. The position of the trajectory points on the vehicle trajectory line is optimized according to the total error to obtain the lane center line of the target road. According to the vehicle trajectory line, the basic line of the lane center line is determined, making the lane center line smoother and closer to the vehicle's running trajectory, thereby improving the comfort of the vehicle when driving or parking along the lane center line. At the same time, the position of the vehicle trajectory line is optimized according to the error between the vehicle trajectory line and the lane center reference line, and the vehicle trajectory line is made to roughly coincide with the lane center reference line to determine the lane center line, so as to solve the problem that the existing method of determining the lane center line based on the road boundary line is restricted by the integrity of the lane center line and the determined lane center line is not smooth enough, and realize determining an accurate, complete and smooth lane center line without being affected by the missing road boundary line, and improve the comfort of the vehicle when driving or parking along the lane center line.

[0021] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 is a flowchart of a method for determining a lane center line according to Embodiment 1 of the present invention;

[0024] Figure 2 is a schematic diagram of a method for determining a central reference point;

[0025] Figure 3 is a flowchart of a method for determining a lane center line according to Embodiment 2 of the present invention;

[0026] Figure 4 is a schematic diagram of determining the second error of the first error;

[0027] Figure 5It is a schematic structural diagram of a device for determining a lane center line according to Embodiment 3 of the present invention;

[0028] Figure 6 It is a schematic structural diagram of an electronic device for implementing the method for determining a lane center line according to the embodiment of the present invention. Detailed implementation manners

[0029] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] It should be noted that the terms "first", "second", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 This is a flowchart of a method for determining a lane center line provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of determining a lane center line. This method can be executed by a device for determining a lane center line, and the device for determining a lane center line can be implemented in the form of hardware and / or software. As Figure 1 shown, the method includes:

[0033] S110. Obtain the road boundary line of the target road and the vehicle movement trajectory information generated when the vehicle travels in the target road. The vehicle movement trajectory information includes: the vehicle trajectory line and the pose information corresponding to the trajectory points on the vehicle trajectory line.

[0034] Among them, the target road is the road for which the center line of the lane needs to be determined. The method for determining the center line of the lane provided by the embodiments of the present invention can be applied to single-lane or multi-lane scenarios, that is, the target road can include one lane or two or more lanes; it can also be applied to lanes in various road scenarios, such as lanes in a garage or lanes on a road. The road boundary line is a connection line formed by multiple road boundary points, which can include a left boundary line and a right boundary line.

[0035] The vehicle motion trajectory information is the trajectory information generated during the movement of the vehicle on the target road. The vehicle motion trajectory information can include the vehicle trajectory line and the pose information corresponding to the trajectory points on the vehicle trajectory line. The vehicle trajectory line is a route formed by multiple vehicle trajectory points; the vehicle has pose information at each trajectory point, and this pose information can include the position coordinates of the trajectory point and the body attitude angle at the trajectory point. The body attitude angle can be understood as the included angle between the vehicle body orientation and the road boundary line.

[0036] Specifically, the road boundary line can be obtained by scanning through an in-vehicle camera device during vehicle driving, or can be obtained from a pre-constructed semantic map. The embodiments of the present invention do not limit the acquisition method of the road boundary line.

[0037] The vehicle motion trajectory information can be obtained by sensors in the vehicle navigation module installed on the vehicle during the vehicle's driving within the target road to collect the motion trajectory information generated by the vehicle and the pose information at each trajectory point.

[0038] S120. Determine the lane center reference line according to the trajectory points on the vehicle trajectory line and the boundary points mapped by the trajectory points on the road boundary line.

[0039] Among them, the lane center reference line can be understood as the reference route when determining the center line of the lane.

[0040] Specifically, a mapping relationship between the trajectory points on the vehicle trajectory line and the boundary points on the road boundary line is pre-constructed. For example, the boundary point obtained by drawing a perpendicular line from the trajectory point to the boundary line can be used as the boundary point mapped by the trajectory point on the road boundary line, or the nearest point on the road boundary line to the trajectory point can be used as the boundary point mapped by the trajectory point on the road boundary line. According to information such as the number of lanes included in the target road, determine the center reference points on the connection line between the trajectory points and the mapped boundary points, and connect the center reference points to determine the lane center reference line.

[0041] In an embodiment of the present invention, the lane center line determined by the vehicle trajectory line and the road boundary line is not directly used as the lane center line, but as a reference line for determining the lane center line. Therefore, the determination of the lane center line does not completely depend on the road boundary line. Even if there are some blurred or missing road boundary lines, it has little impact on the determination of the lane center line.

[0042] S130. Determine the total error of the vehicle trajectory line according to the vehicle movement trajectory information and the lane center reference line.

[0043] Among them, the total error of the vehicle trajectory line can be the error between each trajectory point in the vehicle trajectory line, or the error between the vehicle trajectory line and the lane center reference line, or the sum of the two types of errors.

[0044] Specifically, determine the position information of each trajectory point according to the vehicle movement trajectory information, and determine the position information of each center reference point according to the lane center reference line; according to the position information of each trajectory point and the position information of the corresponding center reference point; determine the total error of the vehicle trajectory line according to the position deviation between each center reference point and / or each trajectory point or the attitude deviation of the vehicle between the trajectory points.

[0045] In this step, the total error of the vehicle trajectory line is determined according to the vehicle movement trajectory information and the lane center reference line, so that when there are problems such as missing or blurred boundary lines on the road boundary line, the lane center line can be determined according to the error between the vehicle movement trajectory information and the complete part of the road boundary line, so as to realize the determination of an accurate and complete lane center line without being affected by the missing road boundary line.

[0046] S140. Optimize the positions of the trajectory points on the vehicle trajectory line according to the total error to obtain the lane center line of the target road.

[0047] Specifically, optimizing the positions of the trajectory points on the vehicle trajectory line according to the total error is to adjust the vehicle trajectory line in the direction close to the center reference line to reduce the total error. The vehicle trajectory line when the total error is the smallest is determined as the lane center line of the target road.

[0048] In an embodiment of the present invention, by obtaining the road boundary line of a target road and the vehicle motion trajectory information generated when the vehicle travels within the target road, the vehicle motion trajectory information includes: a vehicle trajectory line and pose information corresponding to trajectory points on the vehicle trajectory line; determining a lane center reference line according to the trajectory points on the vehicle trajectory line and the boundary points mapped by the trajectory points on the road boundary line; determining the total error of the vehicle trajectory line according to the vehicle motion trajectory information and the lane center reference line; and optimizing the positions of the trajectory points on the vehicle trajectory line according to the total error to obtain the lane center line of the target road. Determining the basic line of the lane center line according to the vehicle trajectory line makes the lane center line smoother and closer to the vehicle's running trajectory, thereby improving the comfort of the vehicle when driving or parking along the lane center line. At the same time, optimizing the position of the vehicle trajectory line according to the error between the vehicle trajectory line and the lane center reference line adjusts the vehicle trajectory line towards the direction close to the center reference line to determine the lane center line; when there are problems such as missing boundary lines or blurred boundary lines on the road boundary line, an accurate and complete lane center line can be determined according to the vehicle motion trajectory information and the complete part of the road boundary line, without being affected by the missing road boundary line.

[0049] Optionally, determining the lane center reference line according to the trajectory points on the vehicle trajectory line and the boundary points mapped by the trajectory points on the road boundary line includes:

[0050] For each trajectory point on the vehicle trajectory line, determining the nearest boundary point mapped by the trajectory point on the road boundary line;

[0051] On the connection line between the trajectory point and the nearest boundary point, determining a center reference point that meets a preset condition;

[0052] Determining the lane center reference line formed by the center reference points.

[0053] Wherein, the preset condition is a condition preset for determining the center reference point. The preset condition can be default set when determining the target road or set by the user.

[0054] Specifically, determining the boundary point mapped by the trajectory point on the road boundary line as the boundary point closest to the trajectory point, determining a center reference point that meets the preset condition on the connection line between the trajectory point and the mapped boundary point, and connecting the center reference points to determine the lane center reference line.

[0055] Exemplarily, Figure 2 is a schematic diagram of a method for determining a center reference point. As Figure 2As shown, for a trajectory point P1 on the vehicle trajectory line, determine the nearest point P2 of the trajectory point P1 on the left road boundary line (or the nearest point P3 on the right road boundary line); on the line P1P2 connecting the trajectory point P1 and the nearest point P2 on the left road boundary line, determine a central reference point P4 that meets the preset conditions. The distance d between the central reference point P4 and the nearest point P2 (or the nearest point P3) should meet the preset conditions; and so on to determine the central reference point corresponding to each trajectory point, and determine the connection line of the central reference points as the lane central reference line. Among them, the distance d between the central reference point P4 and the nearest point P2 (or the nearest point P3) can be determined according to the number of lanes included in the target road, and this embodiment does not limit this.

[0056] In this embodiment, by determining the boundary point closest to the trajectory point as the boundary point mapped by the trajectory point on the road boundary line, the boundary point mapped by the trajectory point on the road boundary line can be determined simply and quickly; at the same time, a complete and smooth central reference line can be determined according to the trajectory point and the mapped boundary point.

[0057] Optionally, the preset conditions include:

[0058] The distance from the central reference point to the road boundary line is a preset value;

[0059] The body attitude angle of the vehicle at the trajectory point corresponding to the central reference point is less than a preset angle.

[0060] Specifically, the preset value of the distance from the central reference point to the road boundary line can be determined according to the number of lanes included in the target road. The preset angle is the maximum angle that meets the vehicle trajectory point selection conditions. If the attitude angle at the vehicle trajectory point is greater than the preset angle, it indicates that there may be a large attitude change at this trajectory point, and the central reference point determined by this trajectory point may have a large error. Therefore, this trajectory point cannot be used to determine the central reference point. For example, the preset angle is 30 degrees, that is, the preset conditions include: it is necessary to meet that the angle between the vehicle heading and the directions of the left and right boundary lines is within 30 degrees.

[0061] Exemplarily, if the target road includes a single lane, the target road only includes one lane central reference line, and the preset value should be set to half of the road width; that is Figure 2 As shown in, the distance d from the central reference point P4 to the nearest point P3 on the right road boundary line should be 1 / 2P2P3. It can be understood that the distance from the central reference point P4 to the nearest point P2 on the left road boundary line should also be 1 / 2P2P3.

[0062] If the target road includes two lanes, the preset value of the distance from the central reference point on the center reference line of the right lane to the right road boundary line should be set to one-fourth of the road width, that is, the distance d1 from the central reference point P4 on the center reference line of the right lane to the nearest point P3 on the right road boundary line should be 1 / 4 of P2P3. It can be understood that at this time, the distance d2 from the central reference point P4 to the nearest point P2 on the left road boundary line should be 3 / 4 of P2P3. Similarly, the preset value of the distance from the central reference point on the center reference line of the left lane to the left road boundary line should be set to one-fourth of the road width, that is, the distance d2 from the central reference point P4 on the center reference line of the left lane to the nearest point P2 on the left road boundary line should be 1 / 4 of P2P3. It can be understood that at this time, the distance d1 from the central reference point P4 on the center reference line of the left lane to the nearest point P3 on the right road boundary line should be 3 / 4 of P2P3.

[0063] In this embodiment, by presetting the distance condition from the central reference point to the road boundary line and the angle condition of the body attitude angle of the trajectory point, it is possible to avoid the situation that the attitude angle of some trajectory points is too large due to the vehicle jitter during driving, which affects the accuracy of the lane center reference line and further affects the accuracy of the lane center line, thereby achieving the effect of improving the accuracy of the lane center line.

[0064] Embodiment 2

[0065] Figure 3 The figure is a flowchart of a method for determining a lane center line provided in Embodiment 2 of the present invention. This embodiment is a refinement based on step S130 of the above embodiment. Step S130: Determine the vehicle trajectory line according to the vehicle movement trajectory information and the lane center reference line, including: determining the first error of the vehicle trajectory line according to the pose information corresponding to two adjacent trajectory points in the vehicle trajectory line; determining the second error between the vehicle trajectory line and the lane center reference line according to the coordinates of the trajectory points on the vehicle trajectory line and the coordinates of the central reference points mapped by the trajectory points on the lane center reference line; determining the total error of the vehicle trajectory line according to the first error and the second error. As Figure 3 shown, the method includes:

[0066] S210: Obtain the road boundary line of the target road and the vehicle movement trajectory information generated when the vehicle travels in the target road. The vehicle movement trajectory information includes: the vehicle trajectory line and the pose information corresponding to the trajectory points on the vehicle trajectory line.

[0067] S220: Determine the lane center reference line according to the trajectory points on the vehicle trajectory line and the boundary points mapped by the trajectory points on the road boundary line.

[0068] S230: Determine the first error of the vehicle trajectory line according to the pose information corresponding to two adjacent trajectory points in the vehicle trajectory line.

[0069] Among them, the first error is the error between two adjacent trajectory points on the vehicle trajectory line.

[0070] Specifically, the body attitude angles of these two trajectory points can be determined through the pose information of two adjacent trajectory points on the vehicle trajectory line. The pose error between adjacent trajectory points is determined according to the body attitude angles corresponding to each trajectory point, and the first error of the vehicle trajectory line is determined according to the pose error between every two adjacent trajectory points.

[0071] S240. Determine the second error between the vehicle trajectory line and the lane center reference line according to the coordinates of the trajectory points on the vehicle trajectory line and the coordinates of the central reference points mapped by the trajectory points on the lane center reference line.

[0072] Among them, the second error is the error between the vehicle trajectory line and the lane center reference line.

[0073] Specifically, determine the position information of the trajectory points according to the coordinates of the trajectory points on the vehicle trajectory line, and determine the position information of the central reference points according to the coordinates of the central reference points mapped by the trajectory points on the lane center reference line; determine the position error according to the position information of the trajectory points and the coordinates of the central reference points; determine the second error between the vehicle trajectory line and the lane center reference line according to the position error between each trajectory point and the corresponding central reference point.

[0074] S250. Determine the total error of the vehicle trajectory line according to the first error and the second error.

[0075] Specifically, to determine the total error of the vehicle trajectory line according to the first error and the second error, the total error can be obtained by summing the first error and the second error, or the total error can be obtained by weighted summing the first error and the second error.

[0076] S260. Optimize the positions of the trajectory points on the vehicle trajectory line according to the total error to obtain the lane center line of the target road.

[0077] The technical solution of this embodiment obtains the road boundary line of the target road and the vehicle motion trajectory information generated when the vehicle travels within the target road. The vehicle motion trajectory information includes: the vehicle trajectory line and the pose information corresponding to the trajectory points on the vehicle trajectory line. According to the trajectory points on the vehicle trajectory line and the boundary points mapped by the trajectory points on the road boundary line, the lane center reference line is determined. According to the pose information corresponding to two adjacent trajectory points in the vehicle trajectory line, the first error of the vehicle trajectory line is determined. According to the coordinates of the trajectory points on the vehicle trajectory line and the coordinates of the central reference points mapped by the trajectory points on the lane center reference line, the second error between the vehicle trajectory line and the lane center reference line is determined. According to the first error and the second error, the total error of the vehicle trajectory line is determined. According to the total error, the position of the trajectory points on the vehicle trajectory line is optimized to obtain the lane center line of the target road. The present invention determines the total error of the vehicle trajectory line through the first error of the vehicle trajectory line and the second error between the vehicle trajectory line and the lane center reference line, and optimizes the position of the trajectory points on the vehicle trajectory line according to the total error to obtain the lane center line of the target road, which can improve the accuracy of the lane center line.

[0078] Optionally, determining the first error of the vehicle trajectory line according to the pose information corresponding to two adjacent trajectory points in the vehicle trajectory line includes:

[0079] Determining adjacent trajectory point groups according to the vehicle trajectory line in the vehicle motion trajectory information; the adjacent trajectory point groups include two adjacent trajectory points;

[0080] Determining the relative pose of the adjacent trajectory point groups according to the pose information corresponding to the adjacent trajectory point groups included in the vehicle motion trajectory information;

[0081] Determining the pose error of the adjacent trajectory point groups according to the pose information corresponding to the adjacent trajectory point groups and the relative pose;

[0082] Determining the weighted sum of the pose errors corresponding to each adjacent trajectory point group in the vehicle motion trajectory information and the first weight as the first error of the vehicle trajectory line.

[0083] Among them, the adjacent trajectory point group is a combination formed by two adjacent trajectory point groups on the vehicle trajectory line. The relative pose of the adjacent trajectory point group is the relative attitude angle between any two adjacent trajectory points. The first weight is the importance degree of the pose error relative to the first error.

[0084] Specifically, the vehicle trajectory line is determined according to the vehicle motion trajectory information, and the adjacent trajectory point groups formed by two adjacent trajectory points are determined according to the positions of the trajectory points on the vehicle trajectory line. The relative pose of the adjacent trajectory point group is determined according to the pose information between the two adjacent trajectory points in the adjacent trajectory point group. The pose error of the adjacent trajectory point group is determined according to the pose information and the relative pose corresponding to the adjacent trajectory point group. The weighted sum of the pose errors corresponding to each adjacent trajectory point group in the vehicle motion trajectory information and the first weight is determined as the first error of the vehicle trajectory line.

[0085] The determination of the pose error of the adjacent trajectory point group according to the pose information and the relative pose corresponding to the adjacent trajectory point group can be realized by the following formula:

[0086]

[0087] where, e ij is the pose error of the adjacent trajectory point group, M ij is the relative pose of two adjacent trajectory points i and trajectory point j, T i and T j are the poses of trajectory point i and trajectory point j respectively; the V operator is to realize the conversion from the skew-symmetric matrix to the column vector, is the three-dimensional column vector representing the rotation amount, ρ e is the three-dimensional column vector representing the translation amount.

[0088] Exemplarily, as Figure 4 shown, the relative pose between the pose T i of trajectory point i and the coordinate T j of the adjacent trajectory point j is e ij , and the weighted sum of the pose errors corresponding to each adjacent trajectory point group in the vehicle motion trajectory information and the first weight is determined as the first error of the vehicle trajectory line, that is:

[0089]

[0090] where, e1 is the first error of the vehicle trajectory line, W1 is the weight matrix of the first error, and N is the number of trajectory points on the vehicle trajectory line.

[0091] Exemplarily, the calculation method of the first error can be: setting the partial derivatives of the first error with respect to ξ i , ξ j respectively, and the corresponding matrix is also called the Jacobian matrix, that is:

[0092]

[0093]

[0094] where:

[0095]

[0096]

[0097]

[0098] I represents the 6×6 identity matrix; represents the inverse matrix of the attitude matrix; represents the 3×3 skew-symmetric matrix corresponding to the three-dimensional attitude vector; represents the 3×3 skew-symmetric matrix corresponding to the three-dimensional position vector.

[0099] Λ realizes the conversion from a three-dimensional column vector to a skew-symmetric matrix. Let the three-dimensional column vector be p, then:

[0100]

[0101] Exemplarily, the weight matrix W1 of the first error can be a 6×6 matrix. For example, it can be:

[0102]

[0103] In this embodiment, the pose error of each adjacent trajectory point group is determined by the pose information and relative pose corresponding to the adjacent trajectory point groups, and the weighted sum of the pose errors corresponding to each adjacent trajectory point group in the vehicle motion trajectory information and the first weight is determined as the first error of the vehicle trajectory line; it can solve the problem that the accuracy of the lane center reference line decreases due to selecting trajectory points with large changes in the vehicle trajectory, and achieve the effect of accurately determining the lane center line. Optionally, according to the coordinates of the trajectory points on the vehicle trajectory line and the coordinates of the central reference points mapped by the trajectory points on the lane center reference line, the second error between the vehicle trajectory line and the lane center reference line is determined, including:

[0104] The difference between the coordinates of the trajectory point and the coordinates of the central reference point mapped by the trajectory point on the lane center reference line is determined as the offset error between the trajectory point and the central reference point;

[0105] The weighted sum of the offset errors corresponding to each trajectory point on the vehicle trajectory line and the second weight is determined as the second error between the vehicle trajectory line and the lane center reference line.

[0106] Among them, the coordinates of the trajectory point can be the longitude and latitude coordinates of the trajectory point, or the coordinates of the trajectory point in a custom coordinate system. The offset error is the position offset error between the trajectory point and the mapped central reference point. The second weight is the importance degree of the position error relative to the second error.

[0107] Specifically, the position information of the trajectory point and the central reference point is determined according to the coordinates of the trajectory point and the coordinates of the central reference point mapped on the lane center reference line, and the position offset error is determined according to the offset error between the coordinates of the trajectory point and the central reference point; the weighted sum of the offset errors corresponding to each trajectory point on the vehicle trajectory line and the second weight is determined as the second error between the vehicle trajectory line and the lane center reference line.

[0108] The offset error between the trajectory point and the central reference point can be determined by the following formula:

[0109] e ii =t i -p i ;

[0110] where e ii is the offset error between the trajectory point and the central reference point, t i is the coordinate of the trajectory point i, and p i is the coordinate of the central reference point mapped by the trajectory point on the lane center reference line.

[0111] Exemplarily, as Figure 4 shown, if the offset error between the coordinate t i of the trajectory point i and the coordinate p i of the central reference point k is e ii , then the second error between the vehicle trajectory line and the lane center reference line is:

[0112]

[0113] where e2 is the second error between the vehicle trajectory line and the lane center reference line, W2 is the weight matrix of the second error, and M is the number of central reference points included in the lane center line.

[0114] Exemplarily, the calculation method of the second error can be:

[0115] Set the partial derivative of the second error with respect to ξ i , and the corresponding matrix is also called the Jacobian matrix, that is:

[0116]

[0117] The weight matrix W2 of the second error can be a 3×3 matrix. For example, it can be:

[0118]

[0119] In this embodiment, the offset error is determined according to the coordinates of the trajectory points and the coordinates of the central reference point, and the weighted sum of the offset errors corresponding to each trajectory point on the vehicle trajectory line and the second weight is determined as the second error between the vehicle trajectory line and the lane center reference line, which can solve the problem of the error between the vehicle trajectory line and the lane center line and further improve the accuracy of the lane center line.

[0120] Optionally, optimizing the positions of the trajectory points on the vehicle trajectory line according to the total error to obtain the lane center line of the target road includes:

[0121] Adjusting the coordinates of the trajectory points on the vehicle trajectory line according to the total error;

[0122] Determining the vehicle trajectory line corresponding to the minimum total error as the lane center line of the target road.

[0123] Specifically, adjusting the coordinates of the trajectory points on the vehicle trajectory line according to the total error is to adjust the vehicle trajectory points in the direction close to the center reference line to reduce the total error, and determining the vehicle trajectory line with the minimum total error as the lane center line of the target road.

[0124] The total error of the vehicle trajectory line can be determined by the following formula:

[0125]

[0126] where e is the total error, e ij is the pose error of adjacent trajectory point groups, e ii is the offset error between the trajectory point and the central reference point, W1 is the weight matrix of the first error, W2 is the weight matrix of the second error, N is the number of trajectory points included in the vehicle trajectory line, and M is the number of lane center reference points included in the lane center reference line.

[0127] In this embodiment, by adjusting the coordinates of the trajectory points on the vehicle trajectory line according to the total error and determining the vehicle trajectory line corresponding to the minimum total error as the lane center line of the target road, it can ensure that the error between the vehicle trajectory line and the lane center reference line is minimized and improve the accuracy of the lane center line of the target road.

[0128] Embodiment III

[0129] Figure 4 It is a schematic structural diagram of a device for determining a lane center line provided in Embodiment III of the present invention. As Figure 5 shown, the device includes: an acquisition module 510, a reference line determination module 520, an error determination module 530, and an optimization module 540;

[0130] Among them, the acquisition module 510 is configured to acquire the road boundary line of the target road and the vehicle motion trajectory information generated when the vehicle travels within the target road. The vehicle motion trajectory information includes: a vehicle trajectory line and pose information corresponding to the trajectory points on the vehicle trajectory line;

[0131] The reference line determination module 520 is configured to determine a lane center reference line based on the trajectory points on the vehicle trajectory line and the boundary points mapped by the trajectory points on the road boundary line;

[0132] The error determination module 530 is configured to determine the total error of the vehicle trajectory line based on the vehicle motion trajectory information and the lane center reference line;

[0133] The optimization module 540 is configured to optimize the positions of the trajectory points on the vehicle trajectory line according to the total error to obtain the lane center line of the target road.

[0134] Optionally, the reference line determination module 520 includes:

[0135] The boundary point determination unit is configured to determine the nearest boundary point mapped by each trajectory point on the vehicle trajectory line on the road boundary line;

[0136] The center reference point determination unit is configured to determine a center reference point that meets a preset condition on the connection line between the trajectory point and the nearest boundary point;

[0137] The reference line determination unit is configured to determine the lane center reference line formed by the center reference points.

[0138] Optionally, the preset condition includes:

[0139] The distance from the center reference point to the road boundary line is a preset value;

[0140] The body attitude angle of the vehicle at the trajectory point corresponding to the center reference point is less than a preset angle.

[0141] Optionally, the error determination module 530 includes:

[0142] The first error determination unit is configured to determine the first error of the vehicle trajectory line according to the pose information corresponding to two adjacent trajectory points on the vehicle trajectory line;

[0143] The second error determination unit is configured to determine the second error between the vehicle trajectory line and the lane center reference line according to the coordinates of the trajectory points on the vehicle trajectory line and the coordinates of the center reference points mapped by the trajectory points on the lane center reference line;

[0144] A total error determination unit, configured to determine the total error of the vehicle trajectory line according to the first error and the second error.

[0145] Optionally, the first error determination unit includes:

[0146] A trajectory point group determination subunit, configured to determine adjacent trajectory point groups according to the vehicle trajectory line in the vehicle movement trajectory information; the adjacent trajectory point groups include two adjacent trajectory points;

[0147] A relative pose determination subunit, configured to determine the relative pose of the adjacent trajectory point groups according to the pose information corresponding to the adjacent trajectory point groups included in the vehicle movement trajectory information;

[0148] A pose error determination subunit, configured to determine the pose error of the adjacent trajectory point groups according to the pose information corresponding to the adjacent trajectory point groups and the relative pose;

[0149] A first error determination subunit, configured to determine the weighted sum of the pose errors corresponding to each adjacent trajectory point group in the vehicle movement trajectory information and a first weight as the first error of the vehicle trajectory line.

[0150] Optionally, the second error determination unit includes:

[0151] An offset error determination subunit, configured to determine the difference between the coordinates of the trajectory point and the coordinates of the central reference point mapped by the trajectory point on the lane center reference line as the offset error between the trajectory point and the central reference point;

[0152] A second error determination subunit, configured to determine the weighted sum of the offset errors corresponding to each trajectory point on the vehicle trajectory line and a second weight as the second error between the vehicle trajectory line and the lane center reference line.

[0153] Optionally, the optimization module 540 includes:

[0154] An adjustment unit, configured to adjust the coordinates of the trajectory points on the vehicle trajectory line according to the total error;

[0155] A lane center line determination unit, configured to determine the vehicle trajectory line corresponding to the minimum total error as the lane center line of the target road.

[0156] The above device can execute the lane center line determination method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the lane center line determination method.

[0157] Embodiment 4

[0158] Figure 6It is a schematic structural diagram of an electronic device for implementing the method for determining the lane center line according to the embodiments of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) 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 invention described and / or claimed herein.

[0159] As Figure 6 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0160] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0161] The processor 11 may be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method for determining the lane center line.

[0162] In some embodiments, the method for determining the lane centerline can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for determining the lane centerline described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for determining the lane centerline by any other suitable means (e.g., by means of firmware).

[0163] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0164] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer programs are executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs 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.

[0165] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0166] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds 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, speech input, or tactile input).

[0167] The systems and techniques described herein can be implemented in a computing system that includes backend 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 frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend 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: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0168] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0169] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitations are imposed herein.

[0170] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for determining a lane center line, characterized in that Including: Obtain the road boundary line of the target road and the vehicle movement trajectory information generated when the vehicle travels within the target road. The vehicle movement trajectory information includes: a vehicle trajectory line and pose information corresponding to the trajectory points on the vehicle trajectory line; Determine the lane center reference line according to the trajectory points on the vehicle trajectory line and the boundary points mapped by the trajectory points on the road boundary line; Determine the total error of the vehicle trajectory line according to the vehicle movement trajectory information and the lane center reference line; Optimize the positions of the trajectory points on the vehicle trajectory line according to the total error to obtain the lane center line of the target road; Wherein, the determining the total error of the vehicle trajectory line according to the vehicle movement trajectory information and the lane center reference line includes: Determine the first error of the vehicle trajectory line according to the pose information corresponding to two adjacent trajectory points in the vehicle trajectory line; Determine the second error between the vehicle trajectory line and the lane center reference line according to the coordinates of the trajectory points on the vehicle trajectory line and the coordinates of the central reference points mapped by the trajectory points on the lane center reference line; Determine the total error of the vehicle trajectory line according to the first error and the second error.

2. The method according to claim 1, characterized in that, The determining the lane center reference line according to the trajectory points on the vehicle trajectory line and the boundary points mapped by the trajectory points on the road boundary line includes: For each trajectory point on the vehicle trajectory line, determine the nearest boundary point mapped by the trajectory point on the road boundary line; On the connection line between the trajectory point and the nearest boundary point, determine the central reference point that meets the preset conditions; Determine the lane center reference line formed by the central reference points.

3. The method according to claim 2, wherein The preset conditions include: The distance from the central reference point to the road boundary line is a preset value; The body attitude angle of the vehicle at the trajectory point corresponding to the central reference point is less than a preset angle.

4. The method according to claim 1, wherein The determining the first error of the vehicle trajectory line according to the pose information corresponding to two adjacent trajectory points in the vehicle trajectory line includes: Determine adjacent trajectory point groups according to the vehicle trajectory line in the vehicle movement trajectory information; the adjacent trajectory point groups include two adjacent trajectory points; Determine the relative pose of the adjacent trajectory point groups according to the pose information corresponding to the adjacent trajectory point groups included in the vehicle movement trajectory information; Determine the pose error of the adjacent trajectory point groups according to the pose information and relative pose corresponding to the adjacent trajectory point groups; Determine the weighted sum of the pose errors corresponding to each adjacent trajectory point group in the vehicle movement trajectory information and the first weight as the first error of the vehicle trajectory line.

5. The method according to claim 1, wherein The determining the second error between the vehicle trajectory line and the lane center reference line according to the coordinates of the trajectory points on the vehicle trajectory line and the coordinates of the central reference points mapped by the trajectory points on the lane center reference line includes: Determine the offset error between the trajectory point and the central reference point by taking the difference between the coordinates of the trajectory point and the coordinates of the central reference point mapped by the trajectory point on the lane center reference line; Determine the weighted sum of the offset errors corresponding to each trajectory point on the vehicle trajectory line and the second weight as the second error between the vehicle trajectory line and the lane center reference line.

6. The method according to claim 1, wherein The position optimization of the trajectory points on the vehicle trajectory line according to the total error to obtain the lane center line of the target road includes: Adjust the coordinates of the trajectory points on the vehicle trajectory line according to the total error; Determine the vehicle trajectory line corresponding to the minimum total error as the lane center line of the target road.

7. A device for determining a lane center line, characterized in that, Includes: An acquisition module for acquiring the road boundary line of the target road and the vehicle motion trajectory information generated by the vehicle driving in the target road, where the vehicle motion trajectory information includes: the vehicle trajectory line and the pose information corresponding to the trajectory points on the vehicle trajectory line; A reference line determination module for determining a lane center reference line according to the trajectory points on the vehicle trajectory line and the boundary points mapped by the trajectory points on the road boundary line; An error determination module for determining the total error of the vehicle trajectory line according to the vehicle motion trajectory information and the lane center reference line; An optimization module for performing position optimization on the trajectory points on the vehicle trajectory line according to the total error to obtain the lane center line of the target road; Wherein, the error determination module includes: A first error determination unit for determining the first error of the vehicle trajectory line according to the pose information corresponding to two adjacent trajectory points in the vehicle trajectory line; A second error determination unit for determining the second error between the vehicle trajectory line and the lane center reference line according to the coordinates of the trajectory points on the vehicle trajectory line and the coordinates of the central reference points mapped by the trajectory points on the lane center reference line; A total error determination unit for determining the total error of the vehicle trajectory line according to the first error and the second error.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for determining the lane center line according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a processor to implement the method for determining the lane center line according to any one of claims 1-6 when executed.

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