A lane centerline keeping method, device, equipment and medium

Abstract

This application discloses a method, apparatus, device, and medium for maintaining a lane centerline, applied to a driving assistance system and relating to the field of assisted driving technology. The method includes: acquiring the lane lines on both sides and the lane centerline of the vehicle's current lane; determining whether the lane centerline has changed according to pre-set change conditions; if a change is determined, setting a timer and determining whether there is a target lane line among the lane lines on both sides that meets the lane centerline replacement conditions; if so, replacing the lane centerline with the target lane line within the replacement time specified by the timer. In this application, when the lane centerline changes and a target lane line exists among the lane lines on both sides that meets the replacement conditions, the target lane line replaces the lane centerline, thereby enabling the vehicle to maintain normal straight-line driving under the driving assistance system, improving the safety and robustness of the driving assistance system.

Description

Technical Field

[0001] This invention relates to the field of driver assistance technology, and in particular to a method, device, equipment and medium for maintaining lane centerline. Background Technology

[0002] Automatic Driver Assistance Systems (ADAS) are driving systems that provide drivers with varying degrees of assistance. Lane Keeping Assistance (LKA) is a specific type of driver assistance system used to control the vehicle to stay centered within its lane.

[0003] Existing lane keeping assist systems (LKA) use sensors to identify the lane markings on either side or the center line of the lane. Through trajectory planning, they keep the vehicle on the center line, thus reducing driver fatigue. However, in certain road conditions, when one lane marking suddenly disappears or changes, the detected center line may also jerk or even abruptly change. In such situations, the LKA function may suddenly jerk the steering wheel, creating an extremely dangerous and urgent situation that results in a poor driving experience for the driver.

[0004] In summary, how to keep the vehicle on the center line of the lane as much as possible when the center line changes, thereby improving the safety and robustness of the driver assistance system, is a problem that needs to be solved. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a method, apparatus, device, and medium for maintaining the lane centerline, which can keep the vehicle as close to the lane centerline as possible even when the lane centerline changes abruptly, thereby improving the safety and robustness of the driving assistance system. The specific solution is as follows:

[0006] In a first aspect, this application discloses a method for maintaining the lane centerline, applied to a driving assistance system, comprising:

[0007] The system obtains the lane lines on both sides and the center line of the lane where the vehicle is currently located, and determines whether the center line of the lane changes according to the preset change conditions.

[0008] If a change in the lane centerline is detected, a timer is set, and it is determined whether there is a target lane line that meets the lane centerline replacement condition among the lane lines on both sides.

[0009] If it exists, the lane center line is replaced with the target lane line within the replacement time specified by the timer.

[0010] Optionally, determining whether the lane centerline changes according to pre-set change conditions includes:

[0011] Determine the curvature deviation between the lane centerline and the two side lane lines at a preset aiming point, and determine whether the curvature deviation is greater than a first preset threshold; wherein the curvature of the two side lane lines at the preset aiming point is not zero;

[0012] If the curvature deviation is greater than the first preset threshold, and the curvature of the lane centerline at the preset aiming point is greater than the second preset threshold, then it is determined that the lane center has changed direction.

[0013] Optionally, the method for maintaining the lane centerline further includes:

[0014] Determine the equations of the two lane lines corresponding to the two lane lines and the equation of the lane center line corresponding to the lane center line.

[0015] The curvature equations of the two side lane lines and the lane center line are derived by taking the second derivative, and the curvature of the two side lane lines and the lane center line at the preset aiming point is determined based on the curvature equations.

[0016] Optionally, determining the curvature of the two lane lines and the lane centerline corresponding to the preset aiming point according to the curvature equation includes:

[0017] Determine the preset aiming time corresponding to the preset aiming point, and determine the aiming distance based on the aiming time and the current speed of the vehicle;

[0018] Substitute the pre-aiming distance into the curvature equation to obtain the curvature of the two side lane lines and the lane center line at the preset aiming point.

[0019] Optionally, the process of replacing the lane center line with the target lane line within the replacement time specified by the timer further includes:

[0020] The system monitors whether the lane centerline meets the transition condition. If it does not, the replacement time is reduced according to the timing reduction rule until the replacement time is reduced to zero, at which point the replacement of the lane centerline with the target lane line is stopped.

[0021] Optionally, replacing the lane centerline with the target lane line within the replacement time specified by the timer includes:

[0022] Determine the target lane line equation corresponding to the target lane line and the lane centerline equation corresponding to the lane centerline;

[0023] Within the replacement time specified by the timer, the target coefficients in the target lane line equation are used to replace the corresponding coefficients in the lane centerline equation to obtain the replaced lane centerline equation.

[0024] Optionally, determining whether there is a target lane line among the lane lines on both sides that meets the lane centerline replacement condition further includes:

[0025] Obtain pre-set lane centerline replacement conditions, and take the lane line that meets the lane centerline replacement conditions from the two lane lines as the target lane line; wherein, the lane centerline replacement conditions include the confidence of the target lane line being greater than a pre-set confidence threshold, the curvature of the target lane line being less than a pre-set curvature threshold, and the curvature of the target lane line being less than the curvature of the other lane line from the two lane lines.

[0026] Secondly, this application discloses a lane centerline keeping device for use in a driver assistance system, comprising:

[0027] The lane change condition judgment module is used to obtain the lane lines on both sides and the lane center line of the current lane where the vehicle is located, and to determine whether the lane center line has changed according to the preset lane change conditions.

[0028] The replacement condition judgment module is used to set a timer and determine whether there is a target lane line that meets the lane center line replacement condition if it is determined that the lane center line has changed abruptly.

[0029] A lane line replacement module is used to replace the lane center line with the target lane line within the replacement time specified by the timer, if the lane line exists.

[0030] Thirdly, this application discloses an electronic device, comprising:

[0031] Memory, used to store computer programs;

[0032] A processor for executing the computer program to implement the steps of the aforementioned disclosed method for maintaining the lane centerline.

[0033] Fourthly, this application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the steps of the aforementioned lane centerline keeping method.

[0034] As can be seen, this application acquires the lane lines on both sides and the center line of the current lane where the vehicle is located, and determines whether the lane center line has changed according to a preset change condition. If the lane center line has changed, a timer is set, and it is determined whether there is a target lane line among the lane lines on both sides that meets the lane center line replacement condition. If there is, the lane center line is replaced with the target lane line within the replacement time specified by the timer. Therefore, in this application, when the driving assistance system determines that the lane center line has changed according to the preset change condition, and there is a target lane line among the lane lines on both sides that meets the lane center line replacement condition, the lane center line is replaced with the target lane line within the replacement time specified by the timer. This allows the vehicle to maintain normal straight-line driving on the lane center line under the driving assistance system, improving the safety and robustness of the driving assistance system and enhancing the driver's driving experience. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0036] Figure 1 This is a flowchart of a method for maintaining the lane centerline disclosed in this application;

[0037] Figure 2 This application discloses a flowchart of a specific method for maintaining the lane centerline;

[0038] Figure 3 This is a schematic diagram of a lane centerline keeping device disclosed in this application;

[0039] Figure 4 This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0041] Existing lane keeping assist systems (LKA) identify lane lines on both sides or the center line of the current lane using sensors, and plan a trajectory to keep the vehicle on the center line, thus reducing driver fatigue. However, in special road conditions, when one lane line suddenly disappears or changes, the detected center line may also jerk or even abruptly change. In such cases, the LKA function may suddenly jerk the steering wheel, creating an emergency and dangerous situation that negatively impacts the driver's experience. Therefore, this application discloses a method, device, equipment, and medium for maintaining the center line, which can keep the vehicle on the center line as much as possible even when the center line changes abruptly, thereby improving the safety and robustness of the driver assistance system.

[0042] See Figure 1 As shown in the figure, this application discloses a lane centerline keeping method, applied to a driving assistance system, the method comprising:

[0043] Step S11: Obtain the lane lines on both sides and the center line of the lane where the vehicle is currently located, and determine whether the center line of the lane changes according to the preset change conditions.

[0044] In this embodiment, the IFC (Intelligent Front Camera) can detect the lane lines on both sides of the lane in front of the vehicle and the lane center line. Therefore, the lane keeping system obtains the lane lines on both sides of the current lane and the lane center line detected by the IFC, and determines whether the lane center line has changed according to the preset change conditions.

[0045] Step S12: If it is determined that the lane center line has changed, a timer is set, and it is determined whether there is a target lane line that meets the lane center line replacement condition among the lane lines on both sides.

[0046] In this embodiment, if the lane centerline meets the transition condition, it can be determined that a lane centerline transition has occurred. Simultaneously, a timer Q is set, and it is determined whether there is a target lane line on either side that meets the lane centerline replacement condition. It is understood that when determining whether the lane lines on both sides meet the lane centerline replacement condition, the main criteria are whether the lane lines on both sides are clearly visible and smooth.

[0047] Step S13: If it exists, replace the lane center line with the target lane line within the replacement time specified by the timer.

[0048] In this embodiment, when a change in the lane centerline is detected, and a target lane line meeting the replacement conditions exists on both sides of the lane, the lane centerline is replaced using the target lane line within the replacement time specified by the timer. That is, during ADAS straight-line driving, if the lane line on one side of the lane suddenly disappears or changes, causing the detected lane centerline to jitter or even change, the lane centerline can be directly replaced by a clearly visible and smooth lane line on the other side within a short time, ensuring that LKA maintains normal straight-line driving. It should be noted that replacing the lane centerline with a target lane line here can be understood as redrawing the lane centerline based on the target lane line. For example, the lane line equation and curvature value of the target lane line can be referenced to recalculate the lane line equation to obtain the trajectory of the lane centerline. Furthermore, if no target lane line meeting the lane centerline replacement conditions exists on either side of the lane, no replacement operation is performed.

[0049] In one specific implementation, a person skilled in the art, based on experience and information such as the driver's driving experience and vehicle condition, sets the timer Q to Q = 250. The system operates on a 20ms cycle, so the replacement time is 250 × 20 (ms) = 5 seconds. That is, when the lane center line meets the transition condition, a 5-second replacement time is triggered. This continuous 5-second replacement time avoids the problem of repeated jumps during the replacement process caused by the lane center line suddenly failing to meet the transition condition or then suddenly meeting it again within a short period, thus preventing a poor driving experience for the driver. It should be noted that the lane center line transition judgment can be understood as real-time. Therefore, if the lane center line consistently meets the transition condition, the replacement time will remain at 5 seconds. In other words, if a lane center line transition was determined in the previous moment, the timer Q was set to 250. If a lane center line transition is still determined in the current moment, and the timer Q = 249, then Q is reset to Q = 250 in the current moment.

[0050] Furthermore, the process of replacing the lane center line with the target lane line within the replacement time specified by the timer also includes: monitoring whether the lane center line meets the transition condition; if not, reducing the replacement time according to the timer's cumulative reduction rule until the replacement time reaches zero, at which point the replacement of the lane center line with the target lane line is stopped. It can be understood that if at a certain moment the lane center line is found to no longer meet the transition condition, and as mentioned above, Q was set to Q = 250 at the previous moment (i.e., the replacement time was 5 seconds), then the replacement time is reduced according to the timer's cumulative reduction rule until it reaches zero, at which point the replacement of the lane center line with the target lane line is stopped. In a specific implementation, the timer can be set to decrease by 1 in each cycle until it reaches 0, that is, every 20ms, the value of Q is reduced by 1, so it takes 5 seconds for Q to decrease from 250 to 0. This ensures that when a lane center line transition is detected at the last moment, the replacement time is 5 seconds.

[0051] As can be seen, this application acquires the lane lines on both sides and the center line of the current lane where the vehicle is located, and determines whether the lane center line has changed according to a preset change condition. If the lane center line has changed, a timer is set, and it is determined whether there is a target lane line among the lane lines on both sides that meets the lane center line replacement condition. If there is, the lane center line is replaced with the target lane line within the replacement time specified by the timer. Therefore, in this application, when the driving assistance system determines that the lane center line has changed according to the preset change condition, and there is a target lane line among the lane lines on both sides that meets the lane center line replacement condition, the lane center line is replaced with the target lane line within the replacement time specified by the timer. This allows the vehicle to maintain normal straight-line driving on the lane center line under the driving assistance system, improving the safety and robustness of the driving assistance system and enhancing the driver's driving experience.

[0052] See Figure 2 As shown, this application discloses a specific method for maintaining the lane centerline. Compared to the previous embodiment, this embodiment further explains and optimizes the technical solution. Specifically, it includes:

[0053] Step S21: Obtain the lane lines on both sides and the center line of the lane where the vehicle is currently located, and determine the curvature deviation of the center line and the lane lines on both sides at a preset aiming point, and determine whether the curvature deviation is greater than a first preset threshold; wherein, the curvature of the lane lines on both sides at the preset aiming point is not zero.

[0054] In this embodiment, after obtaining the lane lines on both sides and the center line of the current lane where the vehicle is located, it is necessary to determine whether there is a jump in the lane center line. Specifically, it is first necessary to determine the curvature deviation between the lane center line and the lane lines on both sides at a preset aiming point, and then determine whether the curvature deviation is greater than a first preset threshold, wherein the curvature of the lane lines on both sides at the preset aiming point must be non-zero.

[0055] Step S22: If the curvature deviation is greater than the first preset threshold, and the curvature of the lane centerline at the preset aiming point is greater than the second preset threshold, then it is determined that the lane center has changed direction.

[0056] In this embodiment, if the curvature deviation is greater than a first preset threshold, and the curvature of the lane centerline at the preset aiming point is greater than a second preset threshold, then a lane center change can be determined. It should be noted that the above method further includes: determining the equations of the two lane lines corresponding to the two lane lines and the equation of the lane centerline corresponding to the lane centerline; performing second derivatives on the equations of the two lane lines and the lane centerline respectively to obtain the corresponding curvature equations, and determining the curvatures of the two lane lines and the lane centerline at the preset aiming point based on the curvature equations.

[0057] In this embodiment, the third-order curve equation of the lane line is specifically set as: y=C0+C1*X+C2*X 2 +C3*X 3 Where C0, C1, C2, and C3 are lane line coefficients, C0 represents the lateral displacement of the vehicle center relative to the two side lane lines / lane center lines, C1 represents the heading angle between the vehicle and the two side lane lines / lane center lines, C2 represents the curvature of the two side lane lines / lane center lines, and C3 represents the rate of change of curvature of the two side lane lines / lane center lines. Therefore, by determining the lane line coefficients corresponding to the two side lane lines and the lane center line respectively, and substituting them into the above third-order curve equation, the equations of the two side lane lines corresponding to the two side lane lines and the equation of the lane center line corresponding to the lane center line can be obtained. Further, by taking the second derivative of the third-order curve equation of the lane lines, the corresponding curvature equation can be obtained: y″=2C2+6C3*X. In addition, this embodiment of the application also sets a preset aiming point so as to detect whether there is a jump in the lane center line in advance based on the preset aiming point. Therefore, by substituting the relevant parameters of the preset aiming point into the above curvature equation, the curvatures of the two side lane lines and the lane center line corresponding to the preset aiming point can be obtained.

[0058] Specifically, determining the curvature of the two lane lines and the lane centerline at the preset aiming point according to the curvature equation includes: determining a preset aiming time corresponding to the preset aiming point, and determining the aiming distance based on the aiming time and the current speed of the vehicle; substituting the aiming distance into the curvature equation to obtain the curvature of the two lane lines and the lane centerline at the preset aiming point. That is, by determining the preset aiming time corresponding to the preset aiming point, the aiming distance can be determined based on the aiming time and the current speed of the vehicle. Substituting the aiming distance into the curvature equation yields the curvature of the two lane lines and the lane centerline at the preset aiming point. For example, in one specific embodiment, the aiming time can be set to 1 second. Multiplying the current speed V of the vehicle by the aiming time yields the aiming distance: V × 1.0 s. Substituting the calculated aiming distance as X into the curvature equation yields the curvature of the aiming point: y″ = 2C² + 6C³ * (V × 1.0 s).

[0059] Understandably, during straight-line driving, the curvature of the lane centerline and the lane lines on both sides should be consistent or close, and there should not be a large difference in magnitude. Therefore, this application needs to calculate the curvature deviation between the left (L) and right (R) lane lines and the lane centerline (I) at the preset aiming point, specifically by calculating the absolute value of their curvature difference, i.e., |y″(L)-y″(I)| and |y″(R)-y″(I)|, where y″(L) represents the curvature of the left lane line at the preset aiming point, y″(R) represents the curvature of the right lane line at the preset aiming point, and y″(I) represents the curvature of the lane centerline at the preset aiming point. The specific jump conditions are as follows:

[0060] Condition 1: The curvature deviation of either lane line from the lane centerline, |y″(L)-y″(I)| or |y″(R)-y″(I)|, must be greater than a first preset threshold. This first preset threshold can be set based on the curvature of the lane lines on both sides, such as 1.2|y″(L)| and 1.2|y″(R)|, i.e., |y″(L)-y″(I)|>1.2|y″(L)| or |y″(R)-y″(I)|>1.2|y″(R)|. 1.2 is a calibrable parameter and can be set according to specific circumstances.

[0061] Condition 2: y″(L) and y″(R) are not zero;

[0062] Condition 3: The curvature of the lane centerline at the preset aiming point is greater than the second preset threshold. The second preset threshold is a calibrable parameter, such as 0.0002, i.e., |y″(I)|>0.0002. This condition is set to ensure that if there is a large change in the lane centerline, smaller changes will not be replaced, thus eliminating the phenomenon of erroneous replacement.

[0063] When all three conditions are met, the lane centerline is considered to have changed. If any one of the three conditions is not met, the lane centerline is considered not to have changed.

[0064] Step S23: If it is determined that the lane centerline has changed direction, a timer is set and a pre-set lane centerline replacement condition is obtained so that the lane line that meets the lane centerline replacement condition among the two lane lines is taken as the target lane line; wherein, the lane centerline replacement condition includes the confidence of the target lane line being greater than a pre-set confidence threshold, the curvature of the target lane line being less than a pre-set curvature threshold, and the curvature of the target lane line being less than the curvature of the other lane line among the two lane lines.

[0065] In this embodiment, after determining that a lane centerline change has occurred, it is also necessary to determine whether there are target lane lines on both sides that meet the lane centerline replacement conditions. Specifically, the pre-set lane centerline replacement conditions are obtained. Taking the determination of whether the left lane line meets the lane centerline replacement conditions as an example, the details are as follows:

[0066] Condition 1: The confidence level of the left lane line is greater than the preset confidence threshold; where the confidence level value is given by the intelligent front camera, and the preset confidence threshold is a calibrable parameter, such as 0.8, and the lane line confidence level ranges from 0 to 1;

[0067] Condition 2: The curvature of the left lane line is less than a preset curvature threshold; where the preset curvature threshold is a calibrable parameter, such as 0.0006. This condition is set primarily to ensure that this logic works on straight roads and not on curves.

[0068] Condition 3: The curvature of the left lane line is less than that of the right lane line. The purpose of this condition is to ensure that if both lane lines meet the replacement condition, the lane with the smaller curvature should be used for replacement, which is closer to a straight road, so that the ADAS function can function properly to ensure straight driving and that the steering wheel does not vibrate.

[0069] When all three conditions are met, the left lane line is considered to meet the lane center line replacement condition, meaning it can be used as the target lane line. If any one of the three conditions is not met, the left lane line is considered not to meet the lane center line replacement condition, meaning it cannot be used as the target lane line to replace the lane center line. The judgment process for the right lane line is the same.

[0070] Step S24: If they exist, determine the target lane line equation corresponding to the target lane line and the lane centerline equation corresponding to the lane centerline.

[0071] In this embodiment, if there is a target lane line among the lane lines on both sides that meets the conditions for replacing the lane center line, then the replacement process can begin, that is, the lane center line is replaced using the target lane line. Specifically, it is necessary to determine the equation of the target lane line and the equation of the lane center line corresponding to the target lane line.

[0072] Step S25: Within the replacement time specified by the timer, replace the corresponding coefficients in the lane centerline equation with the target coefficients in the target lane line equation to obtain the replaced lane centerline equation.

[0073] In this embodiment, within the replacement time specified by the timer, the target coefficients in the target lane line equation are used to replace the corresponding coefficients in the lane centerline equation to obtain the replaced lane centerline equation. Taking the left side as an example, the coefficients C1, C2, and C3 in the left lane line equation are simultaneously replaced with the corresponding coefficients in the lane centerline equation. The original coefficient C0 in the lane centerline equation remains unchanged, so the lane centerline equation becomes y = C 0(中心线) +C 1(左) ×X+C 2(左) ×X 2 +C 3(左) ×X 3 Similarly, if the conditions on the right are met, then the coefficients C1, C2, and C3 in the right lane line equation are used to replace the corresponding coefficients in the lane centerline equation. Accordingly, the lane centerline equation becomes y = C 0(中心线) +C 1(右) ×X+C 2(右) ×X 2 +C 3(右) ×X 3 .

[0074] As can be seen, in this embodiment, it is necessary to judge according to the pre-set jump conditions and lane centerline replacement conditions. Only when all conditions are met can it be determined that the lane centerline has jumped and that there is a target lane line that meets the replacement conditions among the lane lines on both sides. In addition, the curvature equation is obtained by taking the second derivative of the lane line equation. In order to detect whether the lane centerline has jumped in advance, this embodiment sets a preset aiming point and judges by calculating the curvature of the lane lines on both sides and the lane centerline at the preset aiming point. Finally, when replacing the lane line, the target coefficient in the target lane line equation is directly used to replace the corresponding coefficient in the lane centerline equation, thereby obtaining the replaced lane centerline equation. In this way, through the above scheme, when the lane centerline jumps during the use of ADAS function, the lane centerline can be temporarily replaced by the left or right lane line, thereby ensuring that the LKA function does not have abnormal sudden steering wheel turning, improving the robustness of the assisted driving, improving driving safety, and not affecting the surrounding traffic conditions. As the robustness and safety of ADAS improve, the comfort and psychological trust of end users can be greatly enhanced, ultimately increasing the usage rate of ADAS.

[0075] See Figure 3 As shown in the figure, this application discloses a lane centerline keeping device for use in a driving assistance system. The device includes:

[0076] The jump condition judgment module 11 is used to obtain the lane lines on both sides and the lane center line of the current lane where the vehicle is located, and to judge whether the lane center line has jumped according to the preset jump conditions.

[0077] The replacement condition judgment module 12 is used to set a timer and determine whether there is a target lane line that meets the lane center line replacement condition if it is determined that the lane center line has changed.

[0078] Lane line replacement module 13 is used to replace the lane center line with the target lane line within the replacement time specified by the timer, if the lane line exists.

[0079] As can be seen, this application acquires the lane lines on both sides and the center line of the current lane where the vehicle is located, and determines whether the lane center line has changed according to a preset change condition. If the lane center line has changed, a timer is set, and it is determined whether there is a target lane line among the lane lines on both sides that meets the lane center line replacement condition. If there is, the lane center line is replaced with the target lane line within the replacement time specified by the timer. Therefore, in this application, when the driving assistance system determines that the lane center line has changed according to the preset change condition, and there is a target lane line among the lane lines on both sides that meets the lane center line replacement condition, the lane center line is replaced with the target lane line within the replacement time specified by the timer. This allows the vehicle to maintain normal straight-line driving on the lane center line under the driving assistance system, improving the safety and robustness of the driving assistance system and enhancing the driver's driving experience.

[0080] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Specifically, it may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the lane centerline keeping method performed by the electronic device disclosed in any of the foregoing embodiments.

[0081] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0082] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0083] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored on it include operating system 221, computer program 222 and data 223, etc., and the storage method can be temporary storage or permanent storage.

[0084] The operating system 221 manages and controls the various hardware devices and computer programs 222 on the electronic device 20 to enable the processor 21 to perform calculations and processing on the massive amounts of data 223 in the memory 22. The operating system 221 can be Windows, Unix, Linux, etc. The computer program 222, in addition to including a computer program capable of performing the lane centerline keeping method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, may further include computer programs capable of performing other specific tasks. The data 223 may include data received by the electronic device from external devices, as well as data collected by its own input / output interface 25.

[0085] Furthermore, embodiments of this application also disclose a computer-readable storage medium storing a computer program. When the computer program is loaded and executed by a processor, it implements the method steps performed during the lane centerline maintenance process disclosed in any of the foregoing embodiments.

[0086] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0087] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0088] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0089] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0090] The foregoing has provided a detailed description of a lane centerline maintaining method, apparatus, device, and storage medium provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A lane centerline keeping method characterized by, The application is applied to a driving assistance system, comprising: acquiring two side lane lines and a lane center line of a current lane where a vehicle is located, and judging whether the lane center line jumps according to a preset jump condition; if it is judged that the lane center line jumps, setting a timer, and judging whether there is a target lane line in the two side lane lines which satisfies a lane center line replacement condition; if there is, replacing the lane center line with the target lane line within a replacement time specified by the timer; wherein the judging whether the lane center line jumps according to the preset jump condition comprises: determining a curvature deviation of the lane center line and the two side lane lines at a preset aiming point, and judging whether the curvature deviation is greater than a first preset threshold; wherein the curvature of the two side lane lines at the preset aiming point is not zero; if the curvature deviation is greater than the first preset threshold, and the curvature of the lane center line at the preset aiming point is greater than a second preset threshold, it is judged that the lane center line jumps.

2. The lane centerline keeping method according to claim 1, characterized by, further comprising: determining two side lane line equations corresponding to the two side lane lines and a lane center line equation corresponding to the lane center line; respectively performing second derivation on the two side lane line equations and the lane center line equation to obtain corresponding curvature equations, and determining curvatures of the two side lane lines and the lane center line at the preset aiming point according to the curvature equations.

3. The lane centerline keeping method according to claim 2, characterized by, the determining curvatures of the two side lane lines and the lane center line at the preset aiming point according to the curvature equations comprises: determining a preset pre-aiming time corresponding to the preset aiming point, and determining a pre-aiming distance based on the pre-aiming time and a current speed of the vehicle; substituting the pre-aiming distance into the curvature equations to obtain the curvatures of the two side lane lines and the lane center line at the preset aiming point.

4. The lane centerline keeping method according to claim 1, characterized by, the process of replacing the lane center line with the target lane line within the replacement time specified by the timer further comprises: monitoring whether the lane center line satisfies the jump condition, if not, reducing the replacement time according to a timing reduction rule, until the replacement time is reduced to zero, and stopping replacing the lane center line with the target lane line.

5. The lane centerline keeping method according to claim 1, characterized by, the replacing the lane center line with the target lane line within the replacement time specified by the timer comprises: determining a target lane line equation corresponding to the target lane line and a lane center line equation corresponding to the lane center line; replacing corresponding coefficients in the lane center line equation with target coefficients in the target lane line equation within the replacement time specified by the timer to obtain a replaced lane center line equation.

6. The lane centerline keeping method according to any one of claims 1 to 5, characterized by, the judging whether there is a target lane line in the two side lane lines which satisfies a lane center line replacement condition further comprises: Obtain a preset lane centerline replacement condition, and take a lane line of the two lane lines that satisfies the lane centerline replacement condition as a target lane line; wherein the lane centerline replacement condition includes that a confidence of the target lane line is greater than a preset confidence threshold, a curvature of the target lane line is less than a preset curvature threshold, and the curvature of the target lane line is less than a curvature of another lane line of the two lane lines.

7. A lane centerline keeping apparatus characterized by comprising: Applied to a driving assistance system, comprising: A jump condition judgment module is configured to obtain two lane lines on both sides of a current lane where a vehicle is located and a lane centerline, and determine whether the lane centerline jumps according to a preset jump condition; A replacement condition judgment module is configured to set a timer if it is determined that the lane centerline jumps, and determine whether a target lane line that satisfies a lane centerline replacement condition exists in the two lane lines; A lane line replacement module is configured to replace the lane centerline with the target lane line within a replacement time specified by the timer if the target lane line exists. The jump condition judgment module is specifically configured to determine a curvature deviation of the lane centerline and the two lane lines at a preset aiming point, and determine whether the curvature deviation is greater than a first preset threshold; wherein the curvature of the two lane lines at the preset aiming point is not zero; if the curvature deviation is greater than the first preset threshold, and a curvature of the lane centerline at the preset aiming point is greater than a second preset threshold, it is determined that the lane centerline jumps.

8. An electronic device, comprising: Comprise: A memory is configured to save a computer program; A processor is configured to execute the computer program to implement steps of the lane centerline maintaining method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, A computer program is stored in the memory, and the computer program is executed by the processor to implement steps of the lane centerline maintaining method according to any one of claims 1 to 6.

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