A lane line hanging detection method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application relate to a lane line hanging detection method and device, electronic equipment and storage medium, belonging to the technical field of topographic map data processing. The method comprises: determining a detection endpoint; in the case that a target distance between the detection endpoint and a target endpoint in a target to-be-detected space region is less than or equal to a tolerance threshold, or the target distance is greater than or equal to a limit threshold, it is determined that there is no hanging between a first to-be-detected lane line to which the detection endpoint belongs and a second to-be-detected lane line to which the target endpoint belongs, the target to-be-detected space region comprises a plurality of endpoints, the plurality of endpoints comprise the detection endpoint, and each endpoint is an endpoint of a to-be-detected lane line; in the case that the target distance is greater than the tolerance threshold and less than the limit threshold, it is determined that there is hanging between the first to-be-detected lane line and the second to-be-detected lane line. The method can accurately and quickly determine whether the lane line is hanging.

Description

Technical Field

[0001] This application relates to the field of topographic map data processing technology, and in particular to a method, apparatus, electronic device, and storage medium for detecting lane line suspension. Background Technology

[0002] With the advent of high-definition maps, the requirements for processing topographic map data have become more stringent. The presence of numerous lane line hangings in topographic maps (lane line hanging occurs when lane lines are too short and fail to connect to the correct lane lines during data processing, or when lane lines are too long and exceed the lane lines they should connect) will affect the overall quality of the topographic map. Therefore, checking and correcting lane lines is particularly important during the editing and processing of topographic maps. Summary of the Invention

[0003] This application provides a lane line suspension detection method, apparatus, electronic device, and storage medium, which can accurately detect whether lane lines are suspended.

[0004] In a first aspect, embodiments of this application provide a lane line suspension detection method, the method comprising: determining a detection endpoint; determining that there is no suspension between a first lane line to be detected to which the detection endpoint belongs and a second lane line to which the target endpoint belongs when the target distance between the detection endpoint and a target endpoint in a target detection space region is less than or equal to a tolerance threshold, or the target distance is greater than or equal to a limit threshold; and determining that there is suspension between the first lane line to be detected and the second lane line to be detected when the target distance is greater than the tolerance threshold and less than the limit threshold. The target detection space region includes multiple endpoints, the multiple endpoints include the detection endpoint, and each endpoint is an endpoint of a lane line to be detected.

[0005] Optionally, after determining the detection endpoint, the lane line suspension detection method provided in this application embodiment further includes: determining the horizontal and vertical coordinates of the detection endpoint; determining multiple grids based on the first vertical grid boundary line, the second vertical grid boundary line, the first horizontal grid boundary line, and the second horizontal grid boundary line; determining the multiple grids as the target detection area; wherein, the first vertical grid boundary line is the grid boundary line closest to the horizontal coordinate in the positive horizontal direction where the distance from the horizontal coordinate is greater than or equal to the limit threshold; the second vertical boundary line is the grid boundary line closest to the horizontal coordinate in the negative horizontal direction where the distance from the horizontal coordinate is greater than or equal to the limit threshold; the first horizontal boundary line is the grid boundary line closest to the vertical coordinate in the positive vertical direction where the distance from the vertical coordinate is greater than or equal to the limit threshold; the second horizontal boundary line is the grid boundary line closest to the vertical coordinate in the negative vertical direction where the distance from the vertical coordinate is greater than or equal to the limit threshold; and the target endpoint is one endpoint in the storage area indicated by the grid index corresponding to the multiple grids.

[0006] Optionally, after determining the detection endpoint, the lane line suspension detection method provided in this application embodiment further includes: determining the area where the circle with the detection endpoint as the center and the limit threshold as the radius is located as the first detection area; determining the multiple grids where the first detection space is located as the target detection area; the target endpoint is one of the endpoints in the storage area indicated by the grid index corresponding to the multiple grids.

[0007] Optionally, before determining the detection endpoints, the lane line suspension detection method provided in this application embodiment further includes: dividing the area to be detected into multiple grids of a preset size, constructing a grid index based on the multiple grids, and storing the endpoints in each grid in the storage area indicated by the index corresponding to each grid.

[0008] Optionally, storing the endpoints in each grid in the storage area indicated by the index corresponding to each grid includes: for a first endpoint located on the boundary line of the grid, storing the first endpoint in the storage area indicated by the index corresponding to at least one grid where the first endpoint is located, based on a preset rule; for a second endpoint located within the grid, storing the second endpoint in the storage area indicated by the index corresponding to the grid where the second endpoint is located.

[0009] Optionally, before dividing the area to be detected into multiple grids of a preset size, the lane line suspension detection method provided in this application embodiment further includes: determining multiple lane lines to be detected; and determining the area to be detected based on the lane lines to be detected, wherein the area to be detected includes all endpoints of each lane line to be detected.

[0010] Optionally, after determining the detection endpoint, the lane line suspension detection method provided in this application embodiment further includes: determining the horizontal and vertical coordinates of the detection endpoint; determining the target detection area based on the first longitudinal boundary line, the second longitudinal boundary line, the first lateral boundary line, and the second lateral boundary line; wherein, the horizontal coordinate of the first longitudinal boundary line is the sum of the horizontal coordinate and the limit threshold, the horizontal coordinate of the second longitudinal boundary line is the difference between the horizontal coordinate and the limit threshold, the vertical coordinate of the first lateral boundary line is the sum of the vertical coordinate and the limit threshold, and the vertical coordinate of the second lateral boundary line is the difference between the vertical coordinate and the limit threshold; the horizontal coordinate of the target endpoint is greater than or equal to the horizontal coordinate of the second longitudinal boundary line and less than or equal to the horizontal coordinate of the first longitudinal boundary line, and the vertical coordinate of the target endpoint is greater than or equal to the vertical coordinate of the second lateral boundary line and less than or equal to the vertical coordinate of the first lateral boundary line.

[0011] Secondly, embodiments of this application provide a lane line suspension detection device, the device comprising: a determining module; the determining module being configured to determine a detection endpoint; the determining module being further configured to determine that there is no suspension between a first lane line to be detected to which the detection endpoint belongs and a second lane line to which the target endpoint belongs when the target distance between the detection endpoint and a target endpoint in a target detection space region is less than or equal to a tolerance threshold, or the target distance is greater than or equal to a limit threshold, the target detection space region including multiple endpoints, the multiple endpoints including the detection endpoint, each endpoint being an endpoint of a segment of lane line to be detected; the determining module being further configured to determine that there is suspension between the first lane line to be detected and the second lane line to be detected when the target distance is greater than the tolerance threshold and less than the limit threshold.

[0012] Optionally, after determining the detection endpoint, the determining module is further used to determine the horizontal and vertical coordinates of the detection endpoint; determine multiple grids based on the first vertical grid boundary line, the second vertical grid boundary line, the first horizontal grid boundary line, and the second horizontal grid boundary line; and determine the multiple grids as the target detection area; wherein, the first vertical grid boundary line is the grid boundary line closest to the horizontal coordinate in the positive direction of the horizontal axis where the distance from the horizontal coordinate is greater than or equal to the limit threshold; the second vertical boundary line is the grid boundary line closest to the horizontal coordinate in the negative direction of the horizontal axis where the distance from the horizontal coordinate is greater than or equal to the limit threshold; the first horizontal boundary line is the grid boundary line closest to the vertical coordinate in the positive direction of the vertical axis where the distance from the vertical coordinate is greater than or equal to the limit threshold; and the second horizontal boundary line is the grid boundary line closest to the vertical coordinate in the negative direction of the vertical axis where the distance from the vertical coordinate is greater than or equal to the limit threshold; and the target endpoint is one endpoint in the storage area indicated by the grid index corresponding to the multiple grids.

[0013] Optionally, after determining the detection endpoint, the determining module is further configured to determine the area containing the circle with the detection endpoint as the center and the limit threshold as the radius as the first detection area; and to determine the multiple grids containing the first detection space as the target detection area; the target endpoint is one of the endpoints in the storage area indicated by the grid index corresponding to the multiple grids.

[0014] Optionally, before determining the detection endpoints, the lane line suspension detection device provided in this application embodiment further includes: a division module, a construction module, and a storage module; the division module is used to divide the area to be detected into multiple grids of a preset size; the construction module is used to construct a grid index based on the multiple grids; and the storage module is used to store the endpoints in each grid in the storage area indicated by the index corresponding to each grid.

[0015] Optionally, the storage module is further configured to, for a first endpoint located on the boundary line of the grid, store the first endpoint in the storage area indicated by the index corresponding to at least one grid in which the first endpoint is located, based on a preset rule; and for a second endpoint located within the grid, store the second endpoint in the storage area indicated by the index corresponding to the grid in which the second endpoint is located.

[0016] Optionally, before dividing the area to be detected into multiple grids of a preset size, the determining module is also used to determine multiple lane lines to be detected; based on the lane lines to be detected, the area to be detected is determined, the area to be detected including all endpoints of each lane line to be detected.

[0017] Optionally, after determining the detection endpoint, the determining module is further used to determine the horizontal and vertical coordinates of the detection endpoint; and to determine the target detection area based on the first vertical boundary line, the second vertical boundary line, the first horizontal boundary line, and the second horizontal boundary line; wherein, the horizontal coordinate of the first vertical boundary line is the sum of the horizontal coordinate and the limit threshold, the horizontal coordinate of the second vertical boundary line is the difference between the horizontal coordinate and the limit threshold, the vertical coordinate of the first horizontal boundary line is the sum of the vertical coordinate and the limit threshold, and the vertical coordinate of the second horizontal boundary line is the difference between the vertical coordinate and the limit threshold; the horizontal coordinate of the target endpoint is greater than or equal to the horizontal coordinate of the second vertical boundary line and less than or equal to the horizontal coordinate of the first vertical boundary line, and the vertical coordinate of the target endpoint is greater than or equal to the vertical coordinate of the second horizontal boundary line and less than or equal to the vertical coordinate of the first horizontal boundary line.

[0018] Thirdly, embodiments of this application provide an electronic device, including: a processor, the processor being configured to execute a computer program stored in a memory, wherein the computer program, when executed by the processor, implements the steps of any of the methods provided in the first aspect.

[0019] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the methods provided in the first aspect.

[0020] In the technical solution provided in this application embodiment, a detection endpoint is determined. If the target distance between the detection endpoint and a target endpoint in the target detection space area is less than or equal to a tolerance threshold, or if the target distance is greater than or equal to a limit threshold, it is determined that there is no suspension between the first lane line to be detected to which the detection endpoint belongs and the second lane line to which the target endpoint belongs. The target detection space area includes multiple endpoints, each including the detection endpoint, and each endpoint is an endpoint of a lane line to be detected. If the target distance is greater than the tolerance threshold and less than the limit threshold, it is determined that there is suspension between the first lane line to be detected and the second lane line to be detected. By judging whether the distance between all endpoints in the target detection area and the detection endpoint is greater than the tolerance threshold and less than the limit threshold, it is determined whether the lane line where the detection endpoint is located is suspended from the lane line where each endpoint in the target detection area is located. Therefore, by using the relationship between the distance between endpoints and the tolerance and limit thresholds, it is determined whether the lane line is suspended, which has high accuracy and low false alarm rate. Furthermore, compared to directly judging the relationship between lines, judging the relationship between points is simpler and has higher detection efficiency. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0022] 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, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A schematic flowchart of a lane line detection method provided in an embodiment of this application;

[0024] Figure 2 A schematic flowchart illustrating another lane line detection method provided in an embodiment of this application;

[0025] Figure 3 This is a schematic diagram illustrating the determination of a target detection area provided in an embodiment of this application;

[0026] Figure 4 A schematic diagram illustrating yet another lane line detection method provided in an embodiment of this application;

[0027] Figure 5 This is a schematic diagram illustrating another method for determining the target detection area provided in an embodiment of this application;

[0028] Figure 6A schematic flowchart illustrating another lane line detection method provided in this application embodiment;

[0029] Figure 7 A schematic flowchart illustrating another lane line detection method provided in this application embodiment;

[0030] Figure 8 A schematic flowchart illustrating another lane line detection method provided in this application embodiment;

[0031] Figure 9 A schematic flowchart illustrating another lane line detection method provided in this application embodiment;

[0032] Figure 10 This is a schematic diagram illustrating another method for determining a target detection area, provided in an embodiment of this application.

[0033] Figure 11 A schematic flowchart illustrating another lane line detection method provided in this application embodiment;

[0034] Figure 12 A structural block diagram of a lane line detection device provided in an embodiment of this application;

[0035] Figure 13 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0036] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0037] Numerous specific details are set forth in the following description to provide a thorough understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments in this application are within the scope of protection of this application.

[0038] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0039] The following is an explanation of some of the terms or concepts used in the claims and description of this invention.

[0040] Lane lines: Lane boundary lines on a road, including solid white lines, dashed white lines, solid yellow lines, etc.

[0041] Lane line suspension: There is no connection at the end point between the boundaries of two interconnected lanes.

[0042] Tolerance threshold: If the distance between two points is less than or equal to the tolerance threshold, it proves that the two points intersect.

[0043] Limit threshold: If the distance between two points is greater than the tolerance but less than the limit threshold, it proves that the two points are suspended.

[0044] The technical solution of this application will be explained in detail below through several specific embodiments.

[0045] The execution subject of the lane line suspension detection method provided in this application embodiment can be the aforementioned electronic device, or it can be a functional module and / or functional entity in the electronic device that can implement the channel mapping method. The specific implementation subject can be determined according to actual usage requirements, and this application embodiment does not limit it.

[0046] The lane line suspension detection method provided in this application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] like Figure 1 As shown in the figure, this application provides a lane line suspension detection method, which may include the following steps 101 to 103.

[0048] 101. Determine the detection endpoint.

[0049] It is understandable that the detection endpoint is the first or last endpoint of a lane line.

[0050] 102. If the target distance between the detection endpoint and the target endpoint in the target detection space area is less than or equal to the tolerance threshold, or the target distance is greater than or equal to the limit threshold, it is determined that there is no suspension between the first lane line to which the detection endpoint belongs and the second lane line to which the target endpoint belongs.

[0051] The target detection area includes multiple endpoints, each of which is a detection endpoint, and each endpoint is an endpoint of a lane line to be detected.

[0052] 103. If the target distance is greater than the tolerance threshold but less than the limit threshold, it is determined that there is a suspension between the first lane line to be detected and the second lane line to be detected.

[0053] It is understandable that the endpoints of each lane line are not independent; each lane line's endpoint will connect with itself or other lane lines. If a lane line is too long or too short, a lane line will be suspended, requiring correction.

[0054] It can be understood that the target endpoint is any endpoint among all endpoints in the target detection space area. The distance between each endpoint in the target detection space area and the detection endpoint is calculated. If the distance between any endpoint in the target detection space area and the detection endpoint is greater than or equal to the limit threshold or less than the tolerance threshold, it is determined that the lane line where the endpoint is located is not suspended from the lane line where the detection endpoint is located. If the distance between any endpoint in the target detection space area and the detection endpoint is greater than or equal to the tolerance threshold and less than or equal to the limit threshold, it is determined that the lane line where the endpoint is located is suspended from the lane line where the detection endpoint is located.

[0055] It can be understood that the formula for calculating the distance between any two endpoints, endpoint 1 and endpoint 2, is: Where (x1, y1) are the coordinates of endpoint 1, and (x2, y2) are the coordinates of endpoint 2.

[0056] It can be understood that if the distance between any endpoint in the target detection area and the detection endpoint is greater than or equal to the limit threshold, then the lane lines where the two endpoints are located are determined to be independent and have no connection relationship; if the distance between any endpoint in the target detection area and the detection endpoint is greater than or equal to the limit threshold, then the lane lines where the two endpoints are located are determined to be not independent and have a connection relationship.

[0057] It is understood that the tolerance threshold is greater than the limit threshold. Both the tolerance threshold and the limit threshold are preset values, for example, the tolerance threshold is 5 cm and the limit threshold is 1 cm. However, the specific tolerance threshold and the limit threshold are determined according to the actual situation, and this application embodiment does not limit them.

[0058] In this embodiment, a detection endpoint is determined. If the target distance between the detection endpoint and a target endpoint in the target detection area is less than or equal to a tolerance threshold, or if the target distance is greater than or equal to a limit threshold, it is determined that there is no suspension between the first lane line to be detected to which the detection endpoint belongs and the second lane line to which the target endpoint belongs. The target detection area includes multiple endpoints, each of which is a detection endpoint, and each endpoint is an endpoint of a lane line to be detected. If the target distance is greater than the tolerance threshold but less than the limit threshold, it is determined that there is suspension between the first lane line to be detected and the second lane line to be detected. By determining whether the distance between all endpoints in the target detection area and the detection endpoint is greater than the tolerance threshold and less than the limit threshold, it is determined whether the lane line where the detection endpoint is located is suspended from the lane line where each endpoint in the target detection area is located. Thus, by using the relationship between the distance between endpoints and the tolerance and limit thresholds, it is determined whether the lane line is suspended, resulting in high accuracy and a low false alarm rate. Furthermore, compared to directly determining the relationship between lines, determining the relationship between points is simpler and more efficient.

[0059] Optionally, combined Figure 1 ,like Figure 2 As shown, after step 101 above, the lane line suspension detection method provided in this application embodiment further includes steps 104 to 106 below.

[0060] 104. Determine the horizontal and vertical coordinates of the detection endpoints.

[0061] 105. Based on the first vertical grid boundary line, the second vertical grid boundary line, the first horizontal grid boundary line, and the second horizontal grid boundary line, determine multiple grids.

[0062] Specifically, the first vertical grid boundary line is the grid boundary line closest to the horizontal axis coordinate among those whose distance from the horizontal axis coordinate is greater than or equal to the limit threshold in the positive direction of the horizontal axis; the second vertical boundary line is the grid boundary line closest to the horizontal axis coordinate among those whose distance from the horizontal axis coordinate is greater than or equal to the limit threshold in the negative direction of the horizontal axis; the first horizontal boundary line is the grid boundary line closest to the vertical axis coordinate among those whose distance from the vertical axis coordinate is greater than or equal to the limit threshold in the positive direction of the vertical axis; and the second horizontal boundary line is the grid boundary line closest to the vertical axis coordinate among those whose distance from the vertical axis coordinate is greater than or equal to the limit threshold in the negative direction of the vertical axis.

[0063] It is understandable that the area containing all lane lines to be tested is divided into multiple grids on an average basis, and a grid index is established for the endpoints of all lane lines to be tested. The endpoint of any lane line to be tested can be found in the corresponding storage area based on the grid index.

[0064] It is understandable that, after determining the x-axis and y-axis coordinates of the detection endpoint, the value obtained by adding the upper limit error to the x-axis coordinate of the detection endpoint is used as the x-axis coordinate of the straight line (i.e., a straight line whose x-axis coordinate is the x-axis coordinate of the detection endpoint plus the upper limit error and is perpendicular to the x-axis). Among all grid boundary lines whose x-axis coordinate is greater than or equal to the x-axis coordinate of this straight line, the grid boundary line closest to this straight line is determined as the first vertical grid boundary line. Similarly, the value obtained by subtracting the upper limit error from the x-axis coordinate of the detection endpoint is used as the x-axis coordinate of the straight line (i.e., a straight line whose x-axis coordinate is the x-axis coordinate of the detection endpoint minus the upper limit error and is perpendicular to the x-axis). Among all grid boundary lines whose x-axis coordinate is less than or equal to the x-axis coordinate of this straight line, the grid boundary line closest to this straight line is determined as the first vertical grid boundary line. The first horizontal grid boundary line is defined as follows: the vertical coordinate of the detection endpoint plus the upper limit difference is used as the vertical coordinate of the line (i.e., a line whose vertical coordinate is the vertical coordinate of the detection endpoint plus the upper limit difference and is perpendicular to the vertical axis). Among all grid boundary lines whose vertical coordinate is greater than or equal to the vertical coordinate of the line, the grid boundary line closest to the line is defined as the first horizontal grid boundary line. The second horizontal grid boundary line is defined as follows: the vertical coordinate of the detection endpoint minus the upper limit difference is used as the vertical coordinate of the line (i.e., a line whose vertical coordinate is the vertical coordinate of the detection endpoint minus the upper limit difference and is perpendicular to the vertical axis). Among all grid boundary lines whose vertical coordinate is less than or equal to the vertical coordinate of the line, the grid boundary line closest to the line is defined as the second horizontal grid boundary line.

[0065] For example, such as Figure 3 As shown, the dashed box labeled 10 is determined based on the detection points and the limit. The line labeled 11 is the first vertical grid boundary line, the line labeled 12 is the second vertical grid boundary line, the line labeled 13 is the first horizontal grid boundary line, and the line labeled 14 is the second horizontal grid boundary line. The multiple grids determined by the first vertical grid boundary line, the second vertical grid boundary line, the first horizontal grid boundary line, and the second horizontal grid boundary line are the 9 grids included in the shaded area labeled 15.

[0066] 106. Identify multiple grids as target areas to be detected.

[0067] The target endpoint is one of the endpoints in the storage area indicated by the grid index corresponding to multiple grids.

[0068] It is understandable that by filtering out multiple grids based on the limit and the coordinates of the detection endpoints, these grids are identified as the target detection area. In this way, by narrowing down the target detection area, most endpoints that are not in the target detection area can be filtered out, thus reducing a lot of computation.

[0069] In this embodiment, the horizontal and vertical coordinates of the detection endpoint are determined; multiple grids are determined based on the first vertical grid boundary line, the second vertical grid boundary line, the first horizontal grid boundary line, and the second horizontal grid boundary line; these multiple grids are identified as the target detection area; wherein, the first vertical grid boundary line is the closest grid boundary line to the horizontal coordinate in the positive horizontal direction where the distance from the horizontal coordinate is greater than or equal to the limit threshold; the second vertical boundary line is the closest grid boundary line to the horizontal coordinate in the negative horizontal direction where the distance from the horizontal coordinate is greater than or equal to the limit threshold; the first horizontal boundary line is the closest grid boundary line to the vertical coordinate in the positive vertical direction where the distance from the vertical coordinate is greater than or equal to the limit threshold; the second horizontal boundary line is the closest grid boundary line to the vertical coordinate in the negative vertical direction where the distance from the vertical coordinate is greater than or equal to the limit threshold; and the target endpoint is one endpoint in the storage area indicated by the grid index corresponding to the multiple grids. Thus, the target detection area determined by the limit, the coordinates of the detection endpoint, and the grid index is smaller, and filtering out most endpoints not in the target detection area can greatly reduce the computational load and improve detection efficiency.

[0070] Optionally, combined Figure 1 ,like Figure 4 As shown, after step 101 above, the lane line suspension detection method provided in this application embodiment further includes the following steps 107 to 108.

[0071] 107. The area containing the circle with the detection endpoint as the center and the limit threshold as the radius is determined as the first detection area.

[0072] 108. Determine the multiple grids containing the first space to be detected as the target area to be detected.

[0073] The target endpoint is one of the endpoints in the storage area indicated by the grid index corresponding to multiple grids.

[0074] For example, such as Figure 5 As shown, the first area to be detected is defined by a circle with the detection endpoint as the center and the limit threshold as the radius. The multiple grids in which the first area to be detected is the four grids included in the shaded part of the label 17. The shaded area of ​​the label 17 is defined as the target area to be detected.

[0075] In this embodiment, the area containing a circle with the detection endpoint as its center and a limit threshold as its radius is defined as the first detection area. Multiple grids containing the first detection area are defined as the target detection area. The target endpoint is one of the endpoints in the storage area indicated by the grid index corresponding to the multiple grids. By first determining the first detection area using the detection endpoint and the limit threshold, and then determining the target detection area based on the first detection area, the detection range is narrowed, thereby reducing the number of endpoints requiring distance calculation and improving detection efficiency.

[0076] Optionally, combined Figure 1 ,like Figure 6 As shown, prior to step 101 above, the lane line suspension detection method provided in this application embodiment further includes steps 109 to 111 below.

[0077] 109. Divide the area to be detected into multiple grids of a preset size.

[0078] It is understood that the area to be detected is divided into multiple grids of a preset size, with each grid having the same size. When there are many endpoints in the area to be detected, the size of the grid can be appropriately reduced, and when there are few endpoints in the area to be detected, the size of the grid can be appropriately increased. However, the specific size is not limited in the embodiments of this application.

[0079] For example, when there are many endpoints in the area to be detected, the area to be detected is divided into 64×64 grids; when there are few endpoints in the area to be detected, the area to be detected is divided into 16×16 grids.

[0080] 110. Construct a grid index based on multiple grids.

[0081] 111. Store the endpoints in each grid in the storage area indicated by the index corresponding to each grid.

[0082] It is understandable that once the grid index is constructed, the endpoints stored in the storage area indicated by each grid can be determined based on the grid index.

[0083] In this embodiment, the area to be detected is divided into multiple grids of a preset size. Based on these grids, a grid index is constructed, and the endpoints in each grid are stored in the storage area indicated by the index corresponding to each grid. By constructing a grid index in the area to be detected, the area to be detected can be narrowed down based on the constructed grid index and the detection endpoints, thereby improving detection efficiency.

[0084] Optionally, combined Figure 6 ,like Figure 7 As shown, step 111 above is specifically implemented through steps 111a and 111b below.

[0085] 111a. For a first endpoint located on the boundary line of a grid, based on a preset rule, the first endpoint is stored in the storage area indicated by the index of at least one grid where the first endpoint is located.

[0086] It is understood that, for the first endpoint on the grid boundary line, depending on different needs, the first endpoint can be stored in the storage area indicated by the index corresponding to all grids where the grid boundary line is located. Alternatively, based on preset rules (such as the lower left rule, i.e., for points located on the vertical axis boundary line, they are stored in the storage area indicated by the index corresponding to the left grid, and for points located on the horizontal axis boundary line, they are stored in the storage area indicated by the index corresponding to the lower grid), the first endpoint can be stored in the storage area indicated by the index corresponding to a certain grid. Or, the first endpoint can be stored in the storage area indicated by the index corresponding to any one or more grids among all grids where the grid boundary line is located. Specifically, this application embodiment does not limit the specific implementation.

[0087] 111b. For a second endpoint that is within a grid, store the second endpoint in the storage area indicated by the index corresponding to the grid in which the second endpoint is located.

[0088] In this embodiment, for a first endpoint located on the grid boundary line, based on a preset rule, the first endpoint is stored in the storage area indicated by the index corresponding to at least one grid in which the first endpoint is located. For a second endpoint located within the grid, the second endpoint is stored in the storage area indicated by the index corresponding to the grid in which the second endpoint is located. This ensures that endpoints on the grid boundary line are not overlooked during index construction, thus guaranteeing data integrity.

[0089] Optionally, combined Figure 6 ,like Figure 8 As shown, prior to step 109 above, the lane line suspension detection method provided in this application embodiment further includes steps 112 to 113 below.

[0090] 112. Several lane lines to be inspected have been identified.

[0091] 113. Determine the area to be detected based on the lane lines to be detected.

[0092] The area to be detected includes all endpoints of each lane line to be detected.

[0093] It is understandable that the area to be detected includes the endpoints of all lane lines to be detected.

[0094] For example, the area enclosed by connecting all endpoints of the lane lines to be detected that are at the boundary can be used as the detection area. To increase the detection area, the boundary points can be expanded outward. That is, for all endpoints at the boundary, the x-coordinates of positive x-coordinates are added with a preset value, the x-coordinates of negative x-coordinates are subtracted with a preset value, the y-coordinates of positive y-coordinates are added with a preset value, the y-coordinates of negative y-coordinates are subtracted with a preset value, and the x-coordinates of 0 and y-coordinates remain unchanged. The area enclosed by connecting the modified endpoints is then used as the detection area. Specifically, the detection area can also be determined in other ways, which are not limited in this embodiment.

[0095] In this embodiment, multiple lane lines to be detected are determined. Based on these lane lines, a detection area is defined, which includes all endpoints of each lane line. Determining the detection area using multiple lane lines facilitates the construction of a grid index, laying the foundation for lane line detection.

[0096] Optionally, combined Figure 1 ,like Figure 9 As shown, after step 101 above, the lane line suspension detection method provided in this application embodiment further includes steps 114 to 115 below.

[0097] 114. Determine the horizontal and vertical coordinates of the detection endpoints.

[0098] 115. Determine the target detection area based on the first longitudinal boundary line, the second longitudinal boundary line, the first transverse boundary line, and the second transverse boundary line.

[0099] Wherein, the x-coordinate of the first vertical boundary line is the sum of the x-axis coordinate and the limit threshold; the x-coordinate of the second vertical boundary line is the difference between the x-axis coordinate and the limit threshold; the y-coordinate of the first horizontal boundary line is the sum of the y-axis coordinate and the limit threshold; and the y-coordinate of the second horizontal boundary line is the difference between the y-axis coordinate and the limit threshold. The x-coordinate of the target endpoint is greater than or equal to the x-coordinate of the second vertical boundary line and less than or equal to the x-coordinate of the first vertical boundary line; and the y-coordinate of the target endpoint is greater than or equal to the y-coordinate of the second horizontal boundary line and less than or equal to the y-coordinate of the first horizontal boundary line.

[0100] It is understandable that by using detection endpoints and tolerance thresholds, the target detection area for the detection endpoints can be narrowed down, reducing the amount of computation and improving detection efficiency.

[0101] For example, such as Figure 10As shown, the detection endpoint is 18, line 19 is the first vertical boundary line, line 20 is the second vertical boundary line, line 21 is the first horizontal boundary line, and line 22 is the second horizontal boundary line. The shaded area in the figure is the target area to be detected.

[0102] In this embodiment, the horizontal and vertical coordinates of the detection endpoints are determined. Based on the first vertical boundary line, the second vertical boundary line, the first horizontal boundary line, and the second horizontal boundary line, the target detection area is determined. The horizontal coordinate of the first vertical boundary line is the sum of the horizontal coordinate and a limit threshold; the horizontal coordinate of the second vertical boundary line is the difference between the horizontal coordinate and the limit threshold; the vertical coordinate of the first horizontal boundary line is the sum of the vertical coordinate and the limit threshold; and the vertical coordinate of the second horizontal boundary line is the difference between the vertical coordinate and the limit threshold. The horizontal coordinate of the target endpoint is greater than or equal to the horizontal coordinate of the second vertical boundary line and less than or equal to the horizontal coordinate of the first vertical boundary line. The vertical coordinate of the target endpoint is greater than or equal to the vertical coordinate of the second horizontal boundary line and less than or equal to the vertical coordinate of the first horizontal boundary line. By determining the target detection range using the detection endpoints and the limit threshold, the detection range is narrowed, the number of endpoints requiring distance calculation is reduced, and thus detection efficiency is improved.

[0103] For example, such as Figure 11 The diagram shows a specific flow of an optional lane line detection method provided in an embodiment of this application, including steps 210 to 218.

[0104] 210. Determine the area to be tested.

[0105] 211. Extract the endpoints of all lane lines in the area to be detected.

[0106] 212. Build a grid index based on endpoints.

[0107] 213. Determine the detection endpoint.

[0108] 214. Based on the detection endpoints and limits, determine the target area to be detected.

[0109] 215. Based on the grid index, query and determine multiple endpoints of the target area to be detected.

[0110] 216. Determine whether the distance between the detection endpoint and the target endpoint is greater than the tolerance threshold.

[0111] The target endpoint is any endpoint in the target detection area. The distance between each endpoint of the target detection area and the detection endpoint must be determined to be greater than the tolerance.

[0112] 217. The lane line where the detection endpoint is located is suspended from the lane line where the target endpoint is located.

[0113] 218. There is no overlap between the lane line where the detection endpoint is located and the lane line where the target endpoint is located.

[0114] This application also provides a lane line detection device, such as... Figure 12 As shown, the device includes: a determination module 121; the determination module is used to determine the detection endpoint; the determination module 121 is further used to determine that there is no suspension between the first lane line to be detected to which the detection endpoint belongs and the second lane line to which the target endpoint belongs when the target distance between the detection endpoint and the target endpoint in the target detection space area is less than or equal to a tolerance threshold, or the target distance is greater than or equal to a limit threshold, the target detection space area includes multiple endpoints, the multiple endpoints include the detection endpoint, and each endpoint is an endpoint of a lane line to be detected; the determination module 121 is further used to determine that there is suspension between the first lane line to be detected and the second lane line to be detected when the target distance is greater than the tolerance threshold and less than the limit threshold.

[0115] Optionally, after determining the detection endpoint, the determining module 121 is further used to determine the horizontal and vertical coordinates of the detection endpoint; determine multiple grids based on the first vertical grid boundary line, the second vertical grid boundary line, the first horizontal grid boundary line, and the second horizontal grid boundary line; and determine the multiple grids as the target detection area; wherein, the first vertical grid boundary line is the grid boundary line closest to the horizontal coordinate in the positive direction of the horizontal axis where the distance from the horizontal coordinate is greater than or equal to the limit threshold; the second vertical boundary line is the grid boundary line closest to the horizontal coordinate in the negative direction of the horizontal axis where the distance from the horizontal coordinate is greater than or equal to the limit threshold; the first horizontal boundary line is the grid boundary line closest to the vertical coordinate in the positive direction of the vertical axis where the distance from the vertical coordinate is greater than or equal to the limit threshold; and the second horizontal boundary line is the grid boundary line closest to the vertical coordinate in the negative direction of the vertical axis where the distance from the vertical coordinate is greater than or equal to the limit threshold; and the target endpoint is one endpoint in the storage area indicated by the grid index corresponding to the multiple grids.

[0116] Optionally, after determining the detection endpoint, the determining module 121 is further configured to determine the area containing the circle with the detection endpoint as the center and the limit threshold as the radius as the first detection area; and to determine the multiple grids containing the first detection space as the target detection area; the target endpoint is one of the endpoints in the storage area indicated by the grid index corresponding to the multiple grids.

[0117] Optionally, before determining the detection endpoints, the lane line suspension detection device provided in this application embodiment further includes: a division module 122, a construction module 123, and a storage module 124; the division module 122 is used to divide the area to be detected into multiple grids of a preset size; the construction module 123 is used to construct a grid index based on the multiple grids; and the storage module 124 is used to store the endpoints in each grid in the storage area indicated by the index corresponding to each grid.

[0118] Optionally, the storage module 124 is further configured to, for a first endpoint located on the boundary line of the grid, store the first endpoint in the storage area indicated by the index corresponding to at least one grid in which the first endpoint is located, based on a preset rule; and for a second endpoint located within the grid, store the second endpoint in the storage area indicated by the index corresponding to the grid in which the second endpoint is located.

[0119] Optionally, before dividing the area to be detected into multiple grids of a preset size, the determining module 121 is also used to determine multiple lane lines to be detected; based on the lane lines to be detected, the area to be detected is determined, the area to be detected including all endpoints of each lane line to be detected.

[0120] Optionally, after determining the detection endpoint, the determining module 121 is further used to determine the horizontal and vertical coordinates of the detection endpoint; and to determine the target detection area based on the first vertical boundary line, the second vertical boundary line, the first horizontal boundary line, and the second horizontal boundary line; wherein, the horizontal coordinate of the first vertical boundary line is the sum of the horizontal coordinate and the limit threshold, the horizontal coordinate of the second vertical boundary line is the difference between the horizontal coordinate and the limit threshold, the vertical coordinate of the first horizontal boundary line is the sum of the vertical coordinate and the limit threshold, and the vertical coordinate of the second horizontal boundary line is the difference between the vertical coordinate and the limit threshold; the horizontal coordinate of the target endpoint is greater than or equal to the horizontal coordinate of the second vertical boundary line and less than or equal to the horizontal coordinate of the first vertical boundary line, and the vertical coordinate of the target endpoint is greater than or equal to the vertical coordinate of the second horizontal boundary line and less than or equal to the vertical coordinate of the first horizontal boundary line.

[0121] It should be noted that: such as Figure 7 As shown, the modules that must be included in the lane line detection device 200 provided in this application embodiment are indicated by solid lines, such as the determining module 121; the modules that may or may not be included in the lane line detection device 200 are indicated by dashed lines, such as the dividing module 122, the building module 123 and the storage module 124.

[0122] The lane line detection device provided in this application embodiment can be used to perform the steps of the above method embodiment. Its implementation principle and technical effect are similar, and will not be repeated here.

[0123] It should be noted that the lane line detection device mentioned above can be the electronic device in the above method embodiment of this application, or it can be a functional module and / or functional entity in the electronic device that can realize the function of the device embodiment. This application embodiment does not limit it.

[0124] The beneficial effects of the various implementation methods in this embodiment can be found in the beneficial effects of the corresponding implementation methods in the above-mentioned lane line detection method embodiments. To avoid repetition, they will not be repeated here.

[0125] This application also provides an electronic device, such as... Figure 13 As shown, the electronic device may include: a processor 1301, a memory 1302, and a program or instructions stored in the memory 1302 and executable on the processor 1301. When the program or instructions are executed by the processor 1301, they can implement the various processes of the lane line detection method provided in the above method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0126] This application provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the lane line detection method provided in the above-described method embodiments and achieve the same technical effect. To avoid repetition, further details are omitted here.

[0127] This application also provides a computer program product, which includes a computer program or instructions. When the computer program product is run on a processor, the processor executes the computer program or instructions to implement the various processes of the lane line detection method provided in the above method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0128] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above lane line detection method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0129] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, servers, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units through some interfaces, and may be electrical, mechanical, or other forms.

[0131] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0132] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0133] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0134] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A lane line hanging detection method, characterized by, The method includes: Determine the detection endpoint; If the target distance between the detection endpoint and the target endpoint in the target detection space area is less than or equal to the tolerance threshold, or the target distance is greater than or equal to the limit threshold, it is determined that there is no suspension between the first lane line to be detected to which the detection endpoint belongs and the second lane line to which the target endpoint belongs. The target detection space area includes multiple endpoints, and the multiple endpoints include the detection endpoint. Each endpoint is an endpoint of a lane line to be detected. If the target distance is greater than the tolerance threshold and less than the limit threshold, it is determined that there is a suspension between the first lane line to be detected and the second lane line to be detected. Among them, lane line suspension refers to the situation where the endpoints of two interconnected lane boundaries are not connected.

2. The method according to claim 1, characterized in that, After determining the detection endpoint, the method further includes: Determine the horizontal and vertical coordinates of the detection endpoint; Based on the first vertical grid boundary line, the second vertical grid boundary line, the first horizontal grid boundary line, and the second horizontal grid boundary line, multiple grids are determined; The multiple grids are defined as the target detection area; Wherein, the first vertical grid boundary line is the grid boundary line closest to the horizontal axis coordinate among those whose distance from the horizontal axis coordinate is greater than or equal to the limit threshold in the positive direction of the horizontal axis; the second vertical grid boundary line is the grid boundary line closest to the horizontal axis coordinate among those whose distance from the horizontal axis coordinate is greater than or equal to the limit threshold in the negative direction of the horizontal axis; the first horizontal grid boundary line is the grid boundary line closest to the vertical axis coordinate among those whose distance from the vertical axis coordinate is greater than or equal to the limit threshold in the positive direction of the vertical axis; the second horizontal grid boundary line is the grid boundary line closest to the vertical axis coordinate among those whose distance from the vertical axis coordinate is greater than or equal to the limit threshold in the negative direction of the vertical axis. The target endpoint is one of the endpoints in the storage area indicated by the grid index corresponding to the plurality of grids.

3. The method according to claim 1, characterized in that, After determining the detection endpoint, the method further includes: The area containing the circle with the detection endpoint as the center and the limit threshold as the radius is determined as the first detection area; The multiple grids containing the first area to be detected are defined as the target areas to be detected. The target endpoint is one of the endpoints in the storage area indicated by the grid index corresponding to the plurality of grids.

4. The method according to claim 2 or 3, characterized in that, Before determining the detection endpoint, the method further includes: The area to be detected is divided into multiple grids of a preset size; Based on the multiple grids, construct a grid index; The endpoints in each grid are stored in the storage area indicated by the index corresponding to each grid.

5. The method according to claim 4, characterized in that, The step of storing the endpoints in each grid in the storage area indicated by the index corresponding to each grid includes: For the first endpoint located on the boundary line of the grid, based on a preset rule, the first endpoint is stored in the storage area indicated by the index corresponding to at least one grid in which the first endpoint is located; For a second endpoint that is within a grid, the second endpoint is stored in the storage area indicated by the index corresponding to the grid in which the second endpoint is located.

6. The method according to claim 4, characterized in that, Before dividing the area to be detected into multiple grids of a preset size, the method further includes: Multiple lane lines to be inspected were identified; Based on the lane lines to be detected, the area to be detected is determined, and the area to be detected includes all endpoints of each lane line to be detected.

7. The method according to claim 1, characterized in that, After determining the detection endpoint, the method further includes: Determine the horizontal and vertical coordinates of the detection endpoint; Based on the first longitudinal boundary line, the second longitudinal boundary line, the first transverse boundary line, and the second transverse boundary line, determine the target area to be detected; Wherein, the abscissa of the first vertical boundary line is the sum of the horizontal axis coordinate and the limit threshold, the abscissa of the second vertical boundary line is the difference between the horizontal axis coordinate and the limit threshold, the ordinate of the first horizontal boundary line is the sum of the vertical axis coordinate and the limit threshold, and the ordinate of the second horizontal boundary line is the difference between the vertical axis coordinate and the limit threshold. The x-coordinate of the target endpoint is greater than or equal to the x-coordinate of the second longitudinal boundary line and less than or equal to the x-coordinate of the first longitudinal boundary line. The y-coordinate of the target endpoint is greater than or equal to the y-coordinate of the second transverse boundary line and less than or equal to the y-coordinate of the first transverse boundary line.

8. A lane line suspension detection device, characterized in that, The device includes: a determining module; The determining module is used to determine the detection endpoint; The determining module is further configured to determine, when the target distance between the detection endpoint and the target endpoint in the target detection space region is less than or equal to a tolerance threshold, or when the target distance is greater than or equal to a limit threshold, that there is no suspension between the first lane line to which the detection endpoint belongs and the second lane line to which the target endpoint belongs, wherein the target detection space region includes multiple endpoints, the multiple endpoints include the detection endpoint, and each endpoint is an endpoint of a lane line to be detected; The determining module is further configured to determine, when the target distance is greater than the tolerance threshold and less than the limit threshold, that there is a suspension between the first lane line to be detected and the second lane line to be detected; Among them, lane line suspension refers to the situation where the endpoints of two interconnected lane boundaries are not connected.

9. An electronic device, characterized in that, include: A memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the lane line suspension detection method according to any one of claims 1-7 when the computer program is invoked.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the lane line suspension detection method according to any one of claims 1-7.

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