A same-lane vehicle judgment method and device, electronic equipment and storage medium

Abstract

The application discloses a same-lane vehicle judgment method and device, electronic equipment and a storage medium; the main vehicle position information, the main vehicle head direction, the main vehicle expected driving direction and the target vehicle networking information of a target vehicle to be judged of the main vehicle can be acquired, the target vehicle networking information comprising to-be-judged position information and to-be-judged head direction; the main vehicle center point position is acquired according to the main vehicle position information, and the to-be-judged center point position is acquired according to the to-be-judged position information; the target head included angle is acquired according to the to-be-judged head direction and the main vehicle head direction, the target head included angle is smaller than the head included angle threshold value, and the target to-be-judged distance is acquired according to the to-be-judged center point position, the main vehicle center point position and the main vehicle expected driving direction; a preset lane width is acquired, and whether the target vehicle to be judged and the main vehicle are in the same lane is determined according to the lane width and the target to-be-judged distance. The application can judge the lane of the vehicle according to the information provided by the vehicle, and reduces the difficulty of vehicle lane judgment.

Description

Technical Field

[0001] This invention relates to the field of vehicle networking technology, specifically to a method, device, electronic device, and storage medium for determining vehicles in the same lane. Background Technology

[0002] With the development of vehicle-to-everything (V2X) technology, applications of scene recognition, anomaly warning, and task collaboration based on cellular V2X are becoming increasingly widespread. Among these applications, scene recognition typically requires lane determination, i.e., determining whether two vehicles are in the same lane.

[0003] In existing technologies, vehicle lane determination is typically performed by acquiring roadside information transmitted by roadside units installed on the road. The problem with this technology is that vehicle lane determination relies on roadside information transmitted by the roadside units. In the absence of roadside information, lane determination cannot be performed solely based on information provided by the vehicle, which hinders efforts to reduce the difficulty of lane determination. Summary of the Invention

[0004] This invention provides a method, device, electronic device, and storage medium for determining vehicles in the same lane. It can determine vehicle lanes based on information provided by the vehicle when roadside information is lacking, which helps to reduce the difficulty of determining vehicle lanes.

[0005] This invention provides a method for determining vehicles in the same lane, including:

[0006] Obtain the location information of the main vehicle, the direction of the main vehicle's front, and the expected driving direction of the main vehicle;

[0007] Obtain the target vehicle network information corresponding to the target vehicle to be judged, wherein the target vehicle network information includes the location information to be judged and the direction of the vehicle's front to be judged;

[0008] The position of the center point of the main vehicle corresponding to the main vehicle is obtained according to the main vehicle position information, and the position of the center point of the target vehicle to be judged is obtained according to the position information to be judged.

[0009] Calculate the included angle of the target vehicle's front end based on the direction of the vehicle to be determined and the direction of the main vehicle's front end;

[0010] When the target vehicle front angle is less than the preset vehicle front angle threshold, the target distance to be judged is obtained based on the position of the center point to be judged, the position of the main vehicle center point, and the desired driving direction of the main vehicle. The target distance to be judged is the distance between the position of the center point to be judged and the target straight line. The target straight line is a straight line that passes through the position of the main vehicle center point and is along the desired driving direction of the main vehicle.

[0011] Obtain the preset lane width, and determine whether the target vehicle to be judged and the main vehicle are in the same lane based on the lane width and the target distance to be judged.

[0012] Accordingly, embodiments of the present invention provide a vehicle detection device for vehicles in the same lane, comprising:

[0013] The main vehicle data acquisition module is used to acquire the main vehicle's location information, the main vehicle's heading direction, and the main vehicle's desired driving direction.

[0014] The data acquisition module is used to acquire the target vehicle network information corresponding to the target vehicle to be judged, wherein the target vehicle network information includes the location information to be judged and the direction of the vehicle's front to be judged;

[0015] The center point determination module is used to obtain the center point position of the main vehicle corresponding to the main vehicle based on the main vehicle position information, and to obtain the center point position of the target vehicle to be judged based on the position information to be judged.

[0016] Angle calculation module, used to calculate the angle between the target vehicle's front end and the front end of the main vehicle based on the direction of the vehicle's front end to be determined and the direction of the main vehicle's front end;

[0017] The distance acquisition module is used to acquire the target distance to be judged based on the position of the center point to be judged, the position of the center point of the main vehicle, and the desired driving direction of the main vehicle when the target vehicle front angle is less than a preset vehicle front angle threshold. The target distance to be judged is the distance between the position of the center point to be judged and the target straight line, and the target straight line is a straight line that passes through the center point of the main vehicle and is along the desired driving direction of the main vehicle.

[0018] The lane determination module is used to obtain a preset lane width and determine whether the target vehicle to be determined and the main vehicle are in the same lane based on the lane width and the target distance to be determined.

[0019] In some optional embodiments, the target vehicle network information may further include the size information of the target vehicle to be determined;

[0020] The center point determination module is used to obtain the main vehicle size information corresponding to the main vehicle, and to obtain the center point position of the main vehicle based on the main vehicle size information and the main vehicle position information;

[0021] The position of the center point to be judged is obtained based on the target vehicle size information and the position information to be judged.

[0022] In some optional embodiments, the distance acquisition module is used to establish a target coordinate system based on the position of the center point of the main vehicle and the desired driving direction of the main vehicle when the included angle of the target vehicle is less than a preset included angle threshold. The origin of the target coordinate system is the position of the center point of the main vehicle, and the positive direction of the horizontal axis of the target coordinate system is the same as the desired driving direction of the main vehicle.

[0023] The coordinates of the center point to be judged are obtained by performing coordinate transformation on the position of the center point to be judged according to the target coordinate system.

[0024] The absolute value of the ordinate in the coordinates of the center point to be judged is taken as the target distance to be judged.

[0025] In some optional embodiments, the target vehicle network information further includes the target vehicle size information and the target vehicle speed information. The same lane vehicle judgment device further includes a historical information update module for acquiring a historical information set, wherein the historical information set includes multiple historical information queues, one historical information queue corresponds to one historical vehicle to be judged, one historical information queue includes multiple historical vehicle network information corresponding to the historical vehicle to be judged, and one historical vehicle network information corresponds to a historical time.

[0026] Vehicle matching is performed based on the target vehicle network information and the historical vehicle network information to determine whether there is a target historical vehicle among the historical vehicles to be judged, wherein the target historical vehicle and the target vehicle to be judged are the same vehicle;

[0027] When the target historical vehicle exists, the historical information queue corresponding to the target historical vehicle is used as the historical information queue corresponding to the target vehicle to be judged, and the target vehicle network information corresponding to the target vehicle to be judged is stored.

[0028] When the target historical vehicle does not exist, a new historical information queue corresponding to the target vehicle to be judged is created and the target vehicle network information corresponding to the target vehicle to be judged is stored.

[0029] In some optional embodiments, the distance acquisition module is further configured to acquire a preset number of the latest historical vehicle network information entries in the historical information queue corresponding to the target vehicle to be judged when the target vehicle front angle is not less than the vehicle front angle threshold, and use them as the curve judgment vehicle network information.

[0030] The preset number of curve judgment angles are calculated based on the curve judgment vehicle network information, wherein a curve judgment angle is calculated based on a curve judgment vehicle network information and the historical vehicle front direction corresponding to the curve judgment vehicle network information.

[0031] When the cornering angle is not less than the vehicle front angle threshold, the target distance is obtained from the historical information queue corresponding to the target vehicle.

[0032] In some optional embodiments, the distance acquisition module is further configured to acquire target historical vehicle network information according to the historical information queue corresponding to the target vehicle to be judged when the curve judgment angle is not less than the vehicle front angle threshold, wherein the historical vehicle front angle corresponding to all historical vehicle network information after the target historical vehicle network information is not less than the vehicle front angle threshold, and the historical vehicle front angle corresponding to the previous historical vehicle network information of the target historical vehicle network information is less than the vehicle front angle threshold;

[0033] Obtain the target historical moment corresponding to the target historical vehicle network information, including the historical center point position of the main vehicle and the expected driving direction of the main vehicle in the target historical time.

[0034] Based on the target historical vehicle network information, obtain the location of the target historical center point corresponding to the target vehicle to be judged at the target historical moment;

[0035] The target distance to be judged is obtained based on the location of the historical center point to be judged, the location of the main vehicle's historical center point, and the expected driving direction of the main vehicle's history. The target distance to be judged is the distance between the location of the historical center point to be judged and the target historical straight line. The target historical straight line is a straight line that passes through the location of the main vehicle's historical center point and is along the expected driving direction of the main vehicle's history.

[0036] In some optional embodiments, the lane determination module is configured to determine that the target vehicle to be determined and the main vehicle are in the same lane when the distance to be determined is less than half the lane width;

[0037] When the distance to the target to be judged is not less than half the width of the lane, the target vehicle to be judged and the main vehicle are not in the same lane.

[0038] Accordingly, embodiments of the present invention also provide an electronic device, including a memory and a processor; the memory stores an application program, and the processor is used to run the application program in the memory to execute the steps in any of the methods for determining vehicles in the same lane provided by embodiments of the present invention.

[0039] Accordingly, embodiments of the present invention also provide a computer-readable storage medium storing a plurality of instructions adapted for loading by a processor to execute steps in any of the methods for determining vehicles in the same lane provided in embodiments of the present invention.

[0040] Furthermore, embodiments of the present invention also provide a computer program product, including a computer program or instructions, which, when executed by a processor, implement the steps in any of the same lane vehicle determination methods provided in embodiments of the present invention.

[0041] The solution of this invention can obtain the main vehicle's location information, the main vehicle's heading direction, and the main vehicle's desired driving direction; obtain the target vehicle network information corresponding to the target vehicle to be judged, wherein the target vehicle network information includes the location information to be judged and the heading direction to be judged; obtain the main vehicle's center point position corresponding to the main vehicle based on the main vehicle's location information, and obtain the target vehicle's center point position corresponding to the target vehicle to be judged based on the location information to be judged; calculate the target vehicle's heading angle based on the heading direction to be judged and the main vehicle's heading direction; when the target vehicle's heading angle is less than a preset heading angle threshold, obtain the target distance to be judged based on the center point position to be judged, the main vehicle's center point position, and the main vehicle's desired driving direction, wherein the target distance to be judged is the distance between the center point position to be judged and the target straight line, and the target straight line is a straight line passing through the main vehicle's center point position and along the main vehicle's desired driving direction; obtain a preset lane width, and determine whether the target vehicle to be judged and the main vehicle are in the same lane based on the lane width and the target distance to be judged.

[0042] In this embodiment of the invention, the target distance to the target vehicle can be calculated based on the target vehicle network information obtained from the target vehicle to be judged, the main vehicle position information obtained from the main vehicle, the main vehicle's heading direction, and the main vehicle's desired driving direction. This, combined with a preset lane width, determines whether the target vehicle to be judged and the main vehicle are in the same lane. Vehicle lane determination for the target vehicle can be achieved without obtaining roadside information sent by the roadside unit, enabling lane determination based on information provided by the vehicle even in the absence of roadside information, thus reducing the difficulty of vehicle lane determination. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of a scenario for the method for determining vehicles in the same lane provided in an embodiment of the present invention;

[0045] Figure 2 This is a flowchart of the method for determining vehicles in the same lane provided in an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the desired driving direction of the main vehicle provided in an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the target vehicle front angle provided in an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of the target coordinate system provided in an embodiment of the present invention;

[0049] Figure 6 This is a schematic diagram of the vehicle detection device in the same lane provided in an embodiment of the present invention;

[0050] Figure 7 This is another structural schematic diagram of the same lane vehicle judgment device provided in an embodiment of the present invention;

[0051] Figure 8 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention 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 skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] This invention provides a method, apparatus, electronic device, and computer-readable storage medium for determining vehicles in the same lane. Specifically, this invention provides a method for determining vehicles in the same lane suitable for a vehicle determination apparatus that can be integrated into an electronic device.

[0054] The electronic device can be a terminal or other device, including but not limited to mobile terminals and fixed terminals. For example, mobile terminals include but are not limited to smartphones, smartwatches, tablets, laptops, smart vehicles, etc., while fixed terminals include but are not limited to desktop computers, smart TVs, etc.

[0055] The electronic device can also be a server or other similar device. The server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms, but it is not limited to these.

[0056] The method for determining vehicles in the same lane according to this invention can be implemented by a server, or by a terminal and a server together.

[0057] The following example illustrates the method for determining vehicles in the same lane using a combination of a terminal and a server.

[0058] like Figure 1 As shown, the same lane vehicle judgment system provided in this embodiment of the invention includes a terminal 10 and a server 20, etc.; the terminal 10 and the server 20 are connected through a network, such as through a wired or wireless network, etc., wherein the terminal 10 can exist as a terminal for users to send customer data to be analyzed to the server 20.

[0059] Terminal 10 can be a terminal with any data-related services deployed, used to send business reporting data to server 20.

[0060] Server 20 can be used to obtain business reporting data through a message queue, store the business reporting data in a preset cache, push temporary storage data to the message queue based on the business reporting data, and when a data read request corresponding to the business reporting data is received, read the temporary storage data from the message queue, perform statistical processing on the temporary storage data according to the target statistical processing service corresponding to the data read request to obtain target read data, and store the target read data in a preset business database.

[0061] The following sections provide detailed descriptions of each example. It should be noted that the order in which the embodiments are described is not intended to limit the preferred order of the embodiments.

[0062] This invention will be described from the perspective of a vehicle-in-the-lane detection device, which can be integrated into a server or terminal. It should be noted that, in one application scenario, this vehicle-in-the-lane detection device can also be integrated into the main vehicle, whereby the main vehicle performs lane determination on the target vehicle to determine whether it is in the same lane as itself.

[0063] like Figure 2 As shown, the specific process of the method for determining vehicles in the same lane in this embodiment can be as follows:

[0064] 201. Obtain the location information of the main vehicle, the direction of the main vehicle's front, and the desired driving direction of the main vehicle.

[0065] 202. Obtain the target vehicle network information corresponding to the target vehicle to be judged, wherein the target vehicle network information includes the location information to be judged and the direction of the vehicle's front to be judged.

[0066] In this embodiment, the primary vehicle can be any vehicle traveling on the road, while the target vehicle to be determined is any vehicle traveling on the road other than the primary vehicle. It should be noted that in this embodiment, the primary vehicle is the vehicle currently being driven by the user, and the target vehicle to be determined can be a vehicle far in front of or behind the primary vehicle. This embodiment uses the example of the target vehicle being a vehicle far in front of the primary vehicle for specific explanation. Furthermore, any vehicle can integrate the same-lane vehicle determination method provided in this embodiment, thereby enabling the determination of whether other vehicles are traveling in the same lane as itself. In this embodiment, both the target vehicle and the primary vehicle are equipped with an Onboard Unit (OBU), which enables communication between the vehicles.

[0067] The master vehicle location information may include the master vehicle's longitude, latitude, altitude, etc., the master vehicle's heading direction is the angle corresponding to the master vehicle's front end, and the master vehicle's desired driving direction is determined based on the master vehicle's heading direction and steering wheel angle. The target vehicle network information is the information corresponding to the target vehicle to be judged obtained through the vehicle network. The location information to be judged is the current location information of the target vehicle to be judged (which may also include longitude, latitude, altitude, etc.), and the heading direction to be judged is the target vehicle to be judged's desired driving direction at the current moment.

[0068] The methods for obtaining the expected driving direction are the same for both the main vehicle and the target vehicle to be judged. Therefore, this embodiment will take obtaining the expected driving direction of the main vehicle as an example for specific explanation. Figure 3 This is a schematic diagram of the desired driving direction of the main vehicle provided in an embodiment of the present invention, such as... Figure 3 As shown, in this embodiment, the direction of the bisector of the angle formed by the direction of the front of the main vehicle and the direction of the steering wheel of the main vehicle is taken as the desired driving direction of the main vehicle.

[0069] 203. Obtain the center point position of the main vehicle corresponding to the main vehicle based on the main vehicle position information, and obtain the center point position of the target vehicle to be judged based on the position information to be judged.

[0070] It should be noted that for any vehicle (the main vehicle or the target vehicle to be judged), the obtained position information may be the position information of the vehicle's center point, the position information of the vehicle's front, or the position information of other parts of other vehicles. However, in this embodiment, the position of the vehicle's center point is used in the calculation process for vehicle lane judgment. Therefore, the obtained position information can be converted into the center point position by combining the vehicle's size information.

[0071] Specifically, the target vehicle network information also includes the size information of the target vehicle to be judged; the step of obtaining the center point position of the main vehicle corresponding to the main vehicle based on the main vehicle position information, and obtaining the center point position of the target vehicle to be judged based on the position information to be judged, includes: obtaining the main vehicle size information corresponding to the main vehicle; obtaining the center point position of the main vehicle based on the main vehicle size information and the main vehicle position information; and obtaining the center point position to be judged based on the size information of the target vehicle to be judged and the position information to be judged. Wherein, the size information of the target vehicle to be judged includes the length, width, and height of the target vehicle to be judged, and the size information of the main vehicle includes the length, width, and height of the main vehicle.

[0072] 204. Calculate the angle between the target vehicle's front end and the direction of the main vehicle's front end based on the direction of the vehicle's front end to be determined and the direction of the main vehicle's front end.

[0073] 205. When the target vehicle front angle is less than a preset vehicle front angle threshold, the target distance to be judged is obtained based on the position of the center point to be judged, the position of the main vehicle center point, and the desired driving direction of the main vehicle. The target distance to be judged is the distance between the position of the center point to be judged and the target straight line. The target straight line is a straight line that passes through the position of the main vehicle center point and is along the desired driving direction of the main vehicle.

[0074] Figure 4 This is a schematic diagram of the target vehicle front angle provided in an embodiment of the present invention, such as... Figure 4 As shown, the angle formed by the direction of the vehicle to be judged and the direction of the main vehicle's front is taken as the target vehicle front angle. Simultaneously, in this embodiment, a vehicle front angle threshold is preset. Based on the relationship between the target vehicle front angle and the threshold, it can be determined whether the target vehicle and the main vehicle are in the straight lane.

[0075] The preset front angle threshold can be set and adjusted according to actual needs. For example, in some optional embodiments, the front angle threshold can be set to 10 degrees, which is not specifically limited here.

[0076] If the target vehicle's front angle is less than the preset front angle threshold at the current moment, it is assumed that the main vehicle and the target vehicle to be judged (i.e., the distant vehicle) are on the straight lane. At this time, the target distance to be judged is directly obtained based on the position of the center point to be judged, the position of the center point of the main vehicle, and the expected driving direction of the main vehicle.

[0077] In some optional embodiments, the step of obtaining the target distance to be judged based on the position of the center point to be judged, the position of the main vehicle center point, and the desired driving direction of the main vehicle when the target vehicle front angle is less than a preset vehicle front angle threshold includes: establishing a target coordinate system based on the position of the main vehicle center point and the desired driving direction of the main vehicle when the target vehicle front angle is less than the preset vehicle front angle threshold, wherein the origin of the target coordinate system is the position of the main vehicle center point, and the positive direction of the horizontal axis of the target coordinate system is the same as the desired driving direction of the main vehicle; performing coordinate transformation on the position of the center point to be judged based on the target coordinate system to obtain the coordinates of the center point to be judged; and using the absolute value of the vertical coordinate of the center point to be judged as the target distance to be judged.

[0078] Figure 5 This is a schematic diagram of the target coordinate system provided in an embodiment of the present invention. It should be noted that, as Figure 5 As shown, this embodiment uses the example where the direction of the vehicle's front and the desired driving direction are different. In some alternative embodiments, the direction of the vehicle's front and the desired driving direction may be the same, which is not specifically limited here. Because drivers usually expect the vehicle to travel along the lane direction and will turn the steering wheel according to the direction of the lane ahead, constructing a coordinate axis along the desired driving direction of the vehicle can better reflect the direction of the lane ahead, which is beneficial to improving the accuracy of the vehicle's lane judgment.

[0079] In this embodiment, the position of the center point corresponding to the target vehicle has already been obtained. Therefore, after coordinate transformation of the center point position, the corresponding target distance can be directly obtained based on its ordinate. In some optional embodiments, the target distance can also be determined by calculating within the target coordinate system after establishing the target coordinate system, based on the target position information and the target vehicle size information. For example, ... Figure 5 As shown in the target coordinate system, if the location information corresponding to the target vehicle to be judged is the latitude and longitude information of the left edge of the target vehicle, then the target distance can be obtained by subtracting half the width of the target vehicle from the absolute value of the vertical coordinate corresponding to the location information. Therefore, combining the calculation with the target coordinate system helps improve computational efficiency, thereby improving the efficiency of vehicle lane determination.

[0080] It should be noted that, in this embodiment, as Figure 5 As shown, the positive direction of the vertical axis of the target coordinate system is to the left of the desired driving direction, but this is not a specific limitation. The coordinates of the center point to be judged include the x-coordinate and y-coordinate corresponding to the center point of the vehicle to be judged, and the absolute value of the y-coordinate corresponding to the center point of the vehicle to be judged is used as the distance to be judged.

[0081] Furthermore, the vehicle network information acquired at various times (which may come from the same vehicle or different vehicles) is distinguished according to the source vehicle, so as to determine whether the new vehicle network information received later comes from the same vehicle. It can also call the historical information of a certain vehicle for further judgment or to perform other operations (such as judging whether the vehicle has entered a curve based on continuous historical information, maintaining information of other vehicles, or assisting driving), thereby improving the accuracy of vehicle lane judgment.

[0082] In some optional embodiments, the target vehicle network information may further include the vehicle number corresponding to the target vehicle to be judged, and the vehicle number can be matched with historical vehicles to be judged in the historical information set.

[0083] In this embodiment, the target vehicle network information further includes the target vehicle size information and the target vehicle speed information. The method for determining vehicles in the same lane further includes the following steps: obtaining a historical information set, wherein the historical information set includes multiple historical information queues, one historical information queue corresponds to one historical vehicle to be determined, one historical information queue includes multiple historical vehicle network information corresponding to the historical vehicle to be determined, and one historical vehicle network information corresponds to a historical time; performing vehicle matching based on the target vehicle network information and the historical vehicle network information to determine whether there is a target historical vehicle among the historical vehicles to be determined, wherein the target historical vehicle and the target vehicle to be determined are the same vehicle; when the target historical vehicle exists, the historical information queue corresponding to the target historical vehicle is used as the historical information queue corresponding to the target vehicle to be determined and the target vehicle network information corresponding to the target vehicle to be determined is stored; when the target historical vehicle does not exist, a new historical information queue corresponding to the target vehicle to be determined is created and the target vehicle network information corresponding to the target vehicle to be determined is stored.

[0084] Specifically, a corresponding historical information queue is established for each historical vehicle to be judged. It should be noted that when establishing the historical information queue, a corresponding vehicle number can also be generated for that historical vehicle to be judged, so that the required data can be selected later based on the vehicle number. For the target vehicle to be judged at the current moment, after receiving its target vehicle network information, a temporary number can be assigned to the target vehicle to be judged. Then, the target vehicle network information is used to match the historical vehicle network information corresponding to each historical vehicle to be judged, determining whether the target vehicle to be judged is the same vehicle as a certain historical vehicle to be judged.

[0085] In one application scenario, the target vehicle network information received this time is compared with historical vehicle network information received in the past. For example, the comparison is made by combining location information (longitude, latitude, altitude), vehicle body information (vehicle length, width, height), driving status information (vehicle direction, speed), etc. Specifically, if the locations are close, the vehicle sizes are the same, and the position change is in the same direction as the vehicle's driving, then it is considered to be the same vehicle.

[0086] In another application scenario, the most recent historical vehicle network information is retrieved sequentially from the historical information set, and its location features are matched with the target vehicle network information. If the location distance to the current target vehicle network information is within a reasonable range (e.g., a preset range threshold), the direction of the change in location matches the driving direction and speed of the distant vehicle, and the vehicle body information is consistent, then it is considered that the vehicle corresponding to the current target vehicle network information is the same vehicle as this historical vehicle.

[0087] If it is determined that the current target vehicle to be judged is the same as a previous target vehicle to be judged, i.e., the target historical vehicle is obtained, the temporary number corresponding to the target vehicle to be judged is modified to the vehicle number corresponding to the target historical vehicle, and the historical information queue corresponding to the target historical vehicle is used as the historical information queue corresponding to the target vehicle to be judged, and the target vehicle network information corresponding to the target vehicle to be judged is stored in the historical information queue. Conversely, if it is determined that the current target vehicle to be judged is not the same as any previous target vehicle to be judged, it is identified as a new vehicle, added to the vehicle list, a new historical information queue corresponding to the target vehicle to be judged is created, and the target vehicle network information corresponding to the target vehicle to be judged is stored. Furthermore, when new vehicle network information of the target vehicle to be judged is received subsequently, it can be stored in the corresponding historical information queue.

[0088] Furthermore, when the target vehicle's frontal angle is not less than the threshold value, it is assumed that the main vehicle and the target vehicle to be judged may not be in the straight lane. In this case, the historical IoT information stored in the historical information queue corresponding to the target vehicle to be judged is used to determine whether the target vehicle to be judged has entered the turning lane. If the target vehicle to be judged enters the curve, it is determined whether it was in the same lane as the main vehicle when it first entered the curve. If the target vehicle to be judged was in the same lane as the main vehicle when it entered the curve, it is assumed that both were in the same lane during the curve (including the current moment). If both the target vehicle to be judged and the main vehicle are in the straight lane, the distance between the current center point of the vehicle to be judged and the target straight line is used to determine whether they are in the same lane.

[0089] Specifically, the method further includes the following steps: when the target vehicle front angle is not less than the vehicle front angle threshold, obtain the latest preset number of historical vehicle network information entries in the historical information queue corresponding to the target vehicle to be judged and use them as the curve judgment vehicle network information; calculate the preset number of curve judgment angles based on the curve judgment vehicle network information, wherein a curve judgment angle is calculated based on a curve judgment vehicle network information and the historical main vehicle front direction corresponding to the curve judgment vehicle network information; when the curve judgment angles are not less than the vehicle front angle threshold, obtain the target judgment distance based on the historical information queue corresponding to the target vehicle to be judged.

[0090] The preset number is a number of consecutive curve judgment angles set in advance for curve judgment. It can be set and adjusted according to actual needs. In this embodiment, the preset number is 3 as an example, but it is not a specific limitation.

[0091] It should be noted that historical vehicle network information includes historical location information of the vehicle to be judged at a historical moment, historical direction of the vehicle to be judged, and other information.

[0092] If the curve judgment angle (i.e. the angle between the head direction of the main vehicle and the historical head direction of the target vehicle) calculated from the historical information queue corresponding to the target vehicle is not less than the preset head angle threshold, the target vehicle is considered to have entered the curve. At this time, the target distance is calculated based on the information of the first time the target vehicle entered the curve, and then the same lane judgment is made based on the information of the first time the target vehicle entered the curve.

[0093] Specifically, when the curve judgment angle is not less than the vehicle front angle threshold, obtaining the target distance to be judged according to the historical information queue corresponding to the target vehicle to be judged includes: when the curve judgment angle is not less than the vehicle front angle threshold, obtaining target historical vehicle network information according to the historical information queue corresponding to the target vehicle to be judged, wherein the historical vehicle front angle corresponding to all historical vehicle network information after the target historical vehicle network information is not less than the vehicle front angle threshold, and the historical vehicle front angle corresponding to the previous historical vehicle network information of the target historical vehicle network information is less than the vehicle front angle threshold; obtaining the target The historical vehicle network information corresponds to the historical center point position of the main vehicle at the target historical moment and the expected driving direction of the main vehicle in the historical time. Based on the target historical vehicle network information, the target historical center point position of the target vehicle to be judged at the target historical moment is obtained. Based on the target historical center point position, the historical center point position of the main vehicle, and the expected driving direction of the main vehicle in the historical time, the target target distance to be judged is obtained, wherein the target target distance to be judged is the distance between the target historical center point position and the target historical straight line, and the target historical straight line is a straight line passing through the historical center point position of the main vehicle and along the expected driving direction of the main vehicle in the historical time.

[0094] Thus, when the target vehicle's front angle is less than a preset front angle threshold, the calculated target distance is the distance between the center point of the target vehicle at the current moment and the target straight line at the current moment. When the target vehicle's front angle is not less than the preset front angle threshold, the calculated target distance is the distance between the center point of the target vehicle when it first enters the curve and the target historical straight line at that historical moment.

[0095] 206. Obtain the preset lane width, and determine whether the target vehicle to be judged and the main vehicle are in the same lane based on the lane width and the target distance to be judged.

[0096] In some optional embodiments, when the distance to be determined of the target is less than the product of the lane width and a preset width ratio, the target vehicle and the main vehicle are in the same lane; otherwise, they are in different lanes. The preset width ratio is a pre-set ratio used to limit the width, and its value is greater than 0 and less than 1. It can be set and adjusted according to actual needs and is not specifically limited here.

[0097] In this embodiment, the preset width ratio is set to 0.5. Therefore, obtaining the preset lane width and determining whether the target vehicle to be judged and the main vehicle are in the same lane based on the lane width and the target distance to be judged includes: when the target distance to be judged is less than half of the lane width, the target vehicle to be judged and the main vehicle are in the same lane; when the target distance to be judged is not less than half of the lane width, the target vehicle to be judged and the main vehicle are not in the same lane.

[0098] This solution addresses the problem of determining whether a distant vehicle (the target vehicle) and the current vehicle (the primary vehicle) are in the same lane when roadside information is lacking. By establishing the target coordinate system, the expected driving direction of the primary vehicle is used as the positive direction of the horizontal axis, making the established coordinate system more consistent with the driver's driving expectations and improving the accuracy of lane determination.

[0099] As can be seen from the above, the embodiments of the present invention can obtain the main vehicle's position information, the main vehicle's heading direction, and the main vehicle's desired driving direction; obtain the target vehicle network information corresponding to the target vehicle to be judged, wherein the target vehicle network information includes the position information to be judged and the heading direction to be judged; obtain the main vehicle's center point position corresponding to the main vehicle based on the main vehicle's position information, and obtain the target vehicle's center point position corresponding to the target vehicle to be judged based on the position information to be judged; calculate the target vehicle's heading angle based on the heading direction to be judged and the main vehicle's heading direction; when the target vehicle's heading angle is less than a preset vehicle's heading angle threshold, obtain the target distance to be judged based on the center point position to be judged, the main vehicle's center point position, and the main vehicle's desired driving direction, wherein the target distance to be judged is the distance between the center point position to be judged and the target straight line, and the target straight line is a straight line passing through the main vehicle's center point position and along the main vehicle's desired driving direction; obtain a preset lane width, and determine whether the target vehicle to be judged and the main vehicle are in the same lane based on the lane width and the target distance to be judged.

[0100] In this embodiment of the invention, the target distance to the target vehicle can be calculated based on the target vehicle network information obtained from the target vehicle to be judged, the main vehicle position information obtained from the main vehicle, the main vehicle's heading direction, and the main vehicle's desired driving direction. This, combined with a preset lane width, determines whether the target vehicle to be judged and the main vehicle are in the same lane. Vehicle lane determination for the target vehicle can be achieved without obtaining roadside information sent by the roadside unit, enabling lane determination based on information provided by the vehicle even in the absence of roadside information, thus reducing the difficulty of vehicle lane determination.

[0101] To better implement the above methods, the present invention also provides a vehicle identification device for vehicles in the same lane.

[0102] refer to Figure 6 The device includes:

[0103] The main vehicle data acquisition module 601 is used to acquire the main vehicle's location information, the main vehicle's front direction, and the main vehicle's desired driving direction.

[0104] The data acquisition module 602 is used to acquire the target vehicle network information corresponding to the target vehicle to be judged, wherein the target vehicle network information includes the location information to be judged and the direction of the vehicle's front to be judged;

[0105] The center point determination module 603 is used to obtain the center point position of the main vehicle corresponding to the main vehicle based on the main vehicle position information, and to obtain the center point position of the target vehicle to be judged based on the position information to be judged.

[0106] Angle calculation module 604 is used to calculate the angle between the target vehicle head and the head direction of the main vehicle based on the head direction of the vehicle to be determined and the head direction of the main vehicle.

[0107] The distance acquisition module 605 is used to acquire the target distance to be judged based on the position of the center point to be judged, the position of the center point of the main vehicle, and the expected driving direction of the main vehicle when the target vehicle front angle is less than a preset vehicle front angle threshold. The target distance to be judged is the distance between the position of the center point to be judged and the target straight line, and the target straight line is a straight line that passes through the center point of the main vehicle and is along the expected driving direction of the main vehicle.

[0108] The lane determination module 606 is used to obtain a preset lane width and determine whether the target vehicle to be determined and the main vehicle are in the same lane based on the lane width and the target distance to be determined.

[0109] In some optional embodiments, the target vehicle network information may further include the size information of the target vehicle to be determined;

[0110] The center point determination module 603 is used to obtain the main vehicle size information corresponding to the main vehicle, and to obtain the center point position of the main vehicle based on the main vehicle size information and the main vehicle position information;

[0111] The position of the center point to be judged is obtained based on the target vehicle size information and the position information to be judged.

[0112] In some optional embodiments, the distance acquisition module 605 is used to establish a target coordinate system based on the position of the center point of the main vehicle and the desired driving direction of the main vehicle when the included angle of the target vehicle is less than a preset included angle threshold. The origin of the target coordinate system is the position of the center point of the main vehicle, and the positive direction of the horizontal axis of the target coordinate system is the same as the desired driving direction of the main vehicle.

[0113] The coordinates of the center point to be judged are obtained by performing coordinate transformation on the position of the center point to be judged according to the target coordinate system.

[0114] The absolute value of the ordinate in the coordinates of the center point to be judged is taken as the target distance to be judged.

[0115] In some optional embodiments, the target vehicle network information further includes the target vehicle size information and the target vehicle speed information, such as... Figure 7 As shown, the same lane vehicle judgment device provided in this embodiment of the invention further includes a historical information update module 607, used to obtain a historical information set, wherein the historical information set includes multiple historical information queues, one historical information queue corresponds to a historical vehicle to be judged, one historical information queue includes multiple historical vehicle network information corresponding to the historical vehicle to be judged, and one historical vehicle network information corresponds to a historical time.

[0116] Vehicle matching is performed based on the target vehicle network information and the historical vehicle network information to determine whether there is a target historical vehicle among the historical vehicles to be judged, wherein the target historical vehicle and the target vehicle to be judged are the same vehicle;

[0117] When the target historical vehicle exists, the historical information queue corresponding to the target historical vehicle is used as the historical information queue corresponding to the target vehicle to be judged, and the target vehicle network information corresponding to the target vehicle to be judged is stored.

[0118] When the target historical vehicle does not exist, a new historical information queue corresponding to the target vehicle to be judged is created and the target vehicle network information corresponding to the target vehicle to be judged is stored.

[0119] In some optional embodiments, the distance acquisition module 605 is further configured to acquire a preset number of historical vehicle network information entries newly stored in the historical information queue corresponding to the target vehicle to be judged when the target vehicle front angle is not less than the vehicle front angle threshold, and use them as the curve judgment vehicle network information.

[0120] The preset number of curve judgment angles are calculated based on the curve judgment vehicle network information, wherein a curve judgment angle is calculated based on a curve judgment vehicle network information and the historical vehicle front direction corresponding to the curve judgment vehicle network information.

[0121] When the cornering angle is not less than the vehicle front angle threshold, the target distance is obtained from the historical information queue corresponding to the target vehicle.

[0122] In some optional embodiments, the distance acquisition module 605 is further configured to acquire target historical vehicle network information according to the historical information queue corresponding to the target vehicle to be judged when the curve judgment angle is not less than the vehicle front angle threshold, wherein the historical vehicle front angle corresponding to all historical vehicle network information after the target historical vehicle network information is not less than the vehicle front angle threshold, and the historical vehicle front angle corresponding to the previous historical vehicle network information of the target historical vehicle network information is less than the vehicle front angle threshold;

[0123] Obtain the target historical moment corresponding to the target historical vehicle network information, including the historical center point position of the main vehicle and the expected driving direction of the main vehicle in the target historical time.

[0124] Based on the target historical vehicle network information, obtain the location of the target historical center point corresponding to the target vehicle to be judged at the target historical moment;

[0125] The target distance to be judged is obtained based on the location of the historical center point to be judged, the location of the main vehicle's historical center point, and the expected driving direction of the main vehicle's history. The target distance to be judged is the distance between the location of the historical center point to be judged and the target historical straight line. The target historical straight line is a straight line that passes through the location of the main vehicle's historical center point and is along the expected driving direction of the main vehicle's history.

[0126] In some optional embodiments, the lane determination module 606 is configured to determine that the target vehicle to be determined and the main vehicle are in the same lane when the distance to be determined is less than half the width of the lane.

[0127] When the distance to the target to be judged is not less than half the width of the lane, the target vehicle to be judged and the main vehicle are not in the same lane.

[0128] Specifically, in this embodiment, the specific functions of the same-lane vehicle judgment device and its modules can be referred to the corresponding description in the same-lane vehicle judgment method, and will not be repeated here.

[0129] It should be noted that the division of the modules in the same-lane vehicle judgment device is not unique and is not intended to be specific. In some optional embodiments, the same-lane vehicle judgment device may include a V2X message receiving module, a lane judgment module, and a remote vehicle matching module. The V2X message receiving module is used to receive V2X messages sent by a remote vehicle (i.e., the target vehicle to be judged). The remote vehicle's V2X message includes location information, vehicle size information, vehicle heading angle information, steering wheel angle information, etc. It should be noted that the V2X message receiving module can also be used to receive roadside information sent by roadside equipment. The remote vehicle matching module is used to continuously track the continuous movement of remote vehicles within a certain range of the current vehicle (i.e., the main vehicle) and determine whether the current vehicle and the remote vehicle are traveling in a straight lane or a turning lane. The lane judgment module is used to determine whether the current vehicle and the remote vehicle are in the same lane based on the V2X messages received by the current vehicle from the remote vehicle and the current vehicle's information, preparing for subsequent scene recognition or automatic control.

[0130] As can be seen from the above, the same-lane vehicle judgment device can obtain the main vehicle's position information, the main vehicle's heading direction, and the main vehicle's desired driving direction; obtain the target vehicle network information corresponding to the target vehicle to be judged, wherein the target vehicle network information includes the position information to be judged and the heading direction to be judged; obtain the main vehicle's center point position corresponding to the main vehicle based on the main vehicle's position information, and obtain the target vehicle's center point position corresponding to the target vehicle to be judged based on the position information to be judged; calculate the target vehicle's heading angle based on the heading direction to be judged and the main vehicle's heading direction; when the target vehicle's heading angle is less than a preset heading angle threshold, obtain the target distance to be judged based on the center point position to be judged, the main vehicle's center point position, and the main vehicle's desired driving direction, wherein the target distance to be judged is the distance between the center point position to be judged and the target straight line, and the target straight line is a straight line passing through the main vehicle's center point position and along the main vehicle's desired driving direction; obtain a preset lane width, and determine whether the target vehicle to be judged and the main vehicle are in the same lane based on the lane width and the target distance to be judged.

[0131] In this embodiment of the invention, the target distance to the target vehicle can be calculated based on the target vehicle network information obtained from the target vehicle to be judged, the main vehicle position information obtained from the main vehicle, the main vehicle's heading direction, and the main vehicle's desired driving direction. This, combined with a preset lane width, determines whether the target vehicle to be judged and the main vehicle are in the same lane. Vehicle lane determination for the target vehicle can be achieved without obtaining roadside information sent by the roadside unit, enabling lane determination based on information provided by the vehicle even in the absence of roadside information, thus reducing the difficulty of vehicle lane determination.

[0132] Furthermore, embodiments of the present invention also provide an electronic device, which may be a terminal or a server, etc. Figure 8 As shown, it illustrates a structural schematic diagram of the electronic device involved in an embodiment of the present invention, specifically:

[0133] The electronic device may include a radio frequency (RF) circuit 801, a memory 802 including one or more computer-readable storage media, an input unit 803, a display unit 804, a sensor 805, an audio circuit 806, a wireless Fidelity (WiFi) module 807, a processor 808 including one or more processing cores, and a power supply 809, etc. Those skilled in the art will understand that... Figure 8 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0134] in:

[0135] RF circuit 801 can be used for receiving and transmitting signals during information transmission or calls. Specifically, it receives downlink information from the base station and hands it over to one or more processors 808 for processing; additionally, it transmits uplink data to the base station. Typically, RF circuit 801 includes, but is not limited to, an antenna, at least one amplifier, a tuner, one or more oscillators, a Subscriber Identity Module (SIM) card, a transceiver, a coupler, a low-noise amplifier (LNA), a duplexer, etc. Furthermore, RF circuit 801 can also communicate wirelessly with networks and other devices. Wireless communication can use any communication standard or protocol, including but not limited to GSM, GPRS, CDMA, WCDMA, LTE, email, and SMS.

[0136] The memory 802 can be used to store software programs and modules. The processor 808 executes various functional applications and lane-following vehicle detection by running the software programs and modules stored in the memory 802. The memory 802 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created based on the use of the electronic device (such as audio data, phone book, etc.). In addition, the memory 802 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 802 may also include a memory controller to provide access to the memory 802 for the processor 808 and the input unit 803.

[0137] Input unit 803 can be used to receive input digital or character information, and to generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control. Specifically, in one embodiment, input unit 803 may include a touch-sensitive surface and other input devices. A touch-sensitive surface, also known as a touch display or touchpad, can collect user touch operations on or near it (e.g., user operations using fingers, styluses, or any suitable object or accessory on or near the touch-sensitive surface) and drive corresponding connection devices according to a pre-set program. Optionally, the touch-sensitive surface may include a touch detection device and a touch controller. The touch detection device detects the user's touch orientation and the signal generated by the touch operation, transmitting the signal to the touch controller; the touch controller receives touch information from the touch detection device, converts it into touch point coordinates, sends it to the processor 808, and can receive and execute commands from the processor 808. Furthermore, various types of touch-sensitive surfaces, such as resistive, capacitive, infrared, and surface acoustic wave, can be used. In addition to the touch-sensitive surface, input unit 803 may also include other input devices. Specifically, other input devices may include, but are not limited to, one or more of the following: physical keyboard, function keys (such as volume control buttons, power buttons, etc.), trackball, mouse, joystick, etc.

[0138] Display unit 804 can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of electronic devices. These graphical user interfaces can be composed of graphics, text, icons, video, and any combination thereof. Display unit 804 may include a display panel, optionally configured as a liquid crystal display (LCD), organic light-emitting diode (OLED), or similar form. Furthermore, a touch-sensitive surface may cover the display panel. When the touch-sensitive surface detects a touch operation on or near it, it transmits the information to processor 808 to determine the type of touch event. Subsequently, processor 808 provides corresponding visual output on the display panel according to the type of touch event. Although in Figure 8 In this context, the touch-sensitive surface and the display panel are two separate components for implementing input and output functions. However, in some embodiments, the touch-sensitive surface and the display panel can be integrated to achieve both input and output functions.

[0139] Electronic devices may also include at least one sensor 805, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor can adjust the brightness of the display panel according to the ambient light level, and the proximity sensor can turn off the display panel and / or backlight when the electronic device is moved to the ear. As a type of motion sensor, a gravity acceleration sensor can detect the magnitude of acceleration in various directions (generally three axes), and can detect the magnitude and direction of gravity when stationary. It can be used for applications that recognize the phone's posture (such as landscape / portrait switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometers, taps), etc. Other sensors that may be configured in electronic devices, such as gyroscopes, barometers, hygrometers, thermometers, and infrared sensors, will not be described in detail here.

[0140] Audio circuitry 806, a speaker, and a microphone provide an audio interface between the user and the electronic device. Audio circuitry 806 converts received audio data into electrical signals, transmits them to the speaker, and the speaker converts them into sound signals for output. Conversely, the microphone converts collected sound signals into electrical signals, which are then received by audio circuitry 806, converted back into audio data, and processed by processor 808. The processed data is then transmitted via RF circuitry 801 to, for example, another electronic device, or output to memory 802 for further processing. Audio circuitry 806 may also include an earphone jack to facilitate communication between peripheral headphones and the electronic device.

[0141] WiFi is a short-range wireless transmission technology. Electronic devices using the WiFi module 807 can help users send and receive emails, browse web pages, and access streaming media, providing users with wireless broadband internet access. Although Figure 8 WiFi module 807 is shown, but it is understood that it is not a necessary component of an electronic device and can be omitted as needed without changing the nature of the invention.

[0142] The processor 808 is the control center of the electronic device, connecting various parts of the phone via various interfaces and lines. It executes various functions and processes data by running or executing software programs and / or modules stored in the memory 802, and by calling data stored in the memory 802. Optionally, the processor 808 may include one or more processing cores; preferably, the processor 808 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 808.

[0143] The electronic device also includes a power supply 809 (such as a battery) that supplies power to various components. Preferably, the power supply can be logically connected to the processor 808 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 809 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0144] Although not shown, the electronic device may also include a camera, Bluetooth module, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 808 in the electronic device loads the executable files corresponding to the processes of one or more applications into the memory 802 according to the following instructions, and the processor 808 runs the applications stored in the memory 802 to realize various functions, as follows:

[0145] Obtain the location information of the main vehicle, the direction of the main vehicle's front, and the expected driving direction of the main vehicle;

[0146] Obtain the target vehicle network information corresponding to the target vehicle to be judged, wherein the target vehicle network information includes the location information to be judged and the direction of the vehicle's front to be judged;

[0147] The position of the center point of the main vehicle corresponding to the main vehicle is obtained according to the main vehicle position information, and the position of the center point of the target vehicle to be judged is obtained according to the position information to be judged.

[0148] Calculate the included angle of the target vehicle's front end based on the direction of the vehicle to be determined and the direction of the main vehicle's front end;

[0149] When the target vehicle front angle is less than the preset vehicle front angle threshold, the target distance to be judged is obtained based on the position of the center point to be judged, the position of the main vehicle center point, and the desired driving direction of the main vehicle. The target distance to be judged is the distance between the position of the center point to be judged and the target straight line. The target straight line is a straight line that passes through the position of the main vehicle center point and is along the desired driving direction of the main vehicle.

[0150] Obtain the preset lane width, and determine whether the target vehicle to be judged and the main vehicle are in the same lane based on the lane width and the target distance to be judged.

[0151] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0152] To this end, embodiments of the present invention provide a computer-readable storage medium storing a plurality of instructions that can be loaded by a processor to execute steps in any of the lane-following vehicle determination methods provided in the embodiments of the present invention. For example, the instructions can execute the following steps:

[0153] Obtain the location information of the main vehicle, the direction of the main vehicle's front, and the expected driving direction of the main vehicle;

[0154] Obtain the target vehicle network information corresponding to the target vehicle to be judged, wherein the target vehicle network information includes the location information to be judged and the direction of the vehicle's front to be judged;

[0155] The position of the center point of the main vehicle corresponding to the main vehicle is obtained according to the main vehicle position information, and the position of the center point of the target vehicle to be judged is obtained according to the position information to be judged.

[0156] Calculate the included angle of the target vehicle's front end based on the direction of the vehicle to be determined and the direction of the main vehicle's front end;

[0157] When the target vehicle front angle is less than the preset vehicle front angle threshold, the target distance to be judged is obtained based on the position of the center point to be judged, the position of the main vehicle center point, and the desired driving direction of the main vehicle. The target distance to be judged is the distance between the position of the center point to be judged and the target straight line. The target straight line is a straight line that passes through the position of the main vehicle center point and is along the desired driving direction of the main vehicle.

[0158] Obtain the preset lane width, and determine whether the target vehicle to be judged and the main vehicle are in the same lane based on the lane width and the target distance to be judged.

[0159] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0160] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0161] Since the instructions stored in the computer-readable storage medium can execute the steps in any of the same lane vehicle determination methods provided in the embodiments of the present invention, the beneficial effects that any of the same lane vehicle determination methods provided in the embodiments of the present invention can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0162] According to one aspect of this application, a computer program product or computer program is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the methods provided in the various optional implementations of the above embodiments.

[0163] The foregoing has provided a detailed description of the method, apparatus, electronic device, and storage medium for determining vehicles in the same lane provided by embodiments of 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 the 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 method for determining vehicles in the same lane, characterized in that, include: Obtain the location information of the main vehicle, the direction of the main vehicle's front, and the desired driving direction of the main vehicle; Obtain the target vehicle network information corresponding to the target vehicle to be judged, wherein the target vehicle network information includes the location information to be judged and the direction of the vehicle's front to be judged; The position of the center point of the main vehicle corresponding to the main vehicle is obtained according to the main vehicle position information, and the position of the center point of the target vehicle to be judged is obtained according to the position information to be judged. Calculate the included angle of the target vehicle's front end based on the direction of the vehicle to be determined and the direction of the main vehicle's front end; When the target vehicle front angle is less than the preset vehicle front angle threshold, the target distance to be judged is obtained based on the position of the center point to be judged, the position of the main vehicle center point, and the desired driving direction of the main vehicle. The target distance to be judged is the distance between the position of the center point to be judged and the target straight line. The target straight line is a straight line that passes through the position of the main vehicle center point and is along the desired driving direction of the main vehicle. Obtain the preset lane width, and determine whether the target vehicle to be judged and the main vehicle are in the same lane based on the lane width and the target distance to be judged; The method further includes: When the target vehicle front angle is not less than the vehicle front angle threshold, the latest preset number of historical vehicle network information entries in the historical information queue corresponding to the target vehicle to be judged are obtained and used as the vehicle network information for curve judgment. The preset number of curve judgment angles are calculated based on the curve judgment vehicle network information, wherein a curve judgment angle is calculated based on a curve judgment vehicle network information and the historical vehicle front direction corresponding to the curve judgment vehicle network information. When the cornering angle is not less than the vehicle front angle threshold, the target distance is obtained from the historical information queue corresponding to the target vehicle.

2. The method for determining vehicles in the same lane according to claim 1, characterized in that, The target vehicle network information also includes the size information of the target vehicle to be judged; The step of obtaining the center point position of the main vehicle corresponding to the main vehicle based on the main vehicle position information, and obtaining the center point position of the target vehicle to be judged based on the position information to be judged, includes: Obtain the main vehicle size information corresponding to the main vehicle, and obtain the center point position of the main vehicle based on the main vehicle size information and the main vehicle position information; The position of the center point to be judged is obtained based on the target vehicle size information and the position information to be judged.

3. The method for determining vehicles in the same lane according to claim 1, characterized in that, When the target vehicle front angle is less than a preset vehicle front angle threshold, the target distance to be determined is obtained based on the position of the center point to be determined, the position of the main vehicle center point, and the desired driving direction of the main vehicle, including: When the target vehicle front angle is less than a preset vehicle front angle threshold, a target coordinate system is established based on the position of the main vehicle center point and the desired driving direction of the main vehicle. The origin of the target coordinate system is the position of the main vehicle center point, and the positive direction of the horizontal axis of the target coordinate system is the same as the desired driving direction of the main vehicle. The coordinates of the center point to be judged are obtained by performing coordinate transformation on the position of the center point to be judged according to the target coordinate system. The absolute value of the ordinate in the coordinates of the center point to be judged is taken as the target distance to be judged.

4. The method for determining vehicles in the same lane according to claim 1, characterized in that, The target vehicle network information also includes the target vehicle size information and the target vehicle speed information, and the method further includes: Obtain a historical information set, wherein the historical information set includes multiple historical information queues, one historical information queue corresponds to a historical vehicle to be judged, one historical information queue includes multiple historical vehicle network information corresponding to the historical vehicle to be judged, and one historical vehicle network information corresponds to a historical moment; Vehicle matching is performed based on the target vehicle network information and the historical vehicle network information to determine whether there is a target historical vehicle among the historical vehicles to be judged, wherein the target historical vehicle and the target vehicle to be judged are the same vehicle; When the target historical vehicle exists, the historical information queue corresponding to the target historical vehicle is used as the historical information queue corresponding to the target vehicle to be judged, and the target vehicle network information corresponding to the target vehicle to be judged is stored. When the target historical vehicle does not exist, a new historical information queue corresponding to the target vehicle to be judged is created and the target vehicle network information corresponding to the target vehicle to be judged is stored.

5. The method for determining vehicles in the same lane according to claim 1, characterized in that, When the curve judgment angle is not less than the vehicle front angle threshold, the target judgment distance is obtained according to the historical information queue corresponding to the target vehicle to be judged, including: When the curve judgment angle is not less than the vehicle front angle threshold, the target historical vehicle network information is obtained according to the historical information queue corresponding to the target vehicle to be judged. The historical vehicle front angle corresponding to all historical vehicle network information after the target historical vehicle network information is not less than the vehicle front angle threshold, and the historical vehicle front angle corresponding to the previous historical vehicle network information of the target historical vehicle network information is less than the vehicle front angle threshold. Obtain the target historical moment corresponding to the target historical vehicle network information, including the historical center point position of the main vehicle and the expected driving direction of the main vehicle in the target historical time. Based on the target historical vehicle network information, obtain the location of the target historical center point corresponding to the target vehicle to be judged at the target historical moment; The target distance to be judged is obtained based on the location of the historical center point to be judged, the location of the main vehicle's historical center point, and the expected driving direction of the main vehicle's history. The target distance to be judged is the distance between the location of the historical center point to be judged and the target historical straight line. The target historical straight line is a straight line that passes through the location of the main vehicle's historical center point and is along the expected driving direction of the main vehicle's history.

6. The method for determining vehicles in the same lane according to any one of claims 1 to 5, characterized in that, The step of obtaining the preset lane width and determining whether the target vehicle to be judged and the main vehicle are in the same lane based on the lane width and the target distance to be judged includes: When the distance to the target to be determined is less than half the width of the lane, the target vehicle to be determined is in the same lane as the main vehicle; When the distance to the target to be judged is not less than half the width of the lane, the target vehicle to be judged and the main vehicle are not in the same lane.

7. A device for determining vehicles in the same lane, characterized in that, include: The main vehicle data acquisition module is used to acquire the main vehicle's location information, the main vehicle's heading direction, and the main vehicle's desired driving direction. The data acquisition module is used to acquire the target vehicle network information corresponding to the target vehicle to be judged, wherein the target vehicle network information includes the location information to be judged and the direction of the vehicle's front to be judged; The center point determination module is used to obtain the center point position of the main vehicle corresponding to the main vehicle based on the main vehicle position information, and to obtain the center point position of the target vehicle to be judged based on the position information to be judged. Angle calculation module, used to calculate the angle between the target vehicle's front end and the front end of the main vehicle based on the vehicle's front end direction to be determined and the main vehicle's front end direction; The distance acquisition module is used to acquire the target distance to be judged based on the position of the center point to be judged, the position of the center point of the main vehicle, and the desired driving direction of the main vehicle when the target vehicle front angle is less than a preset vehicle front angle threshold. The target distance to be judged is the distance between the position of the center point to be judged and the target straight line, and the target straight line is a straight line that passes through the center point of the main vehicle and is along the desired driving direction of the main vehicle. The lane determination module is used to obtain a preset lane width and determine whether the target vehicle to be determined and the main vehicle are in the same lane based on the lane width and the target distance to be determined. The distance acquisition module is further configured to acquire the latest preset number of historical vehicle network information entries in the historical information queue corresponding to the target vehicle to be judged when the target vehicle front angle is not less than the vehicle front angle threshold, and use them as the curve judgment vehicle network information. The preset number of curve judgment angles are calculated based on the curve judgment vehicle network information, wherein a curve judgment angle is calculated based on a curve judgment vehicle network information and the historical vehicle front direction corresponding to the curve judgment vehicle network information. When the cornering angle is not less than the vehicle front angle threshold, the target distance is obtained from the historical information queue corresponding to the target vehicle.

8. An electronic device, characterized in that, It includes a memory and a processor; the memory stores an application program, and the processor is used to run the application program in the memory to perform the steps in the same lane vehicle determination method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a plurality of instructions adapted for loading by a processor to perform the steps of the same-lane vehicle determination method according to any one of claims 1 to 6.

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