Lane departure detection method and device, electronic equipment and storage medium

Abstract

The embodiment of the application discloses a lane departure detection method and device, electronic equipment and storage medium. The lane departure detection method determines a target angle between a first direction and a second direction through first position information of a target positioning point of a target terminal at a first moment and second position information of a historical adsorption point at a second moment, and then determines a lane departure detection result of the target positioning point or a lane departure detection result of a vehicle corresponding to the target terminal according to an angle size relationship between the target angle and an angle threshold. Since the historical adsorption point can be quickly obtained from map data, it is not necessary to collect environmental information for lane departure detection, thereby reducing the influence of environmental factor changes and improving the accuracy of lane departure detection. The lane departure detection method can be widely applied in the technical fields of cloud technology, intelligent transportation, intelligent driving, maps and navigation.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, and in particular to a lane departure detection method, device, electronic device, and storage medium. Background Technology

[0002] With the development of science and technology, the application of intelligent transportation technologies such as autonomous driving, assisted driving, and intelligent navigation has become increasingly widespread. Lane departure detection is a crucial information detection method in intelligent transportation applications. In related technologies, lane departure detection typically relies on information acquisition devices to collect surrounding environmental information, and then uses this information to obtain the lane departure detection result. However, the collection of environmental information is easily affected by changes in current environmental factors, thus reducing the accuracy of lane departure detection. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0004] This application provides a lane departure detection method, apparatus, electronic device, and storage medium, which can improve the accuracy of lane departure detection.

[0005] On one hand, embodiments of this application provide a lane departure detection method, including:

[0006] Determine the first location information of the target terminal's target positioning point at the first moment;

[0007] Acquire map data, and determine the second location information of the historical adsorption points of the target terminal at a second time based on the map data, wherein the second time is earlier than the first time;

[0008] Based on the first location information and the second location information, the angular relationship between the target angle and the angle threshold is determined, wherein the target angle is the angle between the first direction and the second direction, the first direction is the direction from the historical adsorption point to the target positioning point, and the second direction is the direction after the target terminal's movement direction is rotated by a preset angle;

[0009] The lane departure detection result of the target positioning point is determined based on the relationship between the angles.

[0010] On the other hand, embodiments of this application also provide a lane departure detection method, including:

[0011] Determine the first location information of the target terminal's target positioning point at the first moment;

[0012] Acquire map data, and determine the second location information of the historical adsorption points of the target terminal at a second time based on the map data, wherein the second time is earlier than the first time;

[0013] Based on the first location information and the second location information, the angular relationship between the target angle and the angle threshold is determined, wherein the target angle is the angle between the first direction and the second direction, the first direction is the direction from the historical adsorption point to the target positioning point, and the second direction is the direction after the target terminal's movement direction is rotated by a preset angle;

[0014] The lane departure detection result of the vehicle where the target terminal is located is determined based on the relationship between the angles.

[0015] On the other hand, embodiments of this application also provide a lane departure detection device, including:

[0016] The first positioning point determination module is used to determine the first position information of the target terminal's target positioning point at the first moment.

[0017] The first adsorption point determination module is used to acquire map data and determine the second location information of the historical adsorption points of the target terminal at a second time based on the map data, wherein the second time is earlier than the first time.

[0018] The first comparison module is used to determine the angular relationship between the target angle and the angle threshold based on the first position information and the second position information, wherein the target angle is the angle between the first direction and the second direction, the first direction is the direction from the historical adsorption point to the target positioning point, and the second direction is the direction after rotating the movement direction of the target terminal by a preset angle;

[0019] The first detection module is used to determine the lane departure detection result of the target positioning point based on the angular relationship.

[0020] Furthermore, the aforementioned first detection module is specifically used for:

[0021] Based on the map data, determine the lane marking of the lane where the target location point is located on the target road;

[0022] The lane type of the lane where the target positioning point is located is determined based on the lane markings, and the lane departure detection result of the target positioning point is determined based on the relationship between the lane type and the angle size.

[0023] The lane types include edge lanes and non-edge lanes. Edge lanes are lanes located on the left and right sides of the target road, and non-edge lanes are other lanes in the target road besides the edge lanes.

[0024] Furthermore, the second direction is the direction after rotating the target terminal's movement direction counterclockwise by the preset angle, and the aforementioned first detection module is specifically used for:

[0025] When the lane type is the left edge lane of the target road, and the angle relationship is that the target angle is less than the preset angle, the lane deviation detection result of the target positioning point is determined to be that the target positioning point has a lane deviation trend;

[0026] Alternatively, when the lane type is the right edge lane of the target road, and the angle relationship is that the target angle is greater than the preset angle, the lane deviation detection result of the target positioning point is determined to be that the target positioning point has a lane deviation trend.

[0027] Furthermore, the aforementioned first comparison module is specifically used for:

[0028] The intersection angle between the first straight line and the second straight line is taken as the target angle. Based on the first position information and the second position information, the angle relationship between the intersection angle and the angle threshold is determined. The first straight line passes through the historical adsorption point and the target positioning point, the second straight line passes through the target positioning point, and the angle between the second straight line and the moving direction of the target terminal is the preset angle.

[0029] Alternatively, based on the first location information and the second location information, the dot product between the first vector and the second vector is calculated, and the angular relationship between the target angle and the angle threshold is determined based on the dot product. Here, the starting point of the first vector is the historical adsorption point, the ending point of the first vector is the target positioning point, the starting point of the second vector is the target positioning point, and the angle between the second vector and the moving direction of the target terminal is the preset angle.

[0030] Furthermore, the aforementioned first detection module is specifically used for:

[0031] Calculate the deviation distance between the target positioning point and the lane where the target positioning point is located based on the first location information;

[0032] Determine the distance relationship between the deviation distance and the first distance threshold;

[0033] The lane departure detection result of the target positioning point is determined based on the relationship between the angle magnitude and the distance magnitude.

[0034] Furthermore, the aforementioned first detection module is specifically used for:

[0035] Based on the first position information and the second position information, calculate the projection distance of the first vector onto the second vector;

[0036] The projected distance is used as the deviation distance between the target positioning point and the lane where the target positioning point is located;

[0037] Wherein, the starting point of the first vector is the historical adsorption point, the ending point of the first vector is the target positioning point, the starting point of the second vector is the target positioning point, and the angle between the second vector and the moving direction of the target terminal is the preset angle.

[0038] Furthermore, the aforementioned first adsorption point determination module is specifically used for:

[0039] A target time range is determined, and the second location information of the historical adsorption point of the target terminal at the second moment is obtained from the map data according to the target time range, wherein the second moment is a moment in the target time range, and the time difference between any moment in the target time range and the first moment is less than or equal to a time difference threshold.

[0040] Alternatively, a target distance range is determined, and the second location information of the historical adsorption points of the target terminal at the second time is obtained from the map data based on the target distance range, wherein the distance between any adsorption point in the target distance range and the target positioning point is less than or equal to the second distance threshold.

[0041] Furthermore, the aforementioned first positioning point determination module is specifically used for:

[0042] Determine the position measurement signal of the target terminal at the first moment;

[0043] Obtain the positioning function and preset positioning state parameters;

[0044] The location measurement signal and the location status parameters are substituted into the location function to calculate the first location information of the target terminal at the target location point at the first time.

[0045] Furthermore, the lane departure detection device also includes a correction module, which is specifically used for:

[0046] When the lane departure detection result indicates that the target positioning point has a lane departure trend, the measurement error of the first position information is calculated, the parameter correction amount of the positioning state parameter is calculated based on the measurement error, the positioning state parameter is corrected based on the parameter correction amount, the position measurement signal and the corrected positioning state parameter are substituted into the positioning function, and the corrected first position information is calculated.

[0047] Alternatively, when the lane departure detection result indicates that the target positioning point has a lane departure trend, the measurement error of the first position information is calculated, the parameter correction amount of the positioning state parameter is calculated based on the measurement error, the positioning function is expanded using a first-order Taylor expansion, and the positioning state parameter before correction and the parameter correction amount are substituted into the expanded positioning function to calculate the corrected first position information.

[0048] Furthermore, the aforementioned correction module is specifically used for:

[0049] Calculate the deviation distance between the target positioning point and the lane where the target positioning point is located based on the first location information, and use the deviation distance as the measurement error of the first location information;

[0050] Alternatively, a reference distance between the target positioning point and the target reference point can be calculated based on the first location information, and the reference distance can be used as the measurement error of the first location information. The target reference point is located on the center line of the lane where the target positioning point is located, and the distance between the historical adsorption point and the target positioning point is equal to the distance between the historical adsorption point and the target reference point.

[0051] On the other hand, embodiments of this application also provide a lane departure detection device, including:

[0052] The second positioning point determination module is used to determine the first position information of the target terminal's target positioning point at the first moment.

[0053] The second adsorption point determination module is used to acquire map data and determine the second location information of the historical adsorption points of the target terminal at a second time based on the map data, wherein the second time is earlier than the first time.

[0054] The second comparison module is used to determine the angular relationship between the target angle and the angle threshold based on the first position information and the second position information, wherein the target angle is the angle between the first direction and the second direction, the first direction is the direction from the historical adsorption point to the target positioning point, and the second direction is the direction after the target terminal's movement direction is rotated by a preset angle;

[0055] The second detection module is used to determine the lane departure detection result of the vehicle where the target terminal is located based on the angle relationship.

[0056] On the other hand, embodiments of this application also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the lane departure detection method described above.

[0057] On the other hand, embodiments of this application also provide a computer-readable storage medium storing a computer program that is executed by a processor to implement the lane departure detection method described above.

[0058] On the other hand, embodiments of this application also provide a computer program product, which includes a computer program stored in a computer-readable storage medium. A processor of a computer device reads the computer program from the computer-readable storage medium and executes the computer program, causing the computer device to perform the lane departure detection method described above.

[0059] The embodiments of this application include at least the following beneficial effects: By using the first position information of the target positioning point at a first moment and the second position information of the historical adsorption points at a second moment, the target angle between the first direction and the second direction is determined. Then, based on the relationship between the target angle and an angle threshold, the lane departure detection result of the target positioning point or the lane departure detection result of the vehicle corresponding to the target terminal is determined. That is, the historical adsorption points of the target terminal are introduced, and the positional relationship between the target positioning point and the historical adsorption points is used for lane departure detection. Since the historical adsorption points can be quickly obtained from map data, there is no need to collect environmental information for lane departure detection, thereby reducing the impact of changes in environmental factors and improving the accuracy of lane departure detection. Furthermore, since there is no need to collect environmental information, the applicability of lane departure detection can be expanded, and the cost of lane departure detection can be reduced. In addition, since the second direction is the direction after rotating the target terminal's movement direction by a preset angle, when the target positioning point or the vehicle corresponding to the target terminal deviates from the lane to the left or right, the target angle between the first direction and the second direction will differ, thereby determining the direction of lane departure of the target positioning point or the vehicle corresponding to the target terminal, improving the precision of lane departure detection.

[0060] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0061] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0062] Figure 1 A schematic diagram of an implementation environment provided for an embodiment of this application;

[0063] Figure 2 A schematic diagram illustrating another implementation environment provided for an embodiment of this application;

[0064] Figure 3 This is a schematic flowchart of a lane departure detection method provided in an embodiment of this application;

[0065] Figure 4 This is a schematic diagram showing the position of the target positioning point and the historical adsorption point when the second direction is the direction after counterclockwise rotation of the target terminal's movement direction, as provided in an embodiment of this application.

[0066] Figure 5 This is a schematic diagram illustrating another position of the target positioning point and the historical adsorption point when the second direction is the direction after counterclockwise rotation of the target terminal's movement direction, as provided in this embodiment of the application.

[0067] Figure 6 This is a schematic diagram showing the position of the target location point and the historical adsorption point when the target location point is located in the edge lane, as provided in an embodiment of this application.

[0068] Figure 7 This is a schematic diagram showing the position of the target positioning point and the historical adsorption point when the second direction is the direction after clockwise rotation of the target terminal's movement direction, as provided in an embodiment of this application.

[0069] Figure 8 This is a schematic diagram illustrating another position of the target positioning point and the historical adsorption point when the second direction is the direction after clockwise rotation of the target terminal's movement direction, as provided in the embodiments of this application.

[0070] Figure 9 This is a schematic diagram illustrating another location of the target positioning point and the historical adsorption point when the target positioning point is located in the edge lane, as provided in an embodiment of this application.

[0071] Figure 10 This is a schematic diagram illustrating the location mode switching provided in an embodiment of this application;

[0072] Figure 11 A schematic diagram of the architecture of a lane departure detection system for a lane departure detection method provided in an embodiment of this application;

[0073] Figure 12 This is a schematic diagram of the overall processing flow of the lane departure detection system provided in the embodiments of this application;

[0074] Figure 13 A detailed flowchart illustrating the outgoing path determination module provided in this application embodiment;

[0075] Figure 14 Another schematic flowchart of the lane departure detection method provided in the embodiments of this application;

[0076] Figure 15 This is a schematic diagram of the structure of the first lane departure detection device provided in the embodiments of this application;

[0077] Figure 16 This is a schematic diagram of the structure of the second lane departure detection device provided in the embodiments of this application;

[0078] Figure 17 This is a partial structural block diagram of a terminal provided in an embodiment of this application;

[0079] Figure 18 A partial structural block diagram of the server provided in an embodiment of this application. Detailed Implementation

[0080] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0081] To facilitate understanding of the technical solutions provided in the embodiments of this application, some key terms used in the embodiments of this application will be explained below:

[0082] HD (High Definition) maps, also known as high-precision maps, refer to map data that provides lane-level information. Primarily geared towards autonomous and assisted driving, they offer centimeter-level accuracy. HD map data can provide information such as road shape, road sign locations, lane centerline direction and location, and traffic light positions.

[0083] The snap point is the matching location of a specified point on the map. The matching method can be a vertical line connecting the location point to the road element (the center line of the lane in the HD map), and the intersection is the snap point.

[0084] Intelligent Traffic Systems (ITS), also known as Intelligent Transportation Systems, effectively integrate advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control, and vehicle manufacturing. This strengthens the connection between vehicles, roads, and users, thereby forming a comprehensive transportation system that ensures safety, improves efficiency, enhances the environment, and saves energy.

[0085] Intelligent Vehicle Infrastructure Cooperative Systems (IVICS) are a development direction of Intelligent Transportation Systems (ITS). IVICS utilizes advanced wireless communication and next-generation Internet technologies to implement comprehensive, real-time dynamic information exchange between vehicles and infrastructure. Based on the collection and fusion of dynamic traffic information across all times and spaces, it conducts active vehicle safety control and cooperative road management, fully realizing effective collaboration between people, vehicles, and roads. This ensures traffic safety, improves traffic efficiency, and ultimately forms a safe, efficient, and environmentally friendly road traffic system.

[0086] When positioning is performed while driving on the road, lane departure detection can be performed to improve positioning accuracy. Related technologies involve using onboard cameras and other devices to collect surrounding environmental information to determine the target terminal's position, comparing it with the positioning point's location, and then performing lane departure detection. Alternatively, lane departure detection can also be performed on the vehicle while it is in motion by collecting surrounding environmental information using onboard cameras and other devices.

[0087] However, the collection of environmental information is easily affected by changes in current environmental factors. For example, in low-light conditions, the images collected by the vehicle camera may contain errors. Alternatively, when collecting environmental information by lidar or infrared sensors, it is easily obstructed by obstacles, thereby reducing the accuracy of lane departure detection.

[0088] Based on this, embodiments of this application provide a lane departure detection method, apparatus, electronic device, and storage medium, which can improve the accuracy of lane departure detection. The lane departure detection method provided in this application can be applied to scenarios involving lane departure detection of positioning points and scenarios involving lane departure detection of vehicles.

[0089] Reference Figure 1 , Figure 1 This is a schematic diagram of an implementation environment provided in an embodiment of this application, wherein the implementation environment includes a first terminal 101 and a server 102, wherein the first terminal 101 and the server 102 are connected through a communication network.

[0090] The first terminal 101 can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, vehicle terminal, etc. For example, the first terminal 101 can determine the first location information of its target positioning point at the first moment, obtain map data from the server 102, determine the second location information of its historical adsorption point at the second moment based on the map data, determine the angular relationship between the target angle and the angle threshold based on the first and second location information, and determine the lane departure detection result of the target positioning point based on the angular relationship.

[0091] Alternatively, after the first terminal 102 determines the first location information of its target positioning point at the first moment, it sends the first location information to the server 102. The server 102 obtains map data, determines the second location information of the historical adsorption point of the first terminal 102 at the second moment based on the map data, determines the angle relationship between the target angle and the angle threshold based on the first location information and the second location information, and determines the lane departure detection result of the target positioning point based on the angle relationship.

[0092] Reference Figure 2 , Figure 2 This is a schematic diagram of another implementation environment provided by an embodiment of this application, wherein the implementation environment includes a second terminal 201 and a server 102, wherein the second terminal 201 and the server 102 are connected through a communication network.

[0093] The second terminal 201 can be an in-vehicle terminal. For example, the second terminal 201 can determine the first position information of its target positioning point at the first moment, obtain map data from the server 102, determine the second position information of its historical adsorption point at the second moment based on the map data, determine the angle relationship between the target angle and the angle threshold based on the first position information and the second position information, and determine the lane departure detection result of its own vehicle based on the angle relationship.

[0094] Server 102 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing 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, CDN (Content Delivery Network), and big data and artificial intelligence platforms. Additionally, server 102 can also be a node server in a blockchain network.

[0095] The methods provided in this application can be applied to various technical fields, including but not limited to cloud technology, intelligent transportation, intelligent driving, maps, navigation, and other technical fields.

[0096] The principle of the lane departure detection method provided in this application embodiment when applied to a scenario of lane departure detection of a positioning point is explained in detail below.

[0097] Reference Figure 3 , Figure 3 This is a schematic flowchart of a lane departure detection method provided in an embodiment of this application. The lane departure detection method can be... Figure 1 The first terminal 101 shown can execute, or can be executed by Figure 1 The server 102 shown can be executed, or can be performed by... Figure 1 The first terminal 101 and server 102 shown cooperate to perform the lane departure detection method, which includes, but is not limited to, the following steps 301 to 304.

[0098] Step 301: Determine the first location information of the target terminal's target positioning point at the first moment.

[0099] The target terminal is the terminal used for positioning. The target terminal can move within the target road; for example, it could be... Figure 1 The first terminal 101 shown can be the current moment or a certain moment in history.

[0100] The target positioning point is used to indicate the location of the target terminal at a first moment. In one possible implementation, one or more of the following signals can be used to determine the first position information of the target terminal at the first moment: GPS (Global Positioning System) satellite signals, BeiDou satellite signals, GLONASS satellite signals, Galileo satellite signals, odometer signals, and speed signals. The first position information can be latitude and longitude, or it can be coordinates in other types of coordinate systems; this application does not limit this.

[0101] Step 302: Obtain map data and determine the second location information of the historical adsorption point of the target terminal at the second time based on the map data.

[0102] The map data includes at least road information. The map data can be HD map data. Using HD map data can obtain more detailed road information, which can be more accurate when determining the historical capture point of the target terminal at the second moment based on the map data.

[0103] The second moment is a historical moment that is earlier than the first moment. If the first moment is the current moment, for example, the current moment is 14:00, then the second moment can be 13:55. If the first moment is also a historical moment, for example, the current moment is 14:00, then the first moment can be 13:55 and the second moment can be 13:50.

[0104] Accordingly, since the second moment is earlier than the first moment, if the target terminal moves forward, the historical adsorption point is located behind the target positioning point; if the target terminal moves backward, the historical adsorption point is located in front of the target positioning point.

[0105] Similarly, the second location information can also be latitude and longitude, or coordinates in other types of coordinate systems, which is not limited in the embodiments of this application. It is understood that the location coordinate information of the target positioning point and the location coordinate information of the historical adsorption point are generally coordinate information of the same type.

[0106] For example, refer to Figure 4 , Figure 4 This embodiment of the application provides a positional diagram of the target positioning point and the historical adsorption point when the second direction is the direction after counterclockwise rotation of the target terminal's movement direction. Taking forward movement as an example, P... k P is the target location point. t M is the historical location point of the target terminal at the second moment. t Here is the historical adsorption point, historical adsorption point M. t The line connecting the two points is perpendicular to the center line of the target road lanes, and the historical adsorption point is M. t Located at target location point P k Behind.

[0107] Step 303: Determine the angular relationship between the target angle and the angle threshold based on the first position information and the second position information.

[0108] Wherein, the target angle is the angle between the first direction and the second direction. The first direction is the direction from the historical adsorption point to the target positioning point, and the second direction is the direction after rotating the target terminal's movement direction by a preset angle. The second direction can be the direction after rotating the target terminal's movement direction counterclockwise by a preset angle, or it can be the direction after rotating the target terminal's movement direction clockwise by a preset angle; this application embodiment does not limit this. The preset angle can be 90 degrees, but it is understood that the preset angle can also be other angles, depending on actual needs, such as 100 degrees, 135 degrees, etc.; this application embodiment does not limit this.

[0109] For example, refer to Figure 4 P k f is the direction of movement of the target terminal, P k d represents the direction of movement of the target terminal after rotating it 90 degrees counterclockwise, i.e., P. k d represents the first direction, while the second direction represents the historical adsorption point M. t With the target location point P kThe direction of the line connecting the two lanes, d can be one of the points on the edge of the lane.

[0110] In related technologies, lane departure detection is generally performed using the angle between the target positioning point and the lane centerline. However, when the target positioning point deviates from the lane to the left or right, the angle between the target positioning point and the lane centerline may be the same. Therefore, this method cannot determine whether the deviation direction of the target positioning point is to the left or right. Since the second direction is the direction after rotating the movement direction of the target terminal by a preset angle, when the target positioning point or the vehicle corresponding to the target terminal deviates from the lane to the left or right, the target angle between the first and second directions will differ. This allows for the determination of the direction of lane departure from the target positioning point, improving the precision of lane departure detection.

[0111] In one possible implementation, when determining the angular relationship between the target angle and the angle threshold based on the first position information and the second position information, at least the following two methods can be used:

[0112] One approach is to use the intersection angle between the first and second lines as the target angle, and determine the angular relationship between the intersection angle and the angle threshold based on the first and second position information.

[0113] The first straight line passes through the historical adsorption point and the target positioning point, the second straight line passes through the target positioning point, and the angle between the second straight line and the moving direction of the target terminal is a preset angle.

[0114] Specifically, geometric relationships can be calculated based on the first and second position information to obtain the intersection angle between the first and second straight lines. For example, the distance between the target positioning point and the historical adsorption point, as well as the distance between the target positioning point and the lane centerline, can be calculated based on the first and second position information. Then, based on the distance between the target positioning point and the historical adsorption point, as well as the distance between the target positioning point and the lane centerline, the cosine value of the intersection angle can be obtained, thereby determining the angular relationship between the intersection angle and the angle threshold.

[0115] In this embodiment, the cosine value of the angle threshold can be calculated and compared with the cosine value of the intersection angle; or, the specific intersection angle can be calculated based on the cosine value of the intersection angle, and then the intersection angle can be compared with the angle threshold. This application does not limit the specific method.

[0116] For example, refer to Figure 4 The first straight line can be line segment M. t P k The first line contains the line segment P, and the second line can be line segment P. kThe line containing d has two complementary intersection angles after the first line and the second line intersect. The intersection angle between the first line and the second line can be the angle of the intersection angle opposite to the preset angle among the two intersection angles after the first line and the second line intersect. Figure 4 The angle between the first and second straight lines is called angle A. Correspondingly, the target angle between the first and second directions is the angle of angle A.

[0117] Additionally, refer to Figure 5 , Figure 5 This is an example of another positional diagram of the target positioning point and the historical adsorption point when the second direction is the direction after the target terminal moves counterclockwise. When the target positioning point is located to the right of the lane center line, the angle between the first straight line and the second straight line is angle B. Correspondingly, the target angle between the first direction and the second direction is the angle of angle B.

[0118] Another approach is to calculate the dot product between the first and second vectors based on the first and second position information, and then determine the angular relationship between the target angle and the angle threshold based on the dot product.

[0119] In this system, the starting point of the first vector is the historical adsorption point, the ending point of the first vector is the target positioning point, the starting point of the second vector is the target positioning point, and the angle between the second vector and the movement direction of the target terminal is a preset angle. Specifically, since the first and second position information are known, the first and second vectors can be calculated based on the first and second position information, and then the dot product between the first and second vectors can be obtained.

[0120] It should be noted that the endpoint of the second vector can be determined according to the actual situation, such as a point on the edge of the lane, etc., which is not limited in the embodiments of this application.

[0121] For example, refer to Figure 4 The first vector can be a vector The second vector can be a vector. The dot product between the first vector and the second vector can be expressed as: Accordingly, the angle relationship between the target angle and the angle threshold is determined based on the dot product between the first vector and the second vector. This can be achieved by comparing the dot product with a reference value, such as 0 for the reference value and 90 degrees for the angle threshold. A dot product greater than 0 indicates that the target angle is less than the angle threshold. Alternatively, the cosine value of the target angle can be calculated in reverse based on the geometric meaning of the dot product and compared with the cosine value of the angle threshold. Or, the cosine value of the target angle can be calculated in reverse based on the geometric meaning of the dot product to obtain the specific target angle, and the intersecting angle can be compared with the angle threshold.

[0122] In one possible implementation, the angle threshold can be determined based on a preset angle of rotation of the target terminal's movement direction. For example, the angle threshold can be equal to the preset angle of rotation of the target terminal's movement direction. If the preset angle is 90 degrees, then the angle threshold is also 90 degrees; if the preset angle is 100 degrees, then the angle threshold is also 100 degrees. Of course, this application embodiment does not limit the angle threshold.

[0123] As can be seen, the angular relationship between the target angle and the angle threshold can be determined simply by the geometric relationship between the positions of the target location point and the historical adsorption point, without the need for angle measuring equipment, which helps to reduce detection costs.

[0124] Step 304: Determine the lane departure detection result of the target positioning point based on the angular relationship between the target angle and the angle threshold.

[0125] In one possible implementation, the target positioning point obtained in step 301 may experience lane departure due to errors in the positioning signal (e.g., when the GPS signal searched by the target terminal in a tunnel is weak). Accordingly, the lane departure detection result can be used to indicate whether there is a lane departure trend at the target positioning point (i.e., whether lane departure is likely to occur). By using the first position information of the target positioning point at the first moment and the second position information of the historical snap-in points at the second moment, the target angle between the first direction and the second direction is determined. Then, based on the angle relationship between the target angle and the angle threshold, the lane departure detection result of the target positioning point or the lane departure detection result of the vehicle corresponding to the target terminal is determined. That is, the historical snap-in points of the target terminal are introduced, and the positional relationship between the target positioning point and the historical snap-in points of the target terminal is used to perform lane departure detection. Since the historical snap-in points can be quickly obtained from map data, there is no need to collect environmental information for lane departure detection, thereby reducing the impact of changes in environmental factors and improving the accuracy of lane departure detection. Furthermore, since there is no need to collect environmental information, the applicability of lane departure detection can be expanded and the cost of lane departure detection can be reduced.

[0126] For high-precision positioning, there are two possible scenarios for determining the lane departure detection result of the target positioning point: one is that the target positioning point is still in the target road where the target terminal is located, and has deviated from one lane of the target road to another lane; the other is that the target positioning point has deviated out of the target road.

[0127] The two situations described above can be distinguished based on the lane where the target location point is located. Therefore, when determining the lane departure detection result of the target location point based on the angular relationship between the target angle and the angle threshold, we can first determine the lane marking of the lane where the target location point is located in the target road based on the map data, determine the lane type of the lane where the target location point is located based on the lane marking, and determine the lane departure detection result of the target location point based on the lane type and the angular relationship between the target angle and the angle threshold.

[0128] The lane type includes edge lanes and non-edge lanes, meaning that the lane type can be used to indicate whether the target location point is located in the edge lane of the target road.

[0129] If the target location point is located in a non-edge lane of the target road (a non-edge lane is a lane that is not located on the left or right sides of the target road; for example, if the target road has a left lane, a middle lane, and a right lane arranged in parallel, then the non-edge lane is the middle lane), then it belongs to the scenario where the target location point deviates from one lane to another of the target road. If the target location point is located in an edge lane of the target road (an edge lane is a lane that is located on the left or right sides of the target road; for example, if the target road has a left lane, a middle lane, and a right lane arranged in parallel, then the edge lane is the left lane and the right lane), then it belongs to the scenario where the target location point deviates from the target road.

[0130] In one possible implementation, the lane type of the lane where the target location point is located can be determined based on the lane identifier of the lane where the target location point is located, according to a preset correspondence between lane identifiers and lane positions. For example, the lane identifier can be a lane number. Suppose the lane number of the left lane is 1, the lane number of the middle lane is 2, and the lane number of the right lane is 3. Then the correspondence between lane identifiers and lane positions can be "1-edge lane", "2-non-edge lane", and "3-edge lane", thereby quickly determining the lane type of the lane where the target location point is located.

[0131] In one possible implementation, the second direction can be either the direction of movement of the target terminal rotated counterclockwise by a preset angle, or the direction of movement of the target terminal rotated clockwise by a preset angle. Therefore, the lane departure detection result can be determined based on the angular relationship between the target angle and the angle threshold and different second directions.

[0132] In one possible implementation, the angle threshold and the preset angle can be equal. For example, both the preset angle and the angle threshold can be 90 degrees, thereby maintaining the consistency between the angle threshold and the preset angle and improving the accuracy of lane departure detection.

[0133] Wherein, if the second direction is the direction after rotating the target terminal's movement direction counterclockwise by a preset angle, the lane departure detection result of the target positioning point is determined according to the lane type and the angular relationship between the target angle and the angle threshold, specifically as follows:

[0134] When the lane type of the lane where the target location point is located is a non-edge lane of the target road, if the angle between the target angle and the angle threshold is less than the preset angle, the lane deviation detection result of the target location point is determined to be that the target location point has a lane deviation trend. At this time, the lane deviation trend can be the trend of deviating to the left lane of the current lane. If the angle between the target angle and the angle threshold is greater than the preset angle, the lane deviation detection result of the target location point is determined to be that the target location point has a lane deviation trend. At this time, the lane deviation trend can be the trend of deviating to the right lane of the current lane.

[0135] For example, refer to Figure 4 The preset angle and angle threshold are both 90 degrees. The target positioning point is located in the middle lane of the target road. When the target angle is less than 90 degrees (line segment M) t P k The line and P k The angle between the line containing d and the line containing d is less than 90 degrees, or the vectors With vector If the dot product is greater than 0, then the lane deviation trend of the target positioning point is to deviate to the left lane; refer to Figure 5 When the target angle is greater than 90 degrees (line segment M) t P k The line and P k The angle between the line containing d and the line containing d is greater than 90 degrees, or the vectors With vector If the dot product is less than 0, then the lane deviation trend of the target positioning point is to deviate to the right lane.

[0136] When the lane type of the lane where the target positioning point is located is the left edge lane of the target road, and the angle relationship between the target angle and the angle threshold is that the target angle is less than the preset angle, the lane deviation detection result of the target positioning point is determined to be that the target positioning point has a lane deviation trend. At this time, the lane deviation trend can be the trend of deviating from the target road.

[0137] When the lane type of the lane where the target positioning point is located is the right edge lane of the target road, and the angle relationship between the target angle and the angle threshold is that the target angle is greater than the preset angle, the lane deviation detection result of the target positioning point is determined to be that the target positioning point has a lane deviation trend. At this time, the lane deviation trend can be the trend of deviating from the target road.

[0138] For example, refer to Figure 6 , Figure 6 This is a schematic diagram of the position of the target positioning point and the historical adsorption point when the target positioning point is located in the edge lane, as provided in the embodiments of this application. The preset angle and angle threshold are both 90 degrees. If the target positioning point is in the left lane of the target road and the target angle is less than 90 degrees, then the lane deviation trend of the target positioning point is to deviate from the target road. If the target positioning point is in the right lane of the target road and the target angle is greater than 90 degrees, then the lane deviation trend of the target positioning point is to deviate from the target road.

[0139] Additionally, if the second direction is the direction after rotating the target terminal's movement direction clockwise by a preset angle, the lane departure detection result of the target positioning point is determined based on the angular relationship between the target angle and the angle threshold. Specifically, this can be as follows:

[0140] When the lane type of the lane where the target positioning point is located is a non-edge lane of the target road, if the angle between the target angle and the angle threshold is greater than the preset angle, the lane deviation detection result of the target positioning point is determined to be that the target positioning point has a lane deviation trend. At this time, the lane deviation trend can be the trend of deviating to the left lane of the current lane. If the angle between the target angle and the angle threshold is less than the preset angle, the lane deviation detection result of the target positioning point is determined to be that the target positioning point has a lane deviation trend. At this time, the lane deviation trend can be the trend of deviating to the right lane of the current lane.

[0141] For example, refer to Figure 7 , Figure 7 This application provides a schematic diagram of the position of the target positioning point and the historical adsorption point when the second direction is the direction after clockwise rotation of the target terminal's movement direction. The preset angle and angle threshold are both 90 degrees. The target positioning point is located in the middle lane of the target road. When the target angle is greater than 90 degrees, the lane deviation trend of the target positioning point is to deviate to the left lane.

[0142] Reference Figure 8 , Figure 8 This is an example of another positional diagram of the target positioning point and the historical adsorption point when the second direction provided in this application is the direction after clockwise rotation of the target terminal's movement direction. When the target angle is less than 90 degrees, the lane deviation trend of the target positioning point is to deviate to the right lane.

[0143] When the lane type of the lane where the target positioning point is located is the left edge lane of the target road, and the angle relationship between the target angle and the angle threshold is that the target angle is greater than the preset angle, the lane deviation detection result of the target positioning point is determined to be that the target positioning point has a lane deviation trend. At this time, the lane deviation trend can be the trend of deviating from the target road.

[0144] When the lane type of the lane where the target positioning point is located is the right edge lane of the target road, and the angle relationship between the target angle and the angle threshold is that the target angle is less than the preset angle, the lane deviation detection result of the target positioning point is determined to be that the target positioning point has a lane deviation trend. At this time, the lane deviation trend can be the trend of deviating from the target road.

[0145] For example, refer to Figure 9 , Figure 9 This is an illustration of another position of the target positioning point and the historical adsorption point when the target positioning point is located in the edge lane, as provided in the embodiments of this application. The preset angle and angle threshold are both 90 degrees. If the target positioning point is in the left lane of the target road and the target angle is greater than 90 degrees, then the lane deviation trend of the target positioning point is to deviate from the target road. If the target positioning point is in the right lane of the target road and the target angle is less than 90 degrees, then the lane deviation trend of the target positioning point is to deviate from the target road.

[0146] It should be added that, Figures 4 to 9 The following explanations all use a straight lane as an example. If the target location point or historical adsorption point is located in a turning lane, the principle of lane deviation is similar to that in a straight lane. The difference is that when the target location point is in a straight lane, the direction of movement of the target terminal is generally perpendicular to the center line of the lane, while when the target location point is in a turning lane, the direction of movement of the target terminal is generally tangent to the center line of the lane. The case of a turning lane will not be elaborated here.

[0147] In one possible implementation, when determining the lane departure detection result of the target positioning point, further judgment conditions can be added. For example, the deviation distance between the target positioning point and the lane where the target positioning point is located can be calculated based on the first position information, the distance relationship between the deviation distance and the distance threshold can be determined, and the lane departure detection result of the target positioning point can be determined based on the angle relationship and distance relationship between the target angle and the angle threshold.

[0148] The deviation distance is used to indicate the positional relationship between the target positioning point and the lane. The deviation distance can be the distance between the target positioning point and the lane centerline, or it can be the distance between the target positioning point and the lane edge; this embodiment does not limit this. The first distance threshold can be determined based on the lane width; this embodiment does not limit this either. For example, assuming the lane width is 3 meters, if the deviation distance is the distance between the target positioning point and the lane centerline, then the first distance threshold can be 0.8 meters; if the deviation distance is the distance between the target positioning point and the lane edge, then the first distance threshold can be 0.7 meters.

[0149] Specifically, when the angular relationship between the target angle and the angle threshold meets the conditions for determining that the target positioning point has a lane departure trend, the deviation distance also needs to be greater than the first distance threshold before it is determined that the target positioning point has a lane departure trend. By further introducing the distance relationship to determine the lane departure detection result, it is beneficial to improve the accuracy and rationality of the lane departure detection result.

[0150] For example, refer to Figure 4 The target location is in the middle lane of the target road, with a deviation distance of P. k C', with a first distance threshold of 0.8 meters, if the target angle is less than 90 degrees and the deviation distance is greater than 0.8 meters, the lane deviation trend of the target positioning point is to drift into the left lane; if the target angle is greater than 90 degrees and the deviation distance is greater than 0.8 meters, the lane deviation trend of the target positioning point is to drift into the right lane. This is understandable. Figures 5 to 9 The principle for judging the deviation distance in the examples shown is similar, and will not be repeated here.

[0151] In one possible implementation, the deviation distance between the target positioning point and the lane where the target positioning point is located is calculated based on the first position information. Specifically, based on the first position information and the second position information, the projection distance of the first vector on the second vector is calculated, and the projection distance is used as the deviation distance between the target positioning point and the lane where the target positioning point is located.

[0152] For example, refer to Figure 4 The deviation distance can be a vector. In vector The projection distance on the surface, denoted by D, can be specifically expressed as:

[0153]

[0154] In addition to introducing deviation distance to determine the lane departure detection result, the difference between the target angle and the angle threshold can also be introduced to determine the lane departure detection result based on the angle relationship between the target angle and the angle threshold. Specifically, when the angle relationship between the target angle and the angle threshold is that the target angle is less than the preset angle and the difference between the target angle and the angle threshold is less than the angle difference threshold, the lane departure detection result of the target positioning point is determined to be that the target positioning point has a lane departure trend; or, when the angle relationship between the target angle and the angle threshold is that the target angle is greater than the preset angle and the difference between the target angle and the angle threshold is greater than the angle difference threshold, the lane departure detection result of the target positioning point is determined to be that the target positioning point has a lane departure trend.

[0155] The angle difference threshold can be determined according to the actual situation, such as 45 degrees, etc., but this application embodiment does not limit it.

[0156] For example, refer to Figure 4 The angle difference threshold is 45 degrees. When the target angle is less than 90 degrees and the difference between the target angle and the angle threshold is less than 45 degrees, the lane deviation trend of the target positioning point is to deviate to the left lane. When the target angle is greater than 90 degrees and the difference between the target angle and the angle threshold is greater than 45 degrees, the lane deviation trend of the target positioning point is to deviate to the right lane. This is understandable. Figures 5 to 9 The principle for judging the deviation distance in the examples shown is similar, and will not be repeated here.

[0157] In one possible implementation, when determining the second location information of the historical adsorption point of the target terminal at the second time based on map data, a target time range can be determined, and the second location information of the historical adsorption point of the target terminal at the second time can be obtained from the map data based on the target time range.

[0158] The second moment refers to a moment within the target time range, where the time difference between any moment within the target time range and the first moment is less than or equal to a time difference threshold. The time difference threshold can be determined according to the actual situation, and this application embodiment does not limit it. For example, the time difference threshold can be 5 minutes, and correspondingly, the target time range is within 5 minutes before the first moment.

[0159] By introducing a target time range and avoiding excessive differences between the first and second moments, the historical adsorption points can be made more reasonable, which is conducive to improving the accuracy and rationality of lane departure detection results.

[0160] In one possible implementation, when determining the second location information of the historical adsorption point of the target terminal at the second time based on the map data, the target distance range can also be determined, and the second location information of the historical adsorption point of the target terminal at the second time can be obtained from the map data based on the target distance range.

[0161] Wherein, the distance between any adsorption point within the target distance range and the target positioning point is less than or equal to a second distance threshold. The second distance threshold can be determined according to the actual situation, and this application embodiment does not limit it. For example, the second distance threshold can be 3 meters, and correspondingly, the target distance range is within 3 meters of the target positioning point.

[0162] In addition, the distance between any adsorption point and the target positioning point within the target distance range can be measured by the length of the line segment formed by any adsorption point and the target positioning point, or by the projection length of the line connecting the adsorption point and the target positioning point onto the center line of the lane. This application embodiment does not limit this.

[0163] By introducing a target distance range, the distance between historical adsorption points and target positioning points can be made more reasonable, which is conducive to improving the accuracy and rationality of lane departure detection results.

[0164] It is understandable that either the target time range or the target distance range can be introduced, but introducing both the target time range and the target distance range to determine the historical adsorption points can more significantly improve the accuracy and rationality of the lane departure detection results.

[0165] In one possible implementation, if it is determined that the target positioning point has a lane departure trend, the target positioning point can be corrected to improve the accuracy of the first position information of the target positioning point.

[0166] In determining the first position information of the target terminal's target location point at the first moment, a lane-level positioning method can be adopted. Specifically, the position measurement signal corresponding to the target terminal at the first moment can be determined, the positioning function and preset positioning state parameters can be obtained, and the position measurement signal and positioning state parameters can be substituted into the positioning function to calculate the first position information of the target terminal's target location point at the first moment.

[0167] Specifically, the position measurement signal can be one or more of the following: GPS satellite signal, BeiDou system satellite signal, GLONASS system satellite signal, Galileo system satellite signal, odometer signal, visual signal, inertial measurement unit signal, and velocity signal. In this case, the first position information can be represented as:

[0168] P k =F(P t ,X,θ)

[0169] Among them, P k P represents the first position information of the target location point at the first moment. t P represents the location information of the target terminal at the historical location point corresponding to the second moment. t X represents the position measurement signal, θ represents the positioning state parameter, θ can be a scalar value, a vector value, a matrix, or a combination of scalar values, vector values ​​and matrices. This application does not limit the implementation of the embodiment. F represents the positioning function, which can be an algorithm for achieving lane-level positioning in related technologies, and will not be described in detail here.

[0170] Accordingly, when the position measurement signal includes the inertial measurement unit signal, in addition to obtaining the first position information of the target positioning point, the heading angle corresponding to the target positioning point can also be obtained. The first position information and the heading angle constitute the positioning information of the target positioning point, which can be expressed as:

[0171] [P k ,α]=F(P t ,X,θ)

[0172] Among them, [P k ,α] represents location information, P k This represents the first position information of the target location point at the first moment, where α represents the heading angle, and P... t P represents the location information of the target terminal at the historical location point corresponding to the second moment. t Let X be a known quantity, θ be the position measurement signal, θ be the positioning state parameter, and F be the positioning function.

[0173] By introducing positioning status parameters to determine the first location information of the target positioning point, it is convenient to fine-tune the positioning status parameters when determining the first location information, thereby improving the accuracy of the first location information.

[0174] Based on this, when the lane departure detection result indicates that the target positioning point has a lane departure trend, the correction of the target positioning point can be achieved by calculating the measurement error of the first position information, calculating the parameter correction amount of the positioning state parameters based on the measurement error, correcting the positioning state parameters based on the parameter correction amount, substituting the position measurement signal and the corrected positioning state parameters into the positioning function, and calculating the corrected first position information.

[0175] The measurement error is used to indicate the degree of deviation from the first position information. When calculating the measurement error, the deviation distance between the target positioning point and the lane where the target positioning point is located can be calculated based on the first position information, and this deviation distance is used as the measurement error of the first position information. For example, refer to... Figure 4 The measurement error of the first position information can be the line segment P. k The length of C' is either...

[0176] Alternatively, when calculating the measurement error, the reference distance between the target positioning point and the target reference point can be calculated based on the first position information, and this reference distance can be used as the measurement error of the first position information. Here, the target reference point is located on the centerline of the lane where the target positioning point is located, and the distance between the historical adsorption point and the target positioning point is equal to the distance between the historical adsorption point and the target reference point. For example, referring to... Figure 4 The target reference point can be C, and the reference distance between the target positioning point and the target reference point is line segment P. kThe length of C is either Furthermore, the distance between the historical adsorption point and the target positioning point is equal to the distance between the historical adsorption point and the target reference point, i.e., line segment M. t The length of C is equal to the length of line segment M. t P k The length, or By using the reference distance as the measurement error, and setting the distance between the historical adsorption point and the target positioning point to be equal to the distance between the historical adsorption point and the target reference point, it is equivalent to keeping the target terminal's movement distance constant when calculating the measurement error. This helps to improve the rationality of the measurement error, and subsequently, when correcting the first position information based on the measurement error, it can improve the accuracy of the first position information correction.

[0177] The calculation of the parameter correction amount for the positioning state parameters based on the measurement error can be achieved by establishing a correspondence between the measurement error and the parameter correction amount. This correspondence can be linear or nonlinear, and this embodiment does not limit the specific correspondence. Taking a linear correspondence as an example, a Kalman measurement equation can be constructed to calculate the parameter correction amount for the positioning state parameters, which can be specifically expressed as follows:

[0178] Δθ=K·ΔP

[0179] Where Δθ represents the parameter correction, ΔP represents the measurement error, and K represents the Kalman gain.

[0180] Understandably, other algorithms with similar optimization capabilities can also be used to calculate parameter corrections.

[0181] After calculating the parameter correction amount, the positioning status parameters are corrected based on the parameter correction amount. This can be done by adding the parameter correction amount to the original positioning status parameters to obtain the corrected positioning status parameters, which can be specifically expressed as follows:

[0182] θ′=θ+Δθ

[0183] Where Δθ represents the parameter correction amount, θ represents the positioning state parameter before correction, and θ′ represents the positioning state parameter after correction.

[0184] After obtaining the corrected positioning state parameters, the position measurement signal and the corrected positioning state parameters are substituted into the positioning function to calculate the corrected first position information, which can be specifically expressed as:

[0185] P k ′=F(P t ,X,θ′)

[0186] Among them, P kθ′ represents the corrected first position information, θ′ represents the corrected positioning state parameters, X represents the position measurement signal, F represents the positioning function, and P t This indicates the location information of the target terminal at the historical location point corresponding to the second moment.

[0187] Understandably, when the heading angle is introduced, the corrected positioning information can be represented as:

[0188] [P k ′,α′]=F(P t ,X,θ′)

[0189] Among them, [P k [α′, α′] represents the corrected positioning information, P k ' represents the corrected first position information, α' represents the corrected heading angle, θ' represents the corrected positioning state parameters, X represents the position measurement signal, F represents the positioning function, and P t This indicates the location information of the target terminal at the historical location point corresponding to the second moment.

[0190] In one possible implementation, after calculating the parameter correction amount, in addition to calculating the corrected first position information in the manner described above, a first-order Taylor expansion can also be performed on the positioning function, and the positioning state parameters before correction and the parameter correction amount can be substituted into the expanded positioning function to calculate the corrected first position information.

[0191] The corrected first position information, calculated using the positioning function through a first-order Taylor expansion, can be expressed as:

[0192]

[0193] Among them, P k ′ represents the corrected first position information, P k This represents the initial position information before correction, F represents the positioning function, θ represents the positioning state parameters before correction, and Δθ represents the parameter correction amount.

[0194] Understandably, when the heading angle is introduced, the corrected positioning information can be represented as:

[0195]

[0196] Among them, [P k [α′, α′] represents the corrected positioning information, P k ' represents the corrected first position information, α' represents the corrected heading angle, [P k ,α] represents the positioning information before correction, P kThis represents the initial position information before correction, α represents the heading angle before correction, F represents the positioning function, θ represents the positioning state parameters before correction, and Δθ represents the parameter correction amount.

[0197] By performing a first-order Taylor expansion on the positioning function and then calculating the corrected first position information, a relatively simple function can be used to fit a complex function, which helps to improve the calculation efficiency of the corrected first position information.

[0198] In one possible implementation, if it is determined that the target positioning point has a lane departure trend, in addition to correcting the target positioning point, different positioning methods can be switched to obtain a new target positioning point. Specifically, a switching request message can be displayed on the target terminal. In response to the operation of agreeing to the switching, another positioning method is switched to attempt repositioning, thereby improving the accuracy of the first location information of the target positioning point.

[0199] For example, refer to Figure 10 , Figure 10 This is a schematic diagram of the positioning method switching provided in the embodiments of this application. In a navigation scenario, when it is determined that the target positioning point has a lane deviation trend, a switching request message "The current positioning point has a deviation trend, do you want to try to switch the positioning method?" can be displayed on the target terminal. When the user of the target terminal clicks "agree" (i.e. agree to the switching operation), another positioning method can be switched to try to reposition. As an example, it can be switching from GPS positioning method to Beidou positioning method, or it can be switching from GPS positioning method to base station positioning, intelligent vehicle-road cooperative system positioning, etc.

[0200] The following example illustrates the detailed process of applying the lane departure detection method provided in this application to a scenario where a target location point is being detected as having a tendency to deviate from the target road (out-of-way trend).

[0201] Reference Figure 11 , Figure 11This is a schematic diagram of the architecture of a lane departure detection system for a lane departure detection method provided in this application embodiment. The system includes a map matching module, a positioning module, an exit judgment module, and a state parameter correction module. The map matching module is used to perform map matching of the positioning point. That is, it inputs the positioning point and outputs the lane information corresponding to the positioning point based on the matching result of the map data. The lane information includes the number of lanes, lane width, lane identifier (lane number), whether it is at an intersection, the current lane, and the location of the adsorption point, etc. The positioning module is used to process the position measurement signal through a positioning algorithm to determine the first position information of the target positioning point. The exit judgment module is used to combine the lane information output by the map matching module to judge the exit trend. If there is an exit trend, the exit trend judgment result is sent to the state parameter correction module. The state parameter correction module corrects the positioning state parameters so that the positioning point remains in the road.

[0202] based on Figure 11 The lane departure detection system shown is referenced. Figure 12 , Figure 12 This is a schematic diagram of the overall processing flow of the lane departure detection system provided in the embodiments of this application, specifically including the following steps 1201 to 1205:

[0203] Step 1201: Obtain the location point P at time t t Location point P is obtained through the map matching module. t The corresponding adsorption point M t Lane number n and lane width w;

[0204] Step 1202: At time k, the positioning module calculates the positioning point P at time k based on the latest positioning status parameters and position measurement signals. k And heading angle α.

[0205] Step 1203: At time k, the outgoing route determination module combines the location point P k and adsorption point M t Lane number n and lane width w, for positioning point P k To determine the future trend;

[0206] Step 1204: If a clear path is determined, the state parameter correction module corrects the positioning state parameters;

[0207] Step 1205: The positioning module calculates the latest positioning point P based on the latest positioning status parameters and the position measurement signal at time k. k And heading angle α.

[0208] In step 1201, time t is earlier than time k, lane number n is used by the exit judgment module to determine the lane the target terminal is currently in, and lane width w is used to determine the positioning point P when judging the exit trend. k The distance threshold between the point and the lane centerline. The map matching module determines the snap-in point M. t When in position, keep the line P t M t Perpendicular to the center line of the current lane.

[0209] In step 1202, the positioning module can calculate the positioning point P at time k based on the aforementioned positioning algorithm F, the latest positioning status parameters, and the position measurement signal. k The heading angle α will not be elaborated here.

[0210] In step 1203, refer to Figure 13 , Figure 13 This is a detailed flowchart of the outgoing path determination module provided in the embodiments of this application. Step 1203 above may specifically include steps 1301 to 1307:

[0211] Step 1301: Based on the positioning point P k Lane number n determines the location point P k Is the current lane an edge lane? If yes, proceed to step 1302; otherwise, end the process.

[0212] Step 1302: If the location point P k The current lane is an edge lane. Determine the location point P. k Is the current lane the left edge lane? If yes, proceed to step 1303; otherwise, proceed to step 1304.

[0213] Step 1303: Determine the location point P k and adsorption point M t If the angle between the current direction and the direction of the target terminal's forward movement (rotated 90 degrees counterclockwise) is less than 90 degrees, proceed to step 1305; otherwise, end the process.

[0214] Step 1304: Determine the location point P k and adsorption point M t Is the angle between the current direction and the direction of the target terminal's forward movement rotated 90 degrees counterclockwise greater than 90 degrees? If yes, proceed to step 1305; otherwise, end the process.

[0215] Step 1305: Calculate the location point P k Distance from the center line of the lane;

[0216] Step 1306: Determine the location point Pk If the distance between the lane centerline and the lane centerline is greater than the distance threshold obtained based on the lane width w, then proceed to step 1307; otherwise, end the process.

[0217] Step 1307: Determine the location point P k There is a potential way out; the process is now terminated.

[0218] In step 1204, the state parameter correction module can use the aforementioned correction method to correct the positioning state parameters, which will not be elaborated here.

[0219] In step 1205, the positioning module can use the aforementioned method for correcting the position information of the positioning points to calculate the latest positioning point P. k The heading angle α will not be elaborated here.

[0220] The lane departure detection method provided in this application is applied to lane departure detection of positioning points, specifically in lane-level navigation scenarios. Taking an in-vehicle terminal as an example, in lane-level navigation applications, lane-level positioning of the in-vehicle terminal is required. When the vehicle is located in the left edge lane of the road, it is generally on the lane centerline. If the lane-level positioning algorithm has an error in estimating the positioning state parameters, it may cause the calculated vehicle positioning point to deviate to the left from the lane centerline, making it easy for the vehicle positioning point to drift off the road. This may cause the lane-level positioning algorithm to fail, resulting in the in-vehicle terminal exiting lane-level navigation and affecting vehicle driving. Similarly, when the vehicle is traveling in the right edge lane, if the calculated vehicle positioning point deviates to the right from the lane centerline, the same problem will occur. Therefore, the lane departure detection method provided in this application can utilize the historical adsorption point position at a previous moment and the current positioning point to determine whether the current positioning point has an out-of-way trend by using the geometric relationship between the historical adsorption point and the current positioning point. If there is an out-of-way trend, the positioning status parameters are corrected so that the current positioning point remains in the road, thereby improving the stability of lane-level navigation.

[0221] In addition, the lane departure detection method provided in this application can be applied to lane departure detection of positioning points. The specific scenario can also be a location sharing scenario. Taking the target terminal as a mobile phone located in a vehicle as an example, when a passenger uses a mobile phone to share his real-time location, the positioning point may easily deviate from the road due to positioning errors. Therefore, the lane departure detection method provided in this application embodiment can keep the current positioning point in the road and improve the accuracy of location sharing.

[0222] In addition to the above-mentioned scenario of detecting lane departure from positioning points, the lane departure detection method provided in this application embodiment can also be applied to the scenario of detecting lane departure from vehicles. The principle of the lane departure detection method provided in this application embodiment when applied to the scenario of detecting lane departure from vehicles is explained below.

[0223] Reference Figure 14 , Figure 14 This is another schematic flowchart of the lane departure detection method provided in the embodiments of this application. The lane departure detection method can be... Figure 2 The second terminal 201 shown can be executed, or it can be executed by... Figure 2 The server 102 shown can be executed, or can be performed by... Figure 2 The second terminal 201 and server 102 cooperate to perform the lane departure detection method, which includes, but is not limited to, the following steps 1401 to 1404.

[0224] Step 1401: Determine the first location information of the target terminal's target positioning point at the first moment;

[0225] Step 1402: Obtain map data and determine the second location information of the historical adsorption points of the target terminal at the second time based on the map data;

[0226] Step 1403: Determine the angular relationship between the target angle and the angle threshold based on the first position information and the second position information;

[0227] Step 1404: Determine the lane departure detection result of the vehicle where the target terminal is located based on the angular relationship between the target angle and the angle threshold.

[0228] Among them, Figure 14 In the lane departure detection method shown, the target terminal is an in-vehicle terminal. In step 1401, with... Figure 3 The difference between steps 301 shown is that when the lane departure detection method is applied to a lane departure detection scenario for a vehicle, the target positioning point of the vehicle terminal is generally accurate at the first moment. For example, the vehicle where the vehicle terminal is located is driving on a relatively open road, or a small-range lane-level positioning can be performed using intelligent vehicle-road cooperative systems. Of course, this application does not limit the specific state of the vehicle.

[0229] In step 1402, the second time point is earlier than the first time point. The principle of determining the second location information based on map data can be found in the aforementioned explanation, and will not be repeated here.

[0230] In step 1403, the angular relationship between the target angle and the angle threshold is determined based on the first position information and the second position information. Specifically, the angular relationship between the target angle and the angle threshold can also be determined by the intersection angle of the first line and the second line, or by the dot product of the first vector and the second vector. The specific principle can be found in the foregoing explanation, and will not be repeated here.

[0231] In step 1404, the lane departure detection result of the vehicle where the target terminal is located is determined based on the angular relationship between the target angle and the angle threshold. Similarly, the deviation distance and the first distance threshold can be further introduced to determine the lane departure detection result of the vehicle where the target terminal is located, or the angular difference between the target angle and the angle threshold can be further introduced to determine the lane departure detection result of the vehicle where the target terminal is located. The specific principle can be found in the above explanation, and will not be repeated here.

[0232] Figure 14 The lane departure detection method shown is similar to Figure 3 The lane departure detection method shown is based on the same inventive concept. Therefore, it can also perform lane departure detection without collecting environmental information, thereby reducing the impact of changes in environmental factors and improving the accuracy of lane departure detection. Furthermore, since it does not require the collection of environmental information, it can also expand the applicability of lane departure detection and reduce its cost. In addition, it can also determine the direction in which the vehicle corresponding to the target terminal deviates from its lane, improving the precision of lane departure detection.

[0233] When the lane departure detection method provided in this application is applied to a scenario of detecting lane departure from a vehicle, if the lane departure detection result indicates that the vehicle is deviating, a warning message can be generated to indicate the lane departure detection result. The warning message can be displayed on the in-vehicle display screen or played through the in-vehicle speaker.

[0234] In addition, when the lane departure detection result indicates that the vehicle is trending out of lane, a control command can be generated based on the deviation distance. The vehicle's steering mechanism can then be controlled according to the control command to keep the vehicle within the current lane.

[0235] It is understood that although the steps in the above flowcharts are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated in this embodiment, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the above flowcharts may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0236] It should be noted that in various specific embodiments of this application, when processing data related to the characteristics of the target object, such as target object attribute information or attribute information sets, is required, the permission or consent of the target object will be obtained first. Furthermore, the collection, use, and processing of this data will comply with the relevant laws, regulations, and standards of the relevant countries and regions. In addition, when embodiments of this application need to obtain target object attribute information, separate permission or consent from the target object will be obtained through pop-up windows or redirection to a confirmation page. Only after obtaining the separate permission or consent of the target object will the necessary target object-related data for the normal operation of the embodiments of this application be obtained.

[0237] Reference Figure 15 , Figure 15 This is a schematic diagram of the structure of a first lane departure detection device provided in an embodiment of this application. The first lane departure detection device 1500 includes:

[0238] The first positioning point determination module 1501 is used to determine the first position information of the target positioning point of the target terminal at the first moment.

[0239] The first adsorption point determination module 1502 is used to acquire map data and determine the second location information of the historical adsorption point of the target terminal at the second time according to the map data, wherein the second time is earlier than the first time.

[0240] The first comparison module 1503 is used to determine the angular relationship between the target angle and the angle threshold based on the first position information and the second position information. The target angle is the angle between the first direction and the second direction. The first direction is the direction from the historical adsorption point to the target positioning point, and the second direction is the direction after rotating the target terminal's movement direction by a preset angle.

[0241] The first detection module 1504 is used to determine the lane departure detection result of the target positioning point based on the angular relationship between the target angle and the angle threshold.

[0242] Furthermore, the aforementioned first detection module 1504 is specifically used for:

[0243] Based on map data, determine the lane markings of the lane where the target location point is located on the target road;

[0244] The lane type of the target location point is determined based on the lane markings, and the lane departure detection result of the target location point is determined based on the relationship between the lane type and the angle.

[0245] The lane types include edge lanes and non-edge lanes. Edge lanes are the lanes located on the left and right sides of the target road, while non-edge lanes are the other lanes on the target road besides the edge lanes.

[0246] Furthermore, the second direction is the direction after rotating the target terminal's movement direction counterclockwise by a preset angle. The first detection module 1504 is specifically used for:

[0247] When the lane type is the left edge lane of the target road, and the angle relationship is that the target angle is less than the preset angle, the lane deviation detection result of the target positioning point is determined to be that the target positioning point has a lane deviation trend;

[0248] Alternatively, when the lane type is the right edge lane of the target road, and the angle relationship is that the target angle is greater than the preset angle, the lane deviation detection result of the target positioning point is determined to be that the target positioning point has a lane deviation trend.

[0249] Furthermore, the aforementioned first comparison module 1503 is specifically used for:

[0250] The intersection angle between the first line and the second line is taken as the target angle. Based on the first position information and the second position information, the angle relationship between the intersection angle and the angle threshold is determined. The first line passes through the historical adsorption point and the target positioning point, the second line passes through the target positioning point, and the angle between the second line and the moving direction of the target terminal is a preset angle.

[0251] Alternatively, based on the first and second position information, the dot product between the first and second vectors is calculated, and the angular relationship between the target angle and the angle threshold is determined based on the dot product. Here, the starting point of the first vector is the historical adsorption point, the ending point of the first vector is the target positioning point, the starting point of the second vector is the target positioning point, and the angle between the second vector and the moving direction of the target terminal is a preset angle.

[0252] Furthermore, the aforementioned first detection module 1504 is specifically used for:

[0253] Calculate the deviation distance between the target positioning point and the lane where the target positioning point is located based on the first location information;

[0254] Determine the distance relationship between the deviation distance and the first distance threshold;

[0255] The lane departure detection result of the target positioning point is determined based on the relationship between the angle and the distance.

[0256] Furthermore, the aforementioned first detection module 1504 is specifically used for:

[0257] Based on the first position information and the second position information, calculate the projection distance of the first vector onto the second vector;

[0258] The projected distance is used as the deviation distance between the target positioning point and the lane where the target positioning point is located.

[0259] The starting point of the first vector is the historical adsorption point, the ending point of the first vector is the target positioning point, the starting point of the second vector is the target positioning point, and the angle between the second vector and the moving direction of the target terminal is a preset angle.

[0260] Furthermore, the aforementioned first adsorption point determination module 1502 is specifically used for:

[0261] Determine the target time range, and obtain the second location information of the historical adsorption point of the target terminal at the second moment from the map data based on the target time range. The second moment is a moment in the target time range, and the time difference between any moment in the target time range and the first moment is less than or equal to the time difference threshold.

[0262] Alternatively, determine the target distance range, and obtain the second location information of the historical adsorption points of the target terminal at the second time from the map data based on the target distance range, wherein the distance between any adsorption point in the target distance range and the target positioning point is less than or equal to the second distance threshold.

[0263] Furthermore, the aforementioned first positioning point determination module 1501 is specifically used for:

[0264] Determine the position measurement signal of the target terminal at the first moment;

[0265] Obtain the positioning function and preset positioning state parameters;

[0266] The position measurement signal and positioning status parameters are substituted into the positioning function to calculate the first position information of the target terminal at the first moment.

[0267] Furthermore, the lane departure detection device also includes a correction module 1505, which is specifically used for:

[0268] When the lane departure detection result indicates that there is a lane departure trend at the target positioning point, the measurement error of the first position information is calculated, the parameter correction amount of the positioning state parameters is calculated based on the measurement error, the positioning state parameters are corrected based on the parameter correction amount, the position measurement signal and the corrected positioning state parameters are substituted into the positioning function, and the corrected first position information is calculated.

[0269] Alternatively, when the lane departure detection result indicates that the target positioning point has a lane departure trend, the measurement error of the first position information is calculated, the parameter correction amount of the positioning state parameters is calculated based on the measurement error, the positioning function is expanded using a first-order Taylor expansion, and the positioning state parameters before correction and the parameter correction amount are substituted into the expanded positioning function to calculate the corrected first position information.

[0270] Furthermore, the aforementioned correction module 1505 is specifically used for:

[0271] The deviation distance between the target positioning point and the lane where the target positioning point is located is calculated based on the first position information, and the deviation distance is used as the measurement error of the first position information.

[0272] Alternatively, the reference distance between the target positioning point and the target reference point can be calculated based on the first position information, and the reference distance can be used as the measurement error of the first position information. The target reference point is located on the center line of the lane where the target positioning point is located, and the distance between the historical adsorption point and the target positioning point is equal to the distance between the historical adsorption point and the target reference point.

[0273] The aforementioned first lane departure detection device 1500 and Figure 3 The lane departure detection method shown is based on the same inventive concept, thus eliminating the need to collect environmental information for lane departure detection. This reduces the impact of changes in environmental factors and improves the accuracy of lane departure detection. Furthermore, since no environmental information needs to be collected, the applicability of lane departure detection can be expanded, and the cost of lane departure detection can be reduced. In addition, it can also determine the direction of lane departure from the target positioning point, improving the precision of lane departure detection.

[0274] Reference Figure 16 , Figure 16 This is a schematic diagram of the structure of the second lane departure detection device provided in an embodiment of this application. The second lane departure detection device 1600 includes:

[0275] The second positioning point determination module 1601 is used to determine the first position information of the target positioning point of the target terminal at the first moment.

[0276] The second adsorption point determination module 1602 is used to acquire map data and determine the second location information of the historical adsorption point of the target terminal at the second moment based on the map data.

[0277] The second comparison module 1603 is used to determine the angular relationship between the target angle and the angle threshold based on the first position information and the second position information.

[0278] The second detection module 1604 is used to determine the lane departure detection result of the vehicle where the target terminal is located based on the angular relationship between the target angle and the angle threshold.

[0279] Among them, the aforementioned second lane departure detection device 1600 and Figure 14 The lane departure detection method shown is based on the same inventive concept, thus eliminating the need to collect environmental information for lane departure detection. This reduces the impact of changes in environmental factors and improves the accuracy of lane departure detection. Furthermore, since no environmental information needs to be collected, the applicability of lane departure detection can be expanded, and the cost of lane departure detection can be reduced. In addition, it is also possible to determine the direction in which the vehicle corresponding to the target terminal deviates from its lane, improving the precision of lane departure detection.

[0280] Furthermore, since the second positioning point determination module 1601 has a similar function to the first positioning point determination module 1501, the second adsorption point determination module 1602 has a similar function to the first adsorption point determination module 1502, the second comparison module 1603 has a similar function to the first comparison module 1503, and the second detection module 1604 has a similar function to the first detection module 1504, the functions of the modules of the second lane departure detection device 1600 will not be described in detail here.

[0281] In addition, the second lane departure detection device 1600 may also include a vehicle control module 1605. The vehicle control module 1605 is used to generate a warning message to indicate the lane departure detection result when the lane departure detection result indicates that the vehicle has a tendency to deviate, or to generate a control command based on the deviation distance, and control the vehicle's steering mechanism to keep the vehicle driving within the current lane according to the control command.

[0282] The electronic device provided in this application embodiment for performing the above-described lane departure detection method can be a terminal, as shown in the following example. Figure 17 , Figure 17 This is a partial structural block diagram of a terminal provided in an embodiment of this application. The terminal includes: a radio frequency (RF) circuit 1710, a memory 1720, an input unit 1730, a display unit 1740, a sensor 1750, an audio circuit 1760, a wireless fidelity (WiFi) module 1770, a processor 1780, and a power supply 1790, among other components. Those skilled in the art will understand that... Figure 17The terminal structure shown does not constitute a limitation on the terminal and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0283] RF circuit 1710 can be used to receive and transmit signals during information transmission or calls. In particular, it receives downlink information from the base station and processes it with processor 1780; in addition, it transmits uplink data to the base station.

[0284] The memory 1720 can be used to store software programs and modules. The processor 1780 executes various terminal functions and data processing by running the software programs and modules stored in the memory 1720.

[0285] The input unit 1730 can be used to receive input numeric or character information, and to generate key signal inputs related to the terminal's settings and function control. Specifically, the input unit 1730 may include a touch panel 1731 and other input devices 1732.

[0286] The display unit 1740 can be used to display input or provided information, as well as various menus of the terminal. The display unit 1740 may include a display panel 1741.

[0287] Audio circuitry 1760, speaker 1761, and microphone 1762 provide an audio interface.

[0288] In this embodiment, the processor 1780 included in the terminal can execute the lane departure detection method of the previous embodiment.

[0289] The electronic device provided in this application embodiment for performing the above-described lane departure detection method can also be a server, see reference. Figure 18 , Figure 18 The diagram illustrates a partial structural block of a server provided in this application embodiment. The server 1800 can vary significantly due to different configurations or performance characteristics. It may include one or more Central Processing Units (CPUs) 1822 (e.g., one or more processors) and a memory 1832, and one or more storage media 1830 (e.g., one or more mass storage devices) for storing application programs 1842 or data 1844. The memory 1832 and storage media 1830 may be temporary or persistent storage. The program stored in the storage media 1830 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the server 1800. Furthermore, the CPU 1822 may be configured to communicate with the storage media 1830 and execute the series of instruction operations in the storage media 1830 on the server 1800.

[0290] Server 1800 may also include one or more power supplies 1826, one or more wired or wireless network interfaces 1850, one or more input / output interfaces 1858, and / or one or more operating systems 1841, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0291] The processor in Server 1800 can be used to execute lane departure detection methods.

[0292] This application also provides a computer-readable storage medium for storing program code for executing the lane departure detection methods of the foregoing embodiments.

[0293] This application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. A processor of a computer device reads the computer program from the computer-readable storage medium and executes the computer program, causing the computer device to perform the lane departure detection method described above.

[0294] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatuses.

[0295] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0296] It should be understood that in the description of the embodiments of this application, "multiple" means two or more, "greater than", "less than", "exceeding" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself.

[0297] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus 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 through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0298] 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.

[0299] 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.

[0300] 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 of 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.

[0301] It should also be understood that the various implementation methods provided in this application can be combined arbitrarily to achieve different technical effects.

[0302] The above provides a detailed description of the preferred embodiments of this application. However, this application is not limited to the above-described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A lane departure detection method, characterized in that, include: Determine the first location information of the target terminal's target positioning point at the first moment; Acquire map data, and determine the second location information of the historical adsorption point of the target terminal at a second time based on the map data, wherein the second time is earlier than the first time, and the historical adsorption point is the intersection of the vertical line connecting the historical positioning point to the road element and the road element. Based on the first location information and the second location information, the angular relationship between the target angle and the angle threshold is determined, wherein the target angle is the angle between the first direction and the second direction, the first direction is the direction from the historical adsorption point to the target positioning point, and the second direction is the direction after the target terminal's movement direction is rotated by a preset angle; The lane departure detection result of the target positioning point is determined based on the relationship between the angles.

2. The lane departure detection method according to claim 1, characterized in that, The process of determining the lane departure detection result of the target positioning point based on the angular relationship includes: Based on the map data, determine the lane marking of the lane where the target location point is located on the target road; The lane type of the lane where the target positioning point is located is determined based on the lane markings, and the lane departure detection result of the target positioning point is determined based on the relationship between the lane type and the angle size. The lane types include edge lanes and non-edge lanes. Edge lanes are lanes located on the left and right sides of the target road, and non-edge lanes are other lanes in the target road besides the edge lanes.

3. The lane departure detection method according to claim 2, characterized in that, The second direction is the direction after rotating the target terminal's movement direction counterclockwise by the preset angle. Determining the lane departure detection result of the target positioning point based on the lane type and the angle relationship includes: When the lane type is the left edge lane of the target road, and the angle relationship is that the target angle is less than the preset angle, the lane deviation detection result of the target positioning point is determined to be that the target positioning point has a lane deviation trend; Alternatively, when the lane type is the right edge lane of the target road, and the angle relationship is that the target angle is greater than the preset angle, the lane deviation detection result of the target positioning point is determined to be that the target positioning point has a lane deviation trend.

4. The lane departure detection method according to claim 1, characterized in that, Determining the angular relationship between the target angle and the angle threshold based on the first location information and the second location information includes: The intersection angle between the first straight line and the second straight line is taken as the target angle. Based on the first position information and the second position information, the angle relationship between the intersection angle and the angle threshold is determined. The first straight line passes through the historical adsorption point and the target positioning point, the second straight line passes through the target positioning point, and the angle between the second straight line and the moving direction of the target terminal is the preset angle. Alternatively, based on the first location information and the second location information, the dot product between the first vector and the second vector is calculated, and the angular relationship between the target angle and the angle threshold is determined based on the dot product. Here, the starting point of the first vector is the historical adsorption point, the ending point of the first vector is the target positioning point, the starting point of the second vector is the target positioning point, and the angle between the second vector and the moving direction of the target terminal is the preset angle.

5. The lane departure detection method according to claim 1, characterized in that, The process of determining the lane departure detection result of the target positioning point based on the angular relationship includes: Calculate the deviation distance between the target positioning point and the lane where the target positioning point is located based on the first location information; Determine the distance relationship between the deviation distance and the first distance threshold; The lane departure detection result of the target positioning point is determined based on the relationship between the angle magnitude and the distance magnitude.

6. The lane departure detection method according to claim 5, characterized in that, The step of calculating the deviation distance between the target positioning point and the lane where the target positioning point is located based on the first location information includes: Based on the first position information and the second position information, calculate the projection distance of the first vector onto the second vector; The projected distance is used as the deviation distance between the target positioning point and the lane where the target positioning point is located; Wherein, the starting point of the first vector is the historical adsorption point, the ending point of the first vector is the target positioning point, the starting point of the second vector is the target positioning point, and the angle between the second vector and the moving direction of the target terminal is the preset angle.

7. The lane departure detection method according to claim 1, characterized in that, Determining the second location information of the historical adsorption points of the target terminal at the second time based on the map data includes: A target time range is determined, and the second location information of the historical adsorption point of the target terminal at the second moment is obtained from the map data according to the target time range, wherein the second moment is a moment in the target time range, and the time difference between any moment in the target time range and the first moment is less than or equal to a time difference threshold. Alternatively, a target distance range is determined, and the second location information of the historical adsorption points of the target terminal at the second time is obtained from the map data based on the target distance range, wherein the distance between any adsorption point in the target distance range and the target positioning point is less than or equal to the second distance threshold.

8. The lane departure detection method according to any one of claims 1 to 7, characterized in that, The determination of the first location information of the target terminal's target location point at the first moment includes: Determine the position measurement signal of the target terminal at the first moment; Obtain the positioning function and preset positioning state parameters; The location measurement signal and the location status parameters are substituted into the location function to calculate the first location information of the target terminal at the target location point at the first time.

9. The lane departure detection method according to claim 8, characterized in that, The lane departure detection method also includes: When the lane departure detection result indicates that the target positioning point has a lane departure trend, the measurement error of the first position information is calculated, the parameter correction amount of the positioning state parameter is calculated based on the measurement error, the positioning state parameter is corrected based on the parameter correction amount, the position measurement signal and the corrected positioning state parameter are substituted into the positioning function, and the corrected first position information is calculated. Alternatively, when the lane departure detection result indicates that the target positioning point has a lane departure trend, the measurement error of the first position information is calculated, the parameter correction amount of the positioning state parameter is calculated based on the measurement error, the positioning function is expanded using a first-order Taylor expansion, and the positioning state parameter before correction and the parameter correction amount are substituted into the expanded positioning function to calculate the corrected first position information.

10. The lane departure detection method according to claim 9, characterized in that, The measurement error for calculating the first position information includes: Calculate the deviation distance between the target positioning point and the lane where the target positioning point is located based on the first location information, and use the deviation distance as the measurement error of the first location information; Alternatively, a reference distance between the target positioning point and the target reference point can be calculated based on the first location information, and the reference distance can be used as the measurement error of the first location information. The target reference point is located on the center line of the lane where the target positioning point is located, and the distance between the historical adsorption point and the target positioning point is equal to the distance between the historical adsorption point and the target reference point.

11. A lane departure detection method, characterized in that, include: Determine the first location information of the target terminal's target positioning point at the first moment; Acquire map data, and determine the second location information of the historical adsorption point of the target terminal at a second time based on the map data, wherein the second time is earlier than the first time, and the historical adsorption point is the intersection of the vertical line connecting the historical positioning point to the road element and the road element. Based on the first location information and the second location information, the angular relationship between the target angle and the angle threshold is determined, wherein the target angle is the angle between the first direction and the second direction, the first direction is the direction from the historical adsorption point to the target positioning point, and the second direction is the direction after the target terminal's movement direction is rotated by a preset angle; The lane departure detection result of the vehicle where the target terminal is located is determined based on the relationship between the angles.

12. A lane departure detection device, characterized in that, include: The first positioning point determination module is used to determine the first position information of the target terminal's target positioning point at the first moment. The first adsorption point determination module is used to acquire map data and determine the second location information of the historical adsorption point of the target terminal at a second time according to the map data, wherein the second time is earlier than the first time, and the historical adsorption point is the intersection of the vertical line connecting the historical positioning point to the road element and the road element. The first comparison module is used to determine the angular relationship between the target angle and the angle threshold based on the first position information and the second position information, wherein the target angle is the angle between the first direction and the second direction, the first direction is the direction from the historical adsorption point to the target positioning point, and the second direction is the direction after rotating the movement direction of the target terminal by a preset angle; The first detection module is used to determine the lane departure detection result of the target positioning point based on the angular relationship.

13. A lane departure detection device, characterized in that, include: The second positioning point determination module is used to determine the first position information of the target terminal's target positioning point at the first moment. The second adsorption point determination module is used to acquire map data and determine the second location information of the historical adsorption point of the target terminal at a second time according to the map data, wherein the second time is earlier than the first time, and the historical adsorption point is the intersection of the vertical line connecting the historical positioning point to the road element and the road element. The second comparison module is used to determine the angular relationship between the target angle and the angle threshold based on the first position information and the second position information, wherein the target angle is the angle between the first direction and the second direction, the first direction is the direction from the historical adsorption point to the target positioning point, and the second direction is the direction after the target terminal's movement direction is rotated by a preset angle; The second detection module is used to determine the lane departure detection result of the vehicle where the target terminal is located based on the angle relationship.

14. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the lane departure detection method according to any one of claims 1 to 11.

15. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the lane departure detection method according to any one of claims 1 to 11.

16. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the lane departure detection method according to any one of claims 1 to 11.

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