Lane line information prediction method, device, equipment and computer readable storage medium

Abstract

A lane line information prediction method, device, equipment and computer-readable storage medium. The method includes determining a first marking point and a second marking point when the current moment meets the conditions for executing lane line information prediction and there is at least one trajectory point before the trajectory point corresponding to the current moment; calculating the first trajectory deviation information of the vehicle at the first marking point relative to the previous trajectory point and the second trajectory deviation information of the vehicle at the second marking point relative to the previous trajectory point; obtaining the lane line prediction information at the current moment based on the first trajectory deviation information, the second trajectory deviation information and the lane line information corresponding to the latest real lane line information update moment at the current moment, predicting the lane line information using the vehicle motion deviation, compensating for the time deviation problem between the perception information and the vehicle control, and solving the technical problem that the lane line information when controlling the vehicle lags behind the actual scene, resulting in poor control effect of the vehicle in the related technology.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and specifically to a lane line information prediction method, device, equipment and computer-readable storage medium. Background Art

[0002] With the development of autonomous driving technology, the application of lane line recognition technology is becoming more and more widespread. Lane line information is used in functions such as lane line positioning and lane keeping. Therefore, the requirements for lane line recognition accuracy are becoming higher and higher.

[0003] In related technologies, the vehicle's intelligent driving assistance function usually uses the lane lines detected by the sensor as the input of the decision-making control algorithm. However, there is an inevitable time deviation between the sensor detection and the execution of the decision-making control algorithm. Therefore, the lane line information when controlling the vehicle lags behind the actual scene, resulting in poor control of the vehicle. Summary of the invention

[0004] The present application provides a lane line information prediction method, device, equipment and computer-readable storage medium, which can solve the technical problem in the prior art that the lane line information when controlling the vehicle lags behind the actual scene, resulting in poor control effect of the vehicle.

[0005] In a first aspect, an embodiment of the present application provides a lane line information prediction method, the lane line information prediction method comprising:

[0006] When the current moment satisfies the lane line information prediction conditions and there is at least one trajectory point before the trajectory point corresponding to the current moment, the vehicle driving trajectory point corresponding to the moment when the lane line information was predicted last time is determined as the first marking point, and the vehicle driving trajectory point corresponding to the moment when the real lane line information is updated closest to the current moment is determined as the second marking point;

[0007] Calculating first track deviation information between the vehicle at the first marking point and the vehicle at a first track point, wherein the first track point is a track point preceding the first marking point;

[0008] Calculating second track deviation information between the vehicle at the second marking point and the vehicle at a second track point, wherein the second track point is a track point preceding the second marking point;

[0009] The lane line prediction information at the current moment is obtained based on the first trajectory deviation information, the second trajectory deviation information, and the lane line information corresponding to the real lane line information update time closest to the current moment.

[0010] In a second aspect, an embodiment of the present application provides a lane line information prediction device, the lane line information prediction device comprising:

[0011] A determination module, for determining, when the current moment satisfies the lane line information prediction execution condition and there is at least one trajectory point before the trajectory point corresponding to the current moment, the vehicle driving trajectory point corresponding to the moment when the lane line information was last predicted as the first marking point, and the vehicle driving trajectory point corresponding to the moment when the real lane line information is updated most recently to the current moment as the second marking point;

[0012] A first calculation module, used for calculating first track deviation information between the vehicle at the first marking point and the vehicle at a first track point, wherein the first track point is a track point before the first marking point;

[0013] A second calculation module, used for calculating second track deviation information between the vehicle at the second marking point and the vehicle at a second track point, wherein the second track point is a track point before the second marking point;

[0014] The lane line information prediction module is used to obtain the lane line prediction information at the current moment based on the first trajectory deviation information, the second trajectory deviation information and the lane line information corresponding to the real lane line information update time closest to the current moment.

[0015] In the third aspect, an embodiment of the present application provides a lane line information prediction device, which includes a processor, a memory, and a lane line information prediction program stored in the memory and executable by the processor, wherein when the lane line information prediction program is executed by the processor, the steps of the lane line information prediction method as described above are implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a lane line information prediction program is stored, wherein when the lane line information prediction program is executed by a processor, the steps of the lane line information prediction method as described above are implemented.

[0017] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0018] When the current moment meets the conditions for executing lane line information prediction and there is at least one trajectory point before the trajectory point corresponding to the current moment, determine that the vehicle driving trajectory point corresponding to the moment when the lane line information was last predicted is the first mark point, and the vehicle driving trajectory point corresponding to the real lane line information update moment closest to the current moment is the second mark point; calculate the first trajectory deviation information between the vehicle at the first mark point and the vehicle at the first trajectory point, wherein the first trajectory point is the previous trajectory point of the first mark point; calculate the second trajectory deviation information between the vehicle at the second mark point and the vehicle at the second trajectory point, wherein the second trajectory point is the previous trajectory point of the second mark point; obtain the lane line prediction information at the current moment based on the first trajectory deviation information, the second trajectory deviation information and the lane line information corresponding to the real lane line information update moment closest to the current moment, and use the vehicle motion deviation to predict the lane line information, thereby compensating for the time deviation problem between the perception information and the vehicle control, and solving the technical problem that the lane line information when controlling the vehicle lags behind the actual scene, resulting in poor control effect of the vehicle in the related technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a flow chart of an embodiment of a lane line information prediction method of the present application;

[0020] Figure 2 This is a schematic diagram of the time and trajectory point matching of the lane line information prediction method of this application;

[0021] Figure 3 For this application Figure 1 Detailed flow chart of step S20;

[0022] Figure 4 This is a schematic diagram of the functional modules of an embodiment of the lane line information prediction device of the present application;

[0023] Figure 5 Schematic diagram of the hardware structure of the lane information prediction device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0025] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be described in detail below with reference to the accompanying drawings.

[0026] In a first aspect, an embodiment of the present application provides a lane line information prediction method.

[0027] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of an embodiment of the lane line information prediction method of the present application. Figure 1 As shown, the lane line information prediction method includes:

[0028] Step S10, when the current moment satisfies the lane line information prediction condition and there is at least one trajectory point before the trajectory point corresponding to the current moment, determine the vehicle driving trajectory point corresponding to the moment when the lane line information was last predicted as the first marking point, and the vehicle driving trajectory point corresponding to the moment when the real lane line information is updated most recently to the current moment as the second marking point;

[0029] In this embodiment, when there is at least one track point before the track point corresponding to the current moment, it means that the vehicle has a historical track point. In order to avoid the situation where the vehicle has not started to move at the current moment and is at the starting point of the movement, when the current moment meets the conditions for executing lane line information prediction, the lane line information prediction step is executed to ensure the rationality of the prediction result. Therefore, when the current moment meets the conditions for executing lane line information prediction and there is at least one track point before the track point corresponding to the current moment, refer to Figure 2 , Figure 2 This is a schematic diagram of the time and trajectory point matching of the lane line information prediction method of this application. Figure 2 As shown, the time T of the last predicted lane line information is determined end The corresponding vehicle driving trajectory point is the first marking point, and the real lane line information update time T closest to the current time is determined d The corresponding vehicle driving trajectory point is the second marking point. It is easy to understand that when the current moment meets the conditions for executing lane line information prediction and there is at least one trajectory point before the trajectory point corresponding to the current moment, the last time the lane line information was predicted was the last time the virtual lane line information was obtained, and the real lane line information update time closest to the current moment is the time when the last new actual lane line information was input before the current moment to update the real lane line information.

[0030] Furthermore, in one embodiment, the lane line information prediction condition is:

[0031] a. The current time is after the time of the last predicted lane line information;

[0032] b. The difference between the current time and the time when the lane line information was last predicted is less than a first preset time length;

[0033] c. The current time is greater than the sum of the time of the last predicted lane line information plus the second preset time length, and less than the sum of the time of the last predicted lane line information plus the third preset time length, wherein the second preset time length is less than the third preset time length;

[0034] d. There is a real lane line information update moment between the current moment and the last time the lane line information was predicted.

[0035] In this embodiment, in order to ensure the continuity of the prediction, the current moment must be after the moment of the last prediction of the lane line information and the interval between the current moment and the moment of the last prediction of the lane line information cannot be too long, that is, the difference between the current moment and the moment of the last prediction of the lane line information must be less than the first preset time length, and the current moment must be neither too far nor too close to the moment of the last prediction of the lane line information, that is, the current moment is greater than the sum of the moment of the last prediction of the lane line information plus the second preset time length, and less than the sum of the moment of the last prediction of the lane line information plus the third preset time length, wherein the second preset time length is less than the third preset time length. Since the last predicted lane line information cannot be used all the time, there must be a real lane line information update moment between the current moment and the moment of the last prediction of the lane line information before the lane line information can be predicted again.

[0036] Step S20, calculating first track deviation information between the vehicle at the first marking point and the vehicle at a first track point, wherein the first track point is a track point preceding the first marking point;

[0037] In this embodiment, the first trajectory deviation information includes a first longitudinal distance deviation, a first lateral distance deviation, and a first heading angle deviation. The first longitudinal distance deviation, the first lateral distance deviation, and the first heading angle deviation of the vehicle at the first marked point relative to the vehicle at the first trajectory point are calculated, wherein the first trajectory point is the previous trajectory point of the first marked point, and the heading angle is the angle between the vehicle and the center line of the lane.

[0038] Step S30, calculating second track deviation information between the vehicle at the second marking point and the vehicle at a second track point, wherein the second track point is a track point preceding the second marking point;

[0039] In this embodiment, the second trajectory deviation information includes a second longitudinal distance deviation, a second lateral distance deviation, and a second heading angle deviation. The second longitudinal distance deviation, the second lateral distance deviation, and the second heading angle deviation of the vehicle at the second marked point relative to the vehicle at the second trajectory point are calculated, wherein the second trajectory point is a previous trajectory point of the second marked point.

[0040] Specifically, a fourth track point adjacent to the second marking point and after the second marking point is obtained. Figure 2 , Figure 2Medium end2 The trajectory point corresponding to this moment is the fourth trajectory point adjacent to and after the second mark point. Substitute the speed of the vehicle at the second trajectory point, the orientation angle of the vehicle at the second trajectory point, and the time between the moment corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment into the fourth preset formula to calculate the fifth longitudinal distance deviation Δx between the vehicle at the second trajectory point and the vehicle at the previous trajectory point of the second trajectory point. start2 , the fourth preset formula is as follows:

[0041] Δx start2 =(t cur -t E )*(V xstart2 cosθ start2 -V ystart2 sinθ start2 )

[0042] Among them, t cur Used to indicate the current time, t E It is used to indicate the time corresponding to the previous trajectory point of the trajectory point corresponding to the current time, V xstart2 Used to represent the longitudinal velocity of the vehicle at the second trajectory point, V ystart2 Used to represent the lateral velocity of the vehicle at the second trajectory point, θ start2 Used to represent the vehicle's heading angle at the second trajectory point.

[0043] Substitute the speed of the vehicle at the fourth trajectory point, the heading angle of the vehicle at the fourth trajectory point, and the time between the moment corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment into the fourth preset formula to calculate the sixth longitudinal distance deviation Δx between the vehicle at the fourth trajectory point and the previous trajectory point of the vehicle at the fourth trajectory point. end2 , that is, Δx end2 =(t cur -t E )*(V xend2 cosθ end2 -V yend2 sinθ end2 )

[0044] Among them, t cur Used to indicate the current time, t E It is used to indicate the time corresponding to the previous trajectory point of the trajectory point corresponding to the current time, V xend2 Used to represent the longitudinal velocity of the vehicle at the fourth trajectory point, V yend2 Used to represent the lateral velocity of the vehicle at the fourth trajectory point, θ end4 Used to indicate the vehicle's heading angle at the fourth trajectory point.

[0045] The fifth longitudinal distance deviation Δxstart2 , the sixth longitudinal distance deviation Δx end2 , the real lane line information update time t closest to the current time d , the time t corresponding to the fourth trajectory point end2 , the time t corresponding to the first trajectory point start1 And the time t corresponding to the second trajectory point start2 Substitute the preset formula

[0046] A second longitudinal distance deviation between the vehicle at the second marking point and the vehicle at the second trajectory point is calculated, wherein ΔX2 is used to represent the second longitudinal distance deviation between the vehicle at the second marking point and the vehicle at the second trajectory point.

[0047] Substitute the speed of the vehicle at the second trajectory point, the heading angle of the vehicle at the second trajectory point, and the time between the moment corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment into the fifth preset formula to calculate the fifth lateral distance deviation Δy between the vehicle at the second trajectory point and the previous trajectory point of the vehicle at the second trajectory point. start2 , the fifth preset formula is as follows:

[0048] Δy start2 =(t cur -t E )*(V ystart2 sinθ start2 +V ystart2 cosθ start2 )

[0049] Among them, t cur Used to indicate the current time, t E It is used to indicate the time corresponding to the previous trajectory point of the trajectory point corresponding to the current time, V ystart2 Used to represent the lateral velocity of the vehicle at the second trajectory point, θ start2 Used to represent the vehicle's heading angle at the second trajectory point.

[0050] Substitute the speed of the vehicle at the fourth trajectory point, the heading angle of the vehicle at the fourth trajectory point, and the time between the moment corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment into the fifth preset formula to calculate the sixth lateral distance deviation Δy between the vehicle at the fourth trajectory point and the previous trajectory point of the vehicle at the fourth trajectory point. end2 , that is Δy end2 =(t cur -t E )*(V yend2 sinθ end2 +V yend2 cosθ end2 )

[0051] Among them, t cur Used to indicate the current time, t E It is used to indicate the time corresponding to the previous trajectory point of the trajectory point corresponding to the current time, V yend2 Used to represent the lateral velocity of the vehicle at the fourth trajectory point, θ end2 Used to indicate the vehicle's heading angle at the fourth trajectory point.

[0052] The fifth lateral distance deviation Δy start2 , Sixth lateral distance deviation Δy end2 , the real lane line information update time t closest to the current time d , the time t corresponding to the fourth trajectory point end2 And the time t corresponding to the second trajectory point start2 Substitute the preset formula A second lateral distance deviation between the vehicle at the second marking point and the vehicle at the second trajectory point is calculated, wherein ΔY2 is used to represent the second lateral distance deviation between the vehicle at the second marking point and the vehicle at the second trajectory point.

[0053] Calculate the product of the time between the time corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment multiplied by the angular velocity of the vehicle at the second trajectory point, and use the obtained product as the sixth heading angle deviation Δθ between the vehicle at the second trajectory point and the previous trajectory point of the vehicle at the second trajectory point start2 , that is, Δθ start2 =(t cur -t E )*ω start2 , where t cur Used to indicate the current time, t E It is used to indicate the time corresponding to the previous trajectory point of the trajectory point corresponding to the current time, ω start2 Used to represent the angular velocity of the vehicle at the second trajectory point.

[0054] Calculate the time between the time corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment multiplied by the angular velocity of the vehicle at the fourth trajectory point, and use the obtained product as the seventh heading angle deviation Δθ between the vehicle at the fourth trajectory point and the vehicle at the second marking point end2 , that is, Δθ end2 =(t cur -t E )*ω end2 , where ω end2 Used to represent the angular velocity of the vehicle at the fourth trajectory point.

[0055] The sixth orientation angle deviation Δθ start2 , seventh orientation angle deviation Δθ end2, the real lane line information update time t closest to the current time d , the time t corresponding to the fourth trajectory point end2 , the time t corresponding to the first trajectory point start1 And the time t corresponding to the second trajectory point start2 Substitute the preset formula

[0056] The second orientation angle deviation between the vehicle at the second marking point and the vehicle at the second trajectory point can be calculated, wherein Δθ2 is used to represent the second orientation angle deviation between the vehicle at the second marking point and the vehicle at the second trajectory point.

[0057] Step S40: obtaining lane line prediction information at the current moment based on the first trajectory deviation information, the second trajectory deviation information, and the lane line information corresponding to the real lane line information update time closest to the current moment.

[0058] In this embodiment, the lane line information at the current moment is predicted based on the first trajectory deviation information, the second trajectory deviation information and the lane line information corresponding to the latest real lane line information update time at the current moment, so as to obtain the lane line prediction information at the current moment.

[0059] In this embodiment, when the current moment satisfies the conditions for executing lane line information prediction and there is at least one trajectory point before the trajectory point corresponding to the current moment, the vehicle driving trajectory point corresponding to the moment when the lane line information was last predicted is determined as the first marking point, and the vehicle driving trajectory point corresponding to the moment when the real lane line information is updated most recently to the current moment is determined as the second marking point; the first trajectory deviation information between the vehicle at the first marking point and the vehicle at the first trajectory point is calculated, wherein the first trajectory point is the previous trajectory point of the first marking point; the second trajectory deviation information between the vehicle at the second marking point and the vehicle at the second trajectory point is calculated, wherein the second trajectory point is the previous trajectory point of the second marking point; the lane line prediction information at the current moment is obtained based on the first trajectory deviation information, the second trajectory deviation information and the lane line information corresponding to the moment when the real lane line information is updated most recently to the current moment, and the lane line information is predicted using the vehicle motion deviation, thereby compensating for the time deviation problem between the perception information and the vehicle control, and solving the technical problem in the related art that the lane line information when controlling the vehicle lags behind the actual scene, resulting in poor control effect on the vehicle.

[0060] Furthermore, in one embodiment, the first trajectory deviation information includes a first longitudinal distance deviation, a first lateral distance deviation, and a first heading angle deviation. Figure 3 , Figure 3 For this application Figure 1 Detailed flow chart of step S20 in FIG. Figure 3 As shown, the step of calculating the first trajectory deviation information between the vehicle at the first marking point and the vehicle at the first trajectory point includes:

[0061] Step S201, acquiring a third track point adjacent to the first marking point and after the first marking point;

[0062] Step S202, calculating a third longitudinal distance deviation Δx between the vehicle at the first trajectory point and the vehicle at a trajectory point before the first trajectory point start1 ;

[0063] Step S203, calculating a fourth longitudinal distance deviation Δx between the vehicle at the third trajectory point and the vehicle at the first marking point end1 ;

[0064] Step S204: based on the third longitudinal distance deviation Δx start1 , the fourth longitudinal distance deviation Δx end1 , the time t of the last predicted lane line information end , the time t corresponding to the third trajectory point end1 And the time t corresponding to the first trajectory point start1 The first longitudinal distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point is calculated by a first preset formula, and the first preset formula is as follows:

[0065]

[0066] Wherein, ΔX1 is used to represent a first longitudinal distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point;

[0067] Step S205, calculating a third lateral distance deviation Δy between the vehicle at the first trajectory point and the vehicle at a trajectory point before the first trajectory point start1 ;

[0068] Step S206, calculating a fourth lateral distance deviation Δy between the vehicle at the third trajectory point and the vehicle at the first marking point end1 ;

[0069] Step S207: based on the third lateral distance deviation Δy start1 , the fourth lateral distance deviation Δy end1 , the time t of the last predicted lane line information end , the time t corresponding to the third trajectory point end1 And the time t corresponding to the first trajectory point start1The first lateral distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point is calculated by a second preset formula, and the second preset formula is as follows:

[0070]

[0071] Wherein, ΔY1 is used to represent a first lateral distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point;

[0072] Step S208, calculating the product of the time between the time corresponding to the previous track point of the track point corresponding to the current time and the current time multiplied by the angular velocity of the vehicle at the first track point, and using the product as the third heading angle deviation Δθ between the vehicle at the first track point and the track point previous to the first track point start1 ;

[0073] Step S209, calculating the product of the time between the time corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment multiplied by the angular velocity of the vehicle at the third trajectory point, and using the product as the fourth heading angle deviation Δθ between the vehicle at the third trajectory point and the vehicle at the first marking point end1 ;

[0074] Step S210: based on the third orientation angle deviation Δθ start1 , the fourth orientation angle deviation Δθ end1 , the time t of the last predicted lane line information end , the time t corresponding to the third trajectory point end1 And the time t corresponding to the first trajectory point start1 The first orientation angle deviation between the vehicle at the first marking point and the vehicle at the first trajectory point is calculated by a third preset formula, and the third preset formula is as follows:

[0075]

[0076] Among them, Δθ1 is used to represent a first orientation angle deviation between the vehicle at the first marking point and the vehicle at the first trajectory point, and the orientation angle is the angle between the vehicle and the center line of the lane.

[0077] In this embodiment, continue to refer to Figure 2 , Figure 2 Medium end1 The trajectory point corresponding to this moment is the third trajectory point adjacent to the first marking point and after the first marking point. The third longitudinal distance deviation of the vehicle at the first trajectory point relative to the previous trajectory point and the fourth longitudinal distance deviation of the vehicle at the third trajectory point relative to the previous trajectory point are calculated.

[0078] The third longitudinal distance deviation Δx start1 , the fourth longitudinal distance deviation Δx end1 , the time t of the last predicted lane line information end , the time t corresponding to the third trajectory point end1 And the time t corresponding to the first trajectory point start1 Substituting into the first preset formula, the first longitudinal distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point is calculated. The first preset formula is as follows:

[0079]

[0080] ΔX1 is used to represent a first longitudinal distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point.

[0081] Calculate the third lateral distance deviation Δy of the vehicle at the first trajectory point relative to the vehicle at the previous trajectory point start1 , calculate the fourth lateral distance deviation Δy of the vehicle at the third trajectory point relative to the vehicle at the previous trajectory point, i.e., the first marking point end1 .

[0082] The third lateral distance deviation Δy start1 , the fourth lateral distance deviation Δy end1 , the time t of the last predicted lane line information end , the time t corresponding to the third trajectory point end1 And the time t corresponding to the first trajectory point start1 Substituting into the second preset formula, the first lateral distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point is calculated. The second preset formula is as follows:

[0083]

[0084] ΔY1 is used to represent a first lateral distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point.

[0085] Calculate the product of the time between the time corresponding to the previous track point of the track point corresponding to the current time and the current time multiplied by the angular velocity of the vehicle at the first track point, and use the obtained product as the third heading angle deviation Δθ between the vehicle at the first track point and the previous track point of the vehicle at the first track point start1 , that is, Δθ start1 =(t cur -t E )*ω start1 , where t cur Used to indicate the current time, t E It is used to indicate the time corresponding to the previous trajectory point of the trajectory point corresponding to the current time, ωstart1 Used to represent the angular velocity of the vehicle at the first trajectory point.

[0086] Calculate the time between the time corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment multiplied by the angular velocity of the vehicle at the third trajectory point, and use the obtained product as the fourth heading angle deviation Δθ between the vehicle at the third trajectory point and the vehicle at the first mark point end1 , that is, Δθ end1 =(t cur -t E )*ω end1 , where ω end1 Used to represent the angular velocity of the vehicle at the third trajectory point.

[0087] The third orientation angle deviation Δθ start1 , the fourth orientation angle deviation Δθ end1 , the time t of the last predicted lane line information end , the time t corresponding to the third trajectory point end1 And the time t corresponding to the first trajectory point start1 Substituting the third preset formula, the first orientation angle deviation between the vehicle at the first mark point and the vehicle at the first track point can be calculated. The third preset formula is as follows:

[0088]

[0089] Wherein, Δθ1 is used to represent a first heading angle deviation between the vehicle at the first marking point and the vehicle at the first trajectory point, and the heading angle is the angle between the vehicle and the center line of the lane.

[0090] Further, in one embodiment, the step of calculating a third longitudinal distance deviation between the vehicle at the first trajectory point and the vehicle at a trajectory point preceding the first trajectory point comprises:

[0091] Substituting the speed and heading angle of the vehicle at the first trajectory point and the time between the moment corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment into the fourth preset formula, a third longitudinal distance deviation Δx between the vehicle at the first trajectory point and the vehicle at the previous trajectory point of the first trajectory point is calculated. start1 , the fourth preset formula is as follows:

[0092] Δx start1 =(t cur -t E )*(V xstart1 cosθ start1 -V ystart1 sinθ start1 )

[0093] Among them, tcur Used to indicate the current time, t E It is used to indicate the time corresponding to the previous trajectory point of the trajectory point corresponding to the current time. xstart1 Used to represent the lateral velocity of the vehicle at the first trajectory point, V ystart1 Used to represent the longitudinal velocity of the vehicle at the first trajectory point, θ start1 Used to represent the vehicle's heading angle at the first trajectory point.

[0094] In this embodiment, the speed of the vehicle at the first trajectory point, the orientation angle of the vehicle at the first trajectory point, and the time between the time corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment are substituted into the fourth preset formula to calculate the third longitudinal distance deviation Δx between the vehicle at the first trajectory point and the previous trajectory point of the vehicle at the first trajectory point. start1 , the fourth preset formula is as follows:

[0095] Δx start1 =(t cur -t E )*(V xstart1 cosθ start1 -V ystart1 sinθ start1 )

[0096] Among them, t cur Used to indicate the current time, t E It is used to indicate the time corresponding to the previous trajectory point of the trajectory point corresponding to the current time. xstart1 Used to represent the lateral velocity of the vehicle at the first trajectory point, V ystart1 Used to represent the longitudinal velocity of the vehicle at the first trajectory point, θ start1 It is used to indicate the orientation angle of the vehicle at the first track point. It is easy to imagine that the time corresponding to the previous track point of the track point corresponding to the current time is the time corresponding to the last track point in the historical track points. It should be noted that in the historical track points, only a preset number of track points are saved according to the first-in-first-out principle.

[0097] Further, in one embodiment, the speed of the vehicle at the third trajectory point, the heading angle of the vehicle at the third trajectory point, and the time between the moment corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment are substituted into a fourth preset formula to calculate a fourth longitudinal distance deviation Δx between the vehicle at the third trajectory point and the vehicle at the previous trajectory point of the third trajectory point. end1 ,Right now

[0098] Δx end1 =(t cur -t E )*(V xend1 cosθ end1 -Vyend1 sinθ end1 )

[0099] Among them, t cur Used to indicate the current time, t E It is used to indicate the time corresponding to the previous trajectory point of the trajectory point corresponding to the current time. xend1 Used to represent the lateral velocity of the vehicle at the third trajectory point, V yend1 Used to represent the longitudinal velocity of the vehicle at the third trajectory point, θ end1 Used to indicate the vehicle's heading angle at the third trajectory point.

[0100] Further, in one embodiment, the step of calculating a third lateral distance deviation between the vehicle at the first trajectory point and the vehicle at a trajectory point preceding the first trajectory point comprises:

[0101] Substituting the speed and heading angle of the vehicle at the first trajectory point and the time between the moment corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment into the fifth preset formula, a third lateral distance deviation Δy between the vehicle at the first trajectory point and the vehicle at the previous trajectory point of the first trajectory point is calculated. start1 , the fifth preset formula is as follows:

[0102] Δy start1 =(t cur -t E )*(V ystart1 sinθ start1 +V ystart1 cosθ start1 )

[0103] Among them, t cur Used to indicate the current time, t E It is used to indicate the time corresponding to the previous trajectory point of the trajectory point corresponding to the current time. ystart1 Used to represent the longitudinal velocity of the vehicle at the first trajectory point, θ start1 Used to represent the vehicle's heading angle at the first trajectory point.

[0104] In this embodiment, the speed of the vehicle at the first trajectory point, the heading angle of the vehicle at the first trajectory point, and the time between the time corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment are substituted into the fifth preset formula to calculate the third lateral distance deviation Δy between the vehicle at the first trajectory point and the previous trajectory point of the vehicle at the first trajectory point. start1 , the fifth preset formula is as follows:

[0105] Δy start1 =(t cur -t E )*(Vystart1 sinθ start1 +V ystart1 cosθ start1 )

[0106] Among them, t cur Used to indicate the current time, t E It is used to indicate the time corresponding to the previous trajectory point of the trajectory point corresponding to the current time. ystart1 Used to represent the longitudinal velocity of the vehicle at the first trajectory point, θ start1 Used to represent the vehicle's heading angle at the first trajectory point.

[0107] Further, in one embodiment, the speed of the vehicle at the third trajectory point, the heading angle of the vehicle at the third trajectory point, and the time between the moment corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment are substituted into the fifth preset formula to calculate the fourth lateral distance deviation Δy between the vehicle at the third trajectory point and the vehicle at the previous trajectory point of the third trajectory point. end1 ,Right now

[0108] Δy end1 =(t cur -t E )*(V yend1 sinθ end1 +V yend1 cosθ end1 )

[0109] Among them, t cur Used to indicate the current time, t E It is used to indicate the time corresponding to the previous trajectory point of the trajectory point corresponding to the current time. yend1 Used to represent the longitudinal velocity of the vehicle at the third trajectory point, θ end1 Used to indicate the vehicle's heading angle at the third trajectory point.

[0110] Further, in one embodiment, the first trajectory deviation information includes a first longitudinal distance deviation, a first lateral distance deviation, and a first heading angle deviation, the second trajectory deviation information includes a second longitudinal distance deviation, a second lateral distance deviation, and a second heading angle deviation, and the step of obtaining the lane line prediction information at the current moment based on the first trajectory deviation information, the second trajectory deviation information, and the lane line information corresponding to the latest real lane line information update time at the current moment includes:

[0111] Based on the first longitudinal distance deviation, the first lateral distance deviation, the second longitudinal distance deviation and the second lateral distance deviation, a distance deviation between a trajectory point of the vehicle at a current moment and a trajectory point immediately before the trajectory point of the vehicle at the current moment is calculated by using a distance calculation formula between two points;

[0112] Calculating a difference between the second orientation angle deviation and the first orientation angle deviation, and using the difference as a fifth orientation angle deviation between the trajectory point of the vehicle at the current moment and the trajectory point of the vehicle before the trajectory point at the current moment;

[0113] The lane line prediction information at the current moment is obtained based on the distance deviation, the fifth orientation angle deviation and the lane line information corresponding to the real lane line information update time closest to the current moment.

[0114] In this embodiment, the first trajectory deviation information includes the first longitudinal distance deviation, the first lateral distance deviation and the first heading angle deviation, and the second trajectory deviation information includes the second longitudinal distance deviation, the second lateral distance deviation and the second heading angle deviation. Based on the first longitudinal distance deviation ΔX1, the first lateral distance deviation ΔY1, the second longitudinal distance deviation ΔX2 and the second lateral distance deviation ΔY2, the distance deviation between the vehicle at the current moment and the vehicle at the previous trajectory point at the current moment is calculated by the distance calculation formula, that is, the distance deviation

[0115] The difference between the second orientation angle deviation and the first orientation angle deviation is taken as the fifth orientation angle deviation Δθ between the vehicle's trajectory point at the current moment and the vehicle's trajectory point immediately before the current moment, that is, Δθ=Δθ2-Δθ1.

[0116] The lane line prediction information at the current moment can be obtained based on the distance deviation Δd, the fifth orientation angle deviation Δθ and the lane line information corresponding to the real lane line information update time closest to the current moment.

[0117] Furthermore, in one embodiment, the step of obtaining lane line prediction information at the current moment based on the distance deviation, the fifth orientation angle deviation, and the lane line information corresponding to the latest real lane line information update time at the current moment includes:

[0118] Substitute the distance deviation, the fifth orientation angle deviation, and the lane line information corresponding to the latest real lane line information update time at the current time into the sixth preset formula to calculate the lane line prediction information at the current time. The sixth preset formula is as follows:

[0119]

[0120] Among them, c0, c1, c2 and c3 are the lane line prediction information at the current moment, c0 is used to represent the lateral distance between the vehicle and the lane line at the current moment, c1 is used to represent the orientation angle of the vehicle at the current moment, c2 is used to represent the curvature of the road at the current moment, and c3 is used to represent the curvature change rate of the road at the current moment. as well as is the lane line information corresponding to the latest real lane line information update time at the current time, It is used to indicate the lateral distance between the vehicle and the lane line corresponding to the latest real lane line information update time at the current time. It is used to indicate the vehicle's orientation angle corresponding to the latest real lane line information update time at the current time. It is used to indicate the curvature of the road corresponding to the latest real lane line information update time. It is used to indicate the curvature change rate of the road corresponding to the latest real lane line information update time.

[0121] In this embodiment, the lane line prediction information at the current moment can be calculated by substituting the distance deviation Δd, the fifth orientation angle deviation Δθ, and the lane line information corresponding to the latest real lane line information update time at the current moment into the sixth preset formula. The sixth preset formula is as follows:

[0122]

[0123] Among them, c0, c1, c2 and c3 are the lane line prediction information at the current moment, c0 is used to represent the lateral distance between the vehicle and the lane line at the current moment, c1 is used to represent the orientation angle of the vehicle at the current moment, c2 is used to represent the curvature of the road at the current moment, and c3 is used to represent the curvature change rate of the road at the current moment. as well as is the lane line information corresponding to the latest real lane line information update time at the current time, It is used to indicate the lateral distance between the vehicle and the lane line corresponding to the latest real lane line information update time at the current time. It is used to indicate the vehicle's orientation angle corresponding to the latest real lane line information update time at the current time. It is used to indicate the curvature of the road corresponding to the latest real lane line information update time. It is used to indicate the curvature change rate of the road corresponding to the latest real lane line information update time.

[0124] Furthermore, in one embodiment, after obtaining the lane line prediction information at the current moment, the lateral distance between the vehicle and the lane line at the current moment is obtained through the lane line information linear equation based on the longitudinal distance between the vehicle and the lane line and the lane line prediction information at the current moment, so as to control the vehicle based on the lateral distance between the vehicle and the lane line at the current moment. The lane line information linear equation is as follows:

[0125] f=c3s 3 +c2s 2+c1s+c0

[0126] Among them, f is used to represent the change in the length of the vertical line segment projected from a point on the lane line to the longitudinal centerline of the vehicle, and s is used to represent the longitudinal distance between the current position of the vehicle and each projection point.

[0127] In a second aspect, an embodiment of the present application also provides a lane line information prediction device.

[0128] In one embodiment, referring to Figure 4 , Figure 4 This is a functional module diagram of an embodiment of the lane line information prediction device of the present application. Figure 4 As shown, the lane line information prediction device includes:

[0129] A determination module 10 is used to determine, when the current moment satisfies the lane line information prediction execution condition and there is at least one trajectory point before the trajectory point corresponding to the current moment, the vehicle driving trajectory point corresponding to the moment when the lane line information was last predicted as the first marking point, and the vehicle driving trajectory point corresponding to the moment when the real lane line information is updated most recently to the current moment as the second marking point;

[0130] A first calculation module 20, configured to calculate first track deviation information between the vehicle at the first marking point and the vehicle at a first track point, wherein the first track point is a track point preceding the first marking point;

[0131] A second calculation module 30, configured to calculate second track deviation information between the vehicle at the second marking point and the vehicle at a second track point, wherein the second track point is a track point preceding the second marking point;

[0132] The lane line information prediction module 40 is used to obtain the lane line prediction information at the current moment based on the first trajectory deviation information, the second trajectory deviation information and the lane line information corresponding to the real lane line information update time closest to the current moment.

[0133] Furthermore, in one embodiment, the lane line information prediction condition is:

[0134] a. The current time is after the time of the last predicted lane line information;

[0135] b. The difference between the current time and the time when the lane line information was last predicted is less than a first preset time length;

[0136] c. The current time is greater than the sum of the time of the last predicted lane line information plus the second preset time length, and less than the sum of the time of the last predicted lane line information plus the third preset time length, wherein the second preset time length is less than the third preset time length;

[0137] d. There is a real lane line information update moment between the current moment and the last time the lane line information was predicted.

[0138] Further, in one embodiment, the first trajectory deviation information includes a first longitudinal distance deviation, a first lateral distance deviation and a first heading angle deviation, and the first calculation module 20 is used to:

[0139] Acquire a third track point adjacent to the first marking point and after the first marking point;

[0140] Calculate a third longitudinal distance deviation Δx between the vehicle at the first trajectory point and the vehicle at a trajectory point preceding the first trajectory point start1 ;

[0141] Calculate a fourth longitudinal distance deviation Δx between the vehicle at the third trajectory point and the vehicle at the first marking point end1 ;

[0142] Based on the third longitudinal distance deviation Δx start1 , the fourth longitudinal distance deviation Δx end1 , the time t of the last predicted lane line information end , the time t corresponding to the third trajectory point end1 And the time t corresponding to the first trajectory point start1 The first longitudinal distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point is calculated by a first preset formula, and the first preset formula is as follows:

[0143]

[0144] Wherein, ΔX1 is used to represent a first longitudinal distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point;

[0145] Calculate a third lateral distance deviation Δy between the vehicle at the first trajectory point and the vehicle at a previous trajectory point of the first trajectory point start1 ;

[0146] Calculate a fourth lateral distance deviation Δy between the vehicle at the third trajectory point and the vehicle at the first marking point end1 ;

[0147] Based on the third lateral distance deviation Δy start1 , the fourth lateral distance deviation Δy end1 , the time t of the last predicted lane line information end , the time t corresponding to the third trajectory point end1 And the time t corresponding to the first trajectory point start1The first lateral distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point is calculated by a second preset formula, and the second preset formula is as follows:

[0148]

[0149] Wherein, ΔY1 is used to represent a first lateral distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point;

[0150] Calculate the product of the time between the time corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment multiplied by the angular velocity of the vehicle at the first trajectory point, and use the product as the third heading angle deviation Δθ between the vehicle at the first trajectory point and the vehicle at the previous trajectory point of the first trajectory point start1 ;

[0151] Calculate the product of the time between the time corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment multiplied by the angular velocity of the vehicle at the third trajectory point, and use the product as the fourth heading angle deviation Δθ between the vehicle at the third trajectory point and the vehicle at the first marking point end1 ;

[0152] Based on the third orientation angle deviation Δθ start1 , the fourth orientation angle deviation Δθ end1 , the time t of the last predicted lane line information end , the time t corresponding to the third trajectory point end1 And the time t corresponding to the first trajectory point start1 The first orientation angle deviation between the vehicle at the first marking point and the vehicle at the first trajectory point is calculated by a third preset formula, and the third preset formula is as follows:

[0153]

[0154] Among them, Δθ1 is used to represent a first orientation angle deviation between the vehicle at the first marking point and the vehicle at the first trajectory point, and the orientation angle is the angle between the vehicle and the center line of the lane.

[0155] Furthermore, in one embodiment, the first calculation module 20 is used to:

[0156] Substituting the speed and heading angle of the vehicle at the first trajectory point and the time between the moment corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment into the fourth preset formula, a third longitudinal distance deviation Δx between the vehicle at the first trajectory point and the vehicle at the previous trajectory point of the first trajectory point is calculated. start1 , the fourth preset formula is as follows:

[0157] Δx start1 =(t cur -t E )*(V xstart1 cosθ start1 -V ystart1 sinθ start1 )

[0158] Among them, t cur Used to indicate the current time, t E It is used to indicate the time corresponding to the previous trajectory point of the trajectory point corresponding to the current time. xstart1 Used to represent the lateral velocity of the vehicle at the first trajectory point, V ystart1 Used to represent the longitudinal velocity of the vehicle at the first trajectory point, θ start1 Used to represent the vehicle's heading angle at the first trajectory point.

[0159] Furthermore, in one embodiment, the first calculation module 20 is used to:

[0160] Substituting the speed and heading angle of the vehicle at the first trajectory point and the time between the moment corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment into the fifth preset formula, a third lateral distance deviation Δy between the vehicle at the first trajectory point and the vehicle at the previous trajectory point of the first trajectory point is calculated. start1 , the fifth preset formula is as follows:

[0161] Δy start1 =(t cur -t E )*(V ystart1 sinθ start1 +V ystart1 cosθ start1 )

[0162] Among them, t cur Used to indicate the current time, t E It is used to indicate the time corresponding to the previous trajectory point of the trajectory point corresponding to the current time. ystart1 Used to represent the longitudinal velocity of the vehicle at the first trajectory point, θ start1 Used to represent the vehicle's heading angle at the first trajectory point.

[0163] Further, in one embodiment, the first trajectory deviation information includes a first longitudinal distance deviation, a first lateral distance deviation, and a first orientation angle deviation, the second trajectory deviation information includes a second longitudinal distance deviation, a second lateral distance deviation, and a second orientation angle deviation, and the lane line information prediction module 40 is used to:

[0164] Based on the first longitudinal distance deviation, the first lateral distance deviation, the second longitudinal distance deviation and the second lateral distance deviation, a distance deviation between a trajectory point of the vehicle at a current moment and a trajectory point immediately before the trajectory point of the vehicle at the current moment is calculated by using a distance calculation formula between two points;

[0165] Calculating a difference between the second orientation angle deviation and the first orientation angle deviation, and using the difference as a fifth orientation angle deviation between the trajectory point of the vehicle at the current moment and the trajectory point of the vehicle before the trajectory point at the current moment;

[0166] The lane line prediction information at the current moment is obtained based on the distance deviation, the fifth orientation angle deviation and the lane line information corresponding to the real lane line information update time closest to the current moment.

[0167] Furthermore, in one embodiment, the lane line information prediction module 40 is used to:

[0168] Substitute the distance deviation, the fifth orientation angle deviation, and the lane line information corresponding to the latest real lane line information update time at the current time into the sixth preset formula to calculate the lane line prediction information at the current time. The sixth preset formula is as follows:

[0169]

[0170] Among them, c0, c1, c2 and c3 are the lane line prediction information at the current moment, c0 is used to represent the lateral distance between the vehicle and the lane line at the current moment, c1 is used to represent the orientation angle of the vehicle at the current moment, c2 is used to represent the curvature of the road at the current moment, and c3 is used to represent the curvature change rate of the road at the current moment. as well as is the lane line information corresponding to the latest real lane line information update time at the current time, It is used to indicate the lateral distance between the vehicle and the lane line corresponding to the latest real lane line information update time at the current time. It is used to indicate the vehicle's orientation angle corresponding to the latest real lane line information update time at the current time. It is used to indicate the curvature of the road corresponding to the latest real lane line information update time. It is used to indicate the curvature change rate of the road corresponding to the latest real lane line information update time.

[0171] Among them, the functional implementation of each module in the above-mentioned lane line information prediction device corresponds to the various steps in the above-mentioned lane line information prediction device method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0172] In a third aspect, an embodiment of the present application provides a lane line information prediction device, which can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0173] Reference Figure 5 , Figure 5 Schematic diagram of the hardware structure of the lane line information prediction device involved in the embodiment of the present application. In the embodiment of the present application, the lane line information prediction device may include a processor, a memory, a communication interface and a communication bus.

[0174] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0175] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, etc., which are used to interconnect the devices inside the lane information prediction device, and an interface used to interconnect the lane information prediction device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0176] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0177] The processor may be a general-purpose processor, and the general-purpose processor may call the lane line information prediction device program stored in the memory and execute the lane line information prediction device method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the lane line information prediction device program is called may refer to the various embodiments of the lane line information prediction device method of the present application, and will not be repeated here.

[0178] Those skilled in the art will understand that Figure 5The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0179] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0180] A lane line information prediction device program is stored on a computer-readable storage medium of the present application, wherein when the lane line information prediction device program is executed by a processor, the steps of the lane line information prediction device method as described above are implemented.

[0181] Among them, the method implemented when the lane line information prediction device program is executed can refer to the various embodiments of the lane line information prediction device method of the present application, and will not be repeated here.

[0182] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0183] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0184] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0185] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0186] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0187] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be reflected in the operation of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, including a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0188] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A lane line information prediction method, characterized in that: The lane line information prediction method comprises: When the current moment satisfies the lane line information prediction conditions and there is at least one trajectory point before the trajectory point corresponding to the current moment, the vehicle driving trajectory point corresponding to the moment when the lane line information was predicted last time is determined as the first marking point, and the vehicle driving trajectory point corresponding to the moment when the real lane line information is updated closest to the current moment is determined as the second marking point; Calculating first track deviation information between the vehicle at the first marking point and the vehicle at the first track point, wherein the first track point is a track point preceding the first marking point; the first track deviation information includes a first longitudinal distance deviation, a first lateral distance deviation, and a first heading angle deviation; Calculating second track deviation information between the vehicle at the second marking point and the vehicle at the second track point, wherein the second track point is a track point before the second marking point; the second track deviation information includes a second longitudinal distance deviation, a second lateral distance deviation, and a second heading angle deviation; Obtaining lane line prediction information at a current moment based on the first trajectory deviation information, the second trajectory deviation information, and the lane line information corresponding to the real lane line information update time closest to the current moment; The lane line information prediction condition is: a. The current time is after the time of the last predicted lane line information; b. The difference between the current time and the time when the lane line information was last predicted is less than a first preset time length; c. The current time is greater than the sum of the time of the last predicted lane line information plus the second preset time length, and less than the sum of the time of the last predicted lane line information plus the third preset time length, wherein the second preset time length is less than the third preset time length; d. There is a real lane line information update moment between the current moment and the last time the lane line information was predicted.

2. The lane line information prediction method according to claim 1, characterized in that: The step of calculating first track deviation information between the vehicle at the first marking point and the vehicle at the first track point comprises: Acquire a third track point adjacent to the first marking point and after the first marking point; Calculating a third longitudinal distance deviation between the vehicle at the first trajectory point and the vehicle at a trajectory point preceding the first trajectory point ; Calculate a fourth longitudinal distance deviation between the vehicle at the third trajectory point and the vehicle at the first marking point ; Based on the third longitudinal distance deviation , the fourth longitudinal distance deviation , the time of last predicted lane line information , the time corresponding to the third trajectory point And the time corresponding to the first trajectory point The first longitudinal distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point is calculated by a first preset formula, and the first preset formula is as follows: in, for indicating a first longitudinal distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point; Calculating a third lateral distance deviation between the vehicle at the first trajectory point and the vehicle at a trajectory point preceding the first trajectory point ; Calculate a fourth lateral distance deviation between the vehicle at the third trajectory point and the vehicle at the first marking point ; Based on the third lateral distance deviation , the fourth lateral distance deviation , the time of last predicted lane line information , the time corresponding to the third trajectory point And the time corresponding to the first trajectory point The first lateral distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point is calculated by a second preset formula, and the second preset formula is as follows: in, used to represent a first lateral distance deviation between the vehicle at the first marking point and the vehicle at the first trajectory point; Calculate the product of the time between the time corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment multiplied by the angular velocity of the vehicle at the first trajectory point, and use the product as the third orientation angle deviation between the vehicle at the first trajectory point and the vehicle at the previous trajectory point of the first trajectory point ; Calculate the product of the time between the time corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment multiplied by the angular velocity of the vehicle at the third trajectory point, and use the product as the fourth orientation angle deviation between the vehicle at the third trajectory point and the vehicle at the first marking point ; Based on the third orientation angle deviation , the fourth orientation angle deviation , the time of last predicted lane line information , the time corresponding to the third trajectory point And the time corresponding to the first trajectory point The first orientation angle deviation between the vehicle at the first marking point and the vehicle at the first trajectory point is calculated by a third preset formula, and the third preset formula is as follows: in, Used to represent a first orientation angle deviation between the vehicle at the first marking point and the vehicle at the first trajectory point, where the orientation angle is the angle between the vehicle and the center line of the lane.

3. The lane line information prediction method according to claim 2, characterized in that: The step of calculating a third longitudinal distance deviation between the vehicle at the first trajectory point and the vehicle at a trajectory point preceding the first trajectory point comprises: Substituting the speed and heading angle of the vehicle at the first trajectory point and the duration between the moment corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment into the fourth preset formula, a third longitudinal distance deviation between the vehicle at the first trajectory point and the vehicle at the previous trajectory point of the first trajectory point is calculated. , the fourth preset formula is as follows: in, Used to indicate the current time. It is used to indicate the time corresponding to the previous track point of the track point corresponding to the current time. Used to represent the longitudinal velocity of the vehicle at the first trajectory point, Used to represent the lateral velocity of the vehicle at the first trajectory point, Used to represent the vehicle's heading angle at the first trajectory point.

4. The lane line information prediction method according to claim 2, characterized in that: The step of calculating a third lateral distance deviation between the vehicle at the first trajectory point and the vehicle at a trajectory point preceding the first trajectory point comprises: Substituting the speed and heading angle of the vehicle at the first trajectory point and the time between the moment corresponding to the previous trajectory point of the trajectory point corresponding to the current moment and the current moment into the fifth preset formula, a third lateral distance deviation between the vehicle at the first trajectory point and the vehicle at the previous trajectory point of the first trajectory point is calculated. , the fifth preset formula is as follows: in, Used to indicate the current time. It is used to indicate the time corresponding to the previous track point of the track point corresponding to the current time. Used to represent the longitudinal velocity of the vehicle at the first trajectory point, Used to represent the vehicle's heading angle at the first trajectory point.

5. The lane line information prediction method according to claim 1, characterized in that: The first trajectory deviation information includes a first longitudinal distance deviation, a first lateral distance deviation, and a first orientation angle deviation, the second trajectory deviation information includes a second longitudinal distance deviation, a second lateral distance deviation, and a second orientation angle deviation, and the step of obtaining lane line prediction information at the current moment based on the first trajectory deviation information, the second trajectory deviation information, and the lane line information corresponding to the latest real lane line information update time at the current moment comprises: Based on the first longitudinal distance deviation, the first lateral distance deviation, the second longitudinal distance deviation and the second lateral distance deviation, a distance deviation between a trajectory point of the vehicle at a current moment and a trajectory point immediately before the trajectory point of the vehicle at the current moment is calculated by using a distance calculation formula between two points; Calculating a difference between the second orientation angle deviation and the first orientation angle deviation, and using the difference as a fifth orientation angle deviation between the trajectory point of the vehicle at the current moment and the trajectory point of the vehicle before the trajectory point at the current moment; The lane line prediction information at the current moment is obtained based on the distance deviation, the fifth orientation angle deviation and the lane line information corresponding to the real lane line information update time closest to the current moment.

6. The lane line information prediction method according to claim 5, characterized in that: The step of obtaining lane line prediction information at the current moment based on the distance deviation, the fifth orientation angle deviation, and the lane line information corresponding to the real lane line information update time closest to the current moment comprises: Substitute the distance deviation, the fifth orientation angle deviation, and the lane line information corresponding to the latest real lane line information update time at the current time into the sixth preset formula to calculate the lane line prediction information at the current time. The sixth preset formula is as follows: in, , , as well as is the lane line prediction information at the current moment, It is used to indicate the lateral distance between the vehicle and the lane line at the current moment. Used to indicate the vehicle's current orientation angle. Used to indicate the curvature of the road at the current moment. It is used to indicate the curvature change rate of the road at the current moment. , , as well as is the lane line information corresponding to the latest real lane line information update time at the current time, It is used to indicate the lateral distance between the vehicle and the lane line corresponding to the latest real lane line information update time at the current time. It is used to indicate the vehicle's orientation angle corresponding to the latest real lane line information update time at the current time. It is used to indicate the curvature of the road corresponding to the latest real lane line information update time. It is used to indicate the curvature change rate of the road corresponding to the latest real lane line information update time.

7. A lane line information prediction device, characterized in that: The lane line information prediction device comprises: A determination module, for determining, when the current moment satisfies the lane line information prediction execution condition and there is at least one trajectory point before the trajectory point corresponding to the current moment, the vehicle driving trajectory point corresponding to the moment when the lane line information was last predicted as the first marking point, and the vehicle driving trajectory point corresponding to the moment when the real lane line information is updated most recently to the current moment as the second marking point; A first calculation module is used to calculate first track deviation information between the vehicle at the first marking point and the vehicle at the first track point, wherein the first track point is a track point before the first marking point; the first track deviation information includes a first longitudinal distance deviation, a first lateral distance deviation and a first heading angle deviation; A second calculation module is used to calculate second track deviation information between the vehicle at the second marking point and the vehicle at the second track point, wherein the second track point is a track point before the second marking point; the second track deviation information includes a second longitudinal distance deviation, a second lateral distance deviation and a second heading angle deviation; A lane line information prediction module, configured to obtain lane line prediction information at a current moment based on the first trajectory deviation information, the second trajectory deviation information, and the lane line information corresponding to the latest real lane line information update moment at the current moment; The lane line information prediction condition is: a. The current time is after the time of the last predicted lane line information; b. The difference between the current time and the time when the lane line information was last predicted is less than a first preset time length; c. The current time is greater than the sum of the time of the last predicted lane line information plus the second preset time length, and less than the sum of the time of the last predicted lane line information plus the third preset time length, wherein the second preset time length is less than the third preset time length; d. There is a real lane line information update moment between the current moment and the last time the lane line information was predicted.

8. A lane line information prediction device, characterized in that: The lane line information prediction device includes a processor, a memory, and a lane line information prediction program stored in the memory and executable by the processor, wherein when the lane line information prediction program is executed by the processor, the steps of the lane line information prediction method as described in any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a lane line information prediction program, wherein when the lane line information prediction program is executed by a processor, the steps of the lane line information prediction method according to any one of claims 1 to 6 are implemented.

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