Lane identification method and device for vehicle, storage medium and electronic equipment

Abstract

The application provides a vehicle lane identification method and device, a storage medium and an electronic device, and comprises the following steps: acquiring each lane line and each lane of a road surface on which a current vehicle travels; determining a lane line index of each lane line and a relative lane index of each lane; acquiring each index mapping relationship, wherein the index mapping relationship comprises a lane line index and a relative lane index corresponding to the lane line index; determining a target lane line closest to the target vehicle as a target lane line, and determining a target index mapping relationship in each index mapping relationship; and determining a lane represented by the relative lane index in the target index mapping relationship as a lane to which the target vehicle belongs. Based on the positional relationship between the vehicle and the target lane line and the index mapping relationship between the relative lane index of the lane and the lane line index of the lane line, the lane to which the vehicle belongs is determined, without relying on a map database, so that the lane determination error caused by the out-of-date map database is avoided.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and in particular to a method and device for identifying the lane to which a vehicle belongs, a storage medium, and an electronic device. Background Technology

[0002] When intelligent driving technology is applied to vehicles, the vehicles can perceive their environment and identify the lane to which they belong. Currently, the method for identifying the lane of a vehicle on the road can be to use image processing algorithms to detect lane-related feature information, extract the data, and perform feature matching with a map database to determine the lane to which the vehicle belongs.

[0003] Traditional methods of determining a vehicle's lane are prone to errors due to outdated map databases. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a method and apparatus for identifying the lane to which a vehicle belongs, a storage medium and an electronic device. By applying the present invention, the lane to which a vehicle belongs can be determined without relying on a map database, thereby improving the accuracy of determining the lane to which a vehicle belongs.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] A method for identifying the lane a vehicle belongs to includes:

[0007] Obtain the lane markings and lanes of the road surface where the vehicle is currently traveling.

[0008] Determine the lane line index of each lane line, and determine the relative lane index of each lane;

[0009] Based on each lane line index and each relative lane index, obtain each index mapping relationship, wherein the index mapping relationship includes a lane line index and a relative lane index corresponding to that lane line index;

[0010] The lane line closest to the target vehicle is identified as the target lane line, and the target vehicle is the vehicle whose lane it belongs to is to be determined.

[0011] Based on the position information of the target vehicle and the target lane line, a target index mapping relationship is determined in each of the index mapping relationships;

[0012] The lane represented by the relative lane index in the target index mapping relationship is determined as the lane to which the target vehicle belongs.

[0013] Optionally, in the above method, determining the target index mapping relationship among the various index mapping relationships based on the position information of the target vehicle and the target lane line includes:

[0014] Determine the reference direction when obtaining the index mapping relationship, wherein the reference direction is either the left or the right.

[0015] Based on the location information, the position and direction of the target vehicle on the target lane line are determined, wherein the position and direction is either left or right;

[0016] When the reference direction is the same as the position direction, the index mapping relationship that does not have a special identifier and is the target lane line is determined as the target index mapping relationship;

[0017] When the reference direction is not the same as the position direction, determine whether the target lane line is the boundary lane line of the reference direction;

[0018] If the target lane line is the boundary lane line of the reference direction, then the index mapping relationship that has a special identifier and is the target lane line is determined as the target index mapping relationship;

[0019] If the target lane line is not the boundary lane line of the reference direction, then in the position direction of the target lane line, the index mapping relationship of the lane line closest to the target lane line is determined as the target index mapping relationship.

[0020] The above methods may also include:

[0021] Among the target vehicles, the target vehicle that belongs to the same lane as the current vehicle and is located in front of the current vehicle is identified as the first vehicle;

[0022] Determine the distance between each of the first vehicles and the current vehicle;

[0023] The driving strategy of the current vehicle is adjusted based on each of the distances.

[0024] Optionally, the method described above includes obtaining the lane markings and lanes of the road surface currently being traveled by the vehicle, which may include:

[0025] Establish a vehicle coordinate system with the current vehicle as the origin;

[0026] Obtain the lane outline information of the road surface on which the current vehicle is traveling;

[0027] In the vehicle coordinate system, the lane line contour information is processed to obtain each lane line;

[0028] Each lane is determined based on the lane lines described above.

[0029] Optionally, in the above method, processing the lane line contour information in the vehicle coordinate system to obtain each lane line includes:

[0030] In the vehicle coordinate system, the lane line contour information is processed to obtain at least two lane lines;

[0031] The lane lines are grouped to obtain at least one lane line group, and the lane line group contains two adjacent lane lines.

[0032] Obtain the lane width between two lane lines in each lane line group;

[0033] Based on the preset standard lane width and each lane width, determine whether there is a lane line group that meets the preset lane line insertion conditions;

[0034] When a lane line group that meets the lane line insertion conditions exists, the lane line group that meets the lane line insertion conditions is determined as the target lane line group, and based on the standard lane width and the lane width of the target lane line group, an insertion lane line is added to the two lane lines of the target lane line group.

[0035] Optionally, in the above method, determining the lane index of each lane line includes:

[0036] Based on preset index allocation rules, lane line indices are assigned to each lane line.

[0037] Optionally, in the above method, determining the relative lane index of each of the lanes includes:

[0038] The lane currently occupied by the vehicle is designated as the reference lane;

[0039] Assign a standard index number to the reference lane as its relative lane index;

[0040] Determine the position information of each remaining lane relative to the reference lane, and determine the relative lane index of each remaining lane based on the position information of each remaining lane.

[0041] Optionally, in the above method, determining the lane line closest to the target vehicle as the target lane line includes:

[0042] Determine the vehicle center coordinates of the target vehicle in the vehicle coordinate system;

[0043] Based on the vehicle center coordinates, determine the lateral and vertical distances from the target vehicle to each lane line;

[0044] The lane line corresponding to the shortest horizontal and vertical distance is determined as the target lane line.

[0045] A vehicle lane identification device, comprising:

[0046] The first acquisition unit is used to acquire the lane lines and lanes of the road surface where the vehicle is currently traveling.

[0047] The first determining unit is configured to determine the lane line index of each lane line and the relative lane index of each lane.

[0048] The second acquisition unit is used to acquire each index mapping relationship based on each lane line index and each relative lane index, wherein the index mapping relationship includes a lane line index and a relative lane index corresponding to the lane line index;

[0049] The second determining unit is used to determine the lane line closest to the target vehicle as the target lane line, wherein the target vehicle is the vehicle to be determined to belong to the lane.

[0050] The third determining unit is used to determine the target index mapping relationship in each of the index mapping relationships based on the position information of the target vehicle and the target lane line;

[0051] The fourth determining unit is used to determine the lane represented by the relative lane index in the target index mapping relationship as the lane to which the target vehicle belongs.

[0052] The aforementioned apparatus may optionally further include:

[0053] The fifth determining unit is used to determine, among the target vehicles, the target vehicle that belongs to the same lane as the current vehicle and is located in front of the current vehicle as the first vehicle;

[0054] The sixth determining unit is used to determine the distance between each of the first vehicles and the current vehicle;

[0055] An adjustment unit is used to adjust the driving strategy of the current vehicle based on each of the distances.

[0056] Optionally, in the aforementioned apparatus, the first acquisition unit includes:

[0057] Establish a sub-unit to create a vehicle coordinate system with the current vehicle as the origin;

[0058] The first acquisition subunit is used to acquire lane line contour information of the road surface on which the current vehicle is traveling;

[0059] The second acquisition subunit is used to process the lane line contour information in the vehicle coordinate system to acquire each lane line;

[0060] The first determining subunit is used to determine each lane based on each of the lane lines.

[0061] Optionally, in the aforementioned apparatus, the second acquisition subunit includes:

[0062] The processing module is used to process the lane line contour information in the vehicle coordinate system to obtain at least two lane lines.

[0063] A grouping module is used to group the lane lines to obtain at least one lane line group, wherein the lane line group contains two adjacent lane lines.

[0064] The acquisition module is used to acquire the lane width between two lane lines in each lane line group;

[0065] The determination module is used to determine, based on the preset standard lane width and each lane width, whether there is a lane line group that meets the preset lane line insertion conditions;

[0066] The insertion module is used to determine the lane line group that meets the lane line insertion conditions as the target lane line group when there is a lane line group that meets the lane line insertion conditions, and to add an insertion lane line to the two lane lines of the target lane line group based on the standard lane width and the lane width of the target lane line group.

[0067] Optionally, the first determining unit in the aforementioned apparatus includes:

[0068] The first allocation subunit is used to allocate lane line indexes to each of the lane lines based on a preset index allocation rule.

[0069] Optionally, the first determining unit in the aforementioned apparatus includes:

[0070] The second determining subunit is used to determine the lane where the current vehicle is located as the reference lane;

[0071] The second allocation subunit is used to allocate a standard index number to the reference lane as a relative lane index of the reference lane;

[0072] The third determining subunit is used to determine the position information of each remaining lane relative to the reference lane, and to determine the relative lane index of each remaining lane based on the position information of each remaining lane.

[0073] Optionally, the second determining unit in the aforementioned apparatus includes:

[0074] The fourth determining subunit is used to determine the vehicle center coordinates of the target vehicle in the vehicle coordinate system;

[0075] The fifth determining subunit is used to determine the lateral and vertical distances from the target vehicle to each of the lane lines based on the vehicle center coordinates;

[0076] The sixth determination sub-unit is used to determine the lane line corresponding to the shortest lateral and vertical distance as the target lane line.

[0077] Optionally, the third determining unit in the aforementioned apparatus includes:

[0078] The seventh determining subunit is used to determine the reference direction when obtaining the index mapping relationship, wherein the reference direction is the left or the right.

[0079] The eighth determining subunit is used to determine the position and direction of the target vehicle on the target lane line based on the position information, wherein the position and direction is left or right;

[0080] The ninth determining subunit is used to determine the index mapping relationship that does not have a special identifier and is the target lane line as the target index mapping relationship when the reference direction is the same as the position direction;

[0081] The tenth determining subunit is used to determine whether the target lane line is the boundary lane line of the reference direction when the reference direction is not the same as the position direction.

[0082] The eleventh determining subunit is used to determine the index mapping relationship that has a special identifier and is the target lane line as the target index mapping relationship if the target lane line is the boundary lane line of the reference direction.

[0083] The twelfth determining subunit is used to determine the index mapping relationship of the lane line closest to the target lane line as the target index mapping relationship if the target lane line is not the boundary lane line of the reference direction.

[0084] A storage medium comprising stored instructions, wherein, when the instructions are executed, a device containing the storage medium is configured to perform the vehicle lane identification method as described above.

[0085] An electronic device includes a memory and one or more instructions, wherein one or more instructions are stored in the memory and configured to be executed by one or more processors as described above for vehicle lane identification method.

[0086] Compared with the prior art, the present invention has the following advantages:

[0087] This invention provides a method, apparatus, storage medium, and electronic device for identifying the lane a vehicle belongs to. The method includes: acquiring lane lines and lanes on the road surface currently being traveled by the vehicle; determining lane line indices for each lane line and relative lane indices for each lane; acquiring index mapping relationships based on the lane line indices and relative lane indices, wherein each index mapping relationship includes a lane line index and a corresponding relative lane index; identifying the lane line closest to a target vehicle as the target lane line, and the target vehicle as the vehicle whose lane it belongs to; determining a target index mapping relationship based on the positional information of the target vehicle and the target lane line; and identifying the lane represented by the relative lane index in the target index mapping relationship as the lane to which the target vehicle belongs. In the process of identifying the lane a vehicle belongs to, after determining the target lane line, the lane a vehicle belongs to can be accurately determined based on the positional relationship between the vehicle and the target lane line, and the index mapping relationship between the relative lane index and the lane line index, without relying on a map database, thus avoiding errors in lane determination due to untimely map database updates. Attached Figure Description

[0088] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0089] Figure 1 This is a flowchart of a method for identifying the lane a vehicle belongs to, provided by an embodiment of the present invention.

[0090] Figure 2 A flowchart of a method for processing lane line contour information and obtaining each lane line in a vehicle coordinate system, provided in an embodiment of the present invention;

[0091] Figure 3 Example diagrams of road lane lines and lanes provided in embodiments of the present invention;

[0092] Figure 4 A flowchart illustrating a method for determining the relative lane index of each lane according to an embodiment of the present invention;

[0093] Figure 5 This is another flowchart of the vehicle lane identification method provided in an embodiment of the present invention;

[0094] Figure 6 This is another example diagram of lane markings and lanes on a road surface provided in an embodiment of the present invention;

[0095] Figure 7 This is another example diagram of lane markings and lanes on a road surface provided in an embodiment of the present invention;

[0096] Figure 8 This is a schematic diagram of the structure of a vehicle lane identification device provided in an embodiment of the present invention;

[0097] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0098] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0099] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0100] Currently, intelligent driving technology is widely used in vehicles. In the field of intelligent driving, identifying the lane a vehicle belongs to is crucial when the vehicle perceives its environment. Existing solutions mainly include: obtaining the vehicle's location and direction using a GPS positioning system, combined with direction and distance sensors to obtain vehicle position information; or using image processing algorithms to detect lane-related feature information, extracting data and matching it with map databases to determine the target vehicle's lane. However, obtaining lane information through GPS systems and direction and distance sensors is complex, costly, and in some areas, the received information is not updated in a timely manner, differing from actual road conditions, ultimately failing to determine the target vehicle's lane. In solutions that rely entirely on lane feature information to determine the target vehicle's lane, inaccurate extraction of lane feature information will lead to inaccurate lane identification.

[0101] To address the aforementioned problems, this invention provides a method and apparatus for identifying the lane a vehicle belongs to, a storage medium, and an electronic device. When determining the lane a vehicle belongs to, it does not rely on a map database. After determining the index mapping relationship between each lane and lane line, the lane line closest to the vehicle is identified as the target lane line. Then, based on the index mapping relationship and the positional relationship between the vehicle and the target lane line, the lane the vehicle belongs to is determined. This eliminates the dependence on a map database, avoids errors in lane identification due to untimely updates of the map database, and improves the accuracy of lane identification.

[0102] This invention can be used in a wide variety of general-purpose or special-purpose computing environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor devices, distributed computing environments including any of the above devices, etc.

[0103] The method provided by this invention is used in a vehicle or a vehicle's intelligent driving system, and the executing entity can be the vehicle's processor or the intelligent driving system's processor.

[0104] Reference Figure 1 The following is a flowchart of a method for identifying the lane a vehicle belongs to, provided by an embodiment of the present invention.

[0105] S101. Obtain the lane lines and lanes of the road surface where the vehicle is currently traveling.

[0106] In the method provided by this invention, a road surface image of the road surface on which the current vehicle is traveling is acquired by an image acquisition device installed on the current vehicle. A vehicle coordinate system is established with the current vehicle as the origin. Based on the vehicle coordinate system, the road surface image is processed to obtain lane lines and lanes. Preferably, when establishing the vehicle coordinate system, the rear axle center of the current vehicle is taken as the origin, the forward direction of the current vehicle is the positive x-axis direction of the vehicle coordinate system, the leftward direction of the current vehicle is the positive y-axis direction of the vehicle coordinate system, and the upward direction of the current vehicle is the positive z-axis direction of the vehicle coordinate system.

[0107] For example, a vehicle coordinate system is established with the current vehicle as the origin; the lane line contour information of the road surface on which the current vehicle is traveling is obtained; the lane line contour information is processed in the vehicle coordinate system to obtain each lane line; and each lane is determined based on each lane line.

[0108] It should be noted that the road surface image of the road surface on which the current vehicle is traveling is acquired by an image acquisition device installed on the current vehicle. Based on a deep learning network model and a traditional edge detection image segmentation algorithm, lane line contour information is extracted from the road surface image. The lane line contour information includes the lane lines and lane information identified from the road surface image. Preferably, the image acquisition device can be a device that applies camera post-fusion technology.

[0109] After obtaining the lane line contour information, the lane line contour information is processed in the vehicle coordinate system to obtain each lane line. Preferably, different lane lines can be represented by different lane line fitting equations; each lane can be determined based on each lane line.

[0110] For example, in the vehicle coordinate system, the lane line contour information can be binarized, and the center points of each lane line contour can be calculated. Then, the center points of each lane line contour can be fitted to obtain the lane line fitting equation for each contour center point. For example, the lane line fitting equation can be expressed as: y = C0 + C1 × x + C2 × x 2 +C3×x 3 Where C0, C1, C2, and C3 represent the coefficients of the fitting equations; the coefficients of each fitting equation may be different, and the coefficients of each fitting equation for different lane lines may also be different. For each fitting equation system of each lane line, the coordinates of the points on the lane line can be fitted by mathematical methods; (x, y) represents the coordinates of the points on the lane line in the vehicle coordinate system.

[0111] Preferably, when determining each lane based on each lane line, the lane can be determined by two adjacent lane lines, that is, a lane is formed between two adjacent lane lines.

[0112] Reference Figure 2 The following is a flowchart of a method for processing lane line contour information in a vehicle coordinate system to obtain each lane line, as provided in an embodiment of the present invention.

[0113] S201. In the vehicle coordinate system, process the lane line contour information to obtain at least two lane lines.

[0114] The lane line contour information includes the lane line contours extracted from the road surface image and information about each lane line contour.

[0115] In the vehicle coordinate system, the lane line contour information is binarized, the center point of the lane line contour is calculated and then processed to obtain at least two lane lines. As mentioned above, the lane lines can be represented by the lane fitting line equation, which will not be explained here.

[0116] S202. Group the lane lines to obtain at least one lane line group, and each lane line group contains two adjacent lane lines.

[0117] When grouping lane lines, two adjacent lane lines are grouped together, meaning that a lane line group contains two adjacent lane lines.

[0118] S203. Obtain the lane width between two lane lines in each lane line group.

[0119] Two lane lines in a lane line group form a lane. Determining the lane width between two lane lines is essentially determining the lane width of the lane formed by the two lane lines.

[0120] S204. Based on the preset standard lane width and the width of each lane, determine whether there is a lane line group that meets the preset lane line insertion conditions.

[0121] It should be noted that due to factors such as tire friction, weathering, and paint peeling, lane markings on the road surface may become unclear or disappear. In such cases, lane markings cannot be identified, resulting in missed lane markings.

[0122] Therefore, based on the preset standard lane width and the width of each lane, the present invention determines whether there is a lane line group that meets the preset lane line insertion conditions. The standard lane width can be set according to actual needs, such as the width of the lanes stipulated by the state. Preferably, different types of lanes can be equipped with different widths.

[0123] If a lane marking group meets the preset lane marking insertion conditions, it indicates that there are missed lane markings in that lane marking group. The specific process for determining whether a lane marking group meets the preset lane marking insertion conditions is as follows: divide the lane width of the lane marking group by the standard lane width, round the quotient to obtain the target value, and determine whether the target value is greater than 1. If the target value is greater than 1, the lane marking group is determined to meet the lane marking insertion conditions, meaning that there are missed lane markings. If the target value is less than or equal to 1, the lane marking group is determined not to meet the lane marking insertion conditions, meaning that there are no missed lane markings.

[0124] For example, the quotient can be rounded down as follows: if the quotient is 1.2, 1.0, or 1.9, the target value is 1; if the quotient is 2.0, 2.1, or 2.8, the target value is 2.

[0125] S205. When there is a lane line group that meets the lane line insertion conditions, the lane line group that meets the lane line insertion conditions is determined as the target lane line group, and based on the standard lane width and the lane width of the target lane line group, an insertion lane line is added to the two lane lines of the target lane line group.

[0126] It should be noted that when there is no lane line group that meets the lane line insertion conditions, the lane lines obtained in step S201 are the final lane lines.

[0127] When there is a lane line group that meets the lane line insertion conditions, a lane line needs to be inserted into the lane line group that meets the lane line insertion conditions. The final lane lines are the inserted lane lines and the lane lines obtained in step S201.

[0128] Furthermore, when inserting lane lines into the target lane line group, the insertion can be based on the target value described in step S204 above, and the number of lane lines to be inserted is the target value - 1; for example, when the target value is 2, the number of lane lines to be inserted is 1. (Refer to...) Figure 3 This is an example diagram of lane lines and lanes on a road surface provided in an embodiment of the present invention. Lane line 1 and lane line 4 are two adjacent lanes in the target lane line group, and lane line 2 and lane line 3 are inserted lane lines. The lane width between lane line 1 and lane line 4 is equal to three times the standard lane width.

[0129] When inserting lane lines, they can be inserted at equal intervals or based on a preset width. When inserting at equal intervals, the distance between the last adjacent lane lines in the target lane line group is equal. When inserting based on a preset width, any lane line in the target lane line group is used as the reference lane line, and the remaining lane lines are non-reference lane lines. Then, lane lines are inserted one by one based on the preset width until the number of inserted lane lines equals the number of lane lines to be inserted. Furthermore, in the reference lane line and each inserted lane line, the distance between two adjacent lane lines is the preset width, and the distance between the last inserted lane line and the non-reference lane line is greater than or equal to the preset width.

[0130] Preferably, the inserted lane lines can also be represented using lane line fitting equations.

[0131] The method provided in this embodiment of the invention checks for any missed lane lines when determining each lane line. If a lane line is missed, it needs to be inserted, thereby accurately determining all lane lines and lanes on the road surface. This avoids errors in determining the lane to which a vehicle belongs due to missed lane lines and improves the accuracy of determining the lane to which a vehicle belongs.

[0132] S102. Determine the lane line index for each lane and the relative lane index for each lane.

[0133] After determining each lane line, a lane line index is assigned to each lane line based on a preset index allocation rule. This rule includes the order in which lane line indices are assigned; for example, lane line indices are assigned sequentially from left to right. For instance, integers can be used as lane line indices, starting from 0 during allocation. Figure 3 As shown, there are 4 lane line indices, so the lane line indices from left to right are 0, 1, 2, 3.

[0134] You can also assign lane indexes to each lane line from right to left.

[0135] Preferably, lane line indices can be assigned before inserting lane lines, and then all lane line indices can be updated after inserting lane lines.

[0136] Furthermore, the relative lane index of a lane can be represented using integers.

[0137] Reference Figure 4 The following is a flowchart of a method for determining the relative lane index of each lane according to an embodiment of the present invention, which is described in detail below.

[0138] S301. The lane currently occupied by the vehicle is designated as the reference lane.

[0139] like Figure 3 As shown, the lane currently occupied by the vehicle is designated as the reference lane.

[0140] S302. Assign a standard index number to the reference lane as the relative lane index of the reference lane.

[0141] Preferably, the standard index number can be fixed, for example, 0; using 0 as the standard index number, therefore, the relative lane index of the standard lane is 0.

[0142] S303. Determine the position information of each remaining lane relative to the reference lane, and determine the relative lane index of each remaining lane based on the position information of each remaining lane.

[0143] It should be noted that the position information of the remaining lanes relative to the standard lanes includes whether the remaining lanes are to the left or right of the standard lanes, and whether there are other lanes between them. Different types of values ​​can be used to distinguish between lanes located to the left of the reference lane and lanes located to the right of the reference lane.

[0144] For the remaining lanes to the left of the reference lane, assign relative lane indices sequentially from right to left; for the remaining lanes to the right of the reference lane, assign relative lane indices sequentially from left to right. Negative integers can be used as the relative lane indices for the remaining lanes on the left, starting from -1. For example, if there are two lanes to the left of the reference lane, their relative lane indices from right to left are -1 and -2, respectively. Positive integers can be used as the relative lane indices for the remaining lanes on the right, starting from 1. For example, if there are two lanes to the right of the reference lane, their relative lane indices from left to right are 1 and 2, respectively. Figure 3 As shown, the relative lane index of the lane to the left of the reference lane is -1, and the relative lane index of the lane to the right of the reference lane is 1.

[0145] S103. Based on each lane line index and each relative lane index, obtain each index mapping relationship. The index mapping relationship includes the lane line index and the relative lane index corresponding to the lane line index.

[0146] Preferably, the structure of the index mapping relationship can be: <lane line index, relative lane index>. The index mapping relationship reflects the relationship between lane lines and relative lanes. Since a lane line may be a shared lane line for two lanes, when constructing each index mapping relationship, it is necessary to determine which side of the lane line index corresponds to. In other words, it is necessary to determine the reference direction of the relative lane of the lane line index line, i.e., to determine the reference direction. This reference direction can be used as the reference direction of this invention, which is either left or right. For example, if the lane line index corresponds to the left lane, the left side is used as the reference direction; if the lane line index corresponds to the right lane, the right side of the lane line is used as the reference direction. The reference direction can be set according to actual needs.

[0147] Reference Figure 3 For example, when the right side is used as the reference direction, the resulting index mapping relationships are <0, -1>, <1, 0>, <2, 1>; when the left side is used as the reference direction, the resulting index mapping relationships are <3, 1>, <2, 0>, <1, -1>. Preferably, regardless of whether the left or right side of the lane line is used as the reference direction, lane lines located at the boundary have an index mapping relationship indicating that the vehicle is not in any lane. This index mapping relationship includes the lane line index of the boundary lane line and the relative lane index indicating that the vehicle is not in any lane. Preferably, the relative lane index indicating that the vehicle is not in any lane can be represented by -1000, where the relative lane index indicates that the vehicle is not in any lane. Figure 3For example, the index mapping relationship of the lane line on the right boundary is <3, -1000>; the index mapping relationship of the lane line on the left boundary is <0, -1000>.

[0148] Furthermore, when obtaining the index mapping relationship with the reference direction, each lane line has an index mapping relationship. Among them, the boundary lane line in the reference direction has two index mapping relationships. One index mapping relationship indicates that the vehicle is traveling within the lane, and the other index mapping relationship indicates that the vehicle is traveling outside the lane. A special identifier is added to the index mapping relationship indicating that the vehicle is traveling outside the lane to indicate that the index mapping relationship is special. Specifically, the special feature is that the index mapping relationship is obtained in the opposite direction of the reference direction. By adding a special identifier, it is characterized that the index mapping relationship indicates that the vehicle is traveling outside the lane and belongs to the boundary lane line of the reference direction, thereby distinguishing the two index mapping relationships of the boundary lane in the reference direction.

[0149] S104. The lane line closest to the target vehicle is identified as the target lane line, and the target vehicle is the vehicle in the lane to be determined.

[0150] The target vehicle is the vehicle traveling on the same road surface as the current vehicle, and it is necessary to determine which lane it belongs to.

[0151] When determining the lane line closest to the target vehicle, you can first determine the vehicle center coordinates in the vehicle coordinate system; based on the vehicle center coordinates, determine the lateral and vertical distances from the target vehicle to each lane line; and determine the lane line corresponding to the shortest lateral and vertical distance as the target lane line.

[0152] Furthermore, when determining the vehicle center coordinates of the target vehicle, the post-fusion technology of LiDAR and camera can be used to obtain the stable tracking output of the target vehicle's vehicle center coordinates in the vehicle coordinate system.

[0153] S105. Based on the position information of the target vehicle and the target lane line, determine the target index mapping relationship in each index mapping relationship.

[0154] The position information of the target vehicle relative to the target lane line includes whether the target vehicle is located to the left or right of the target lane line.

[0155] The process for determining the target index mapping relationship is as follows:

[0156] Determine the reference direction when obtaining the index mapping relationship; the reference direction is either left or right.

[0157] Based on location information, determine the position and direction of the target vehicle on the target lane line, which is either left or right.

[0158] When the reference direction is the same as the position direction, the index mapping relationship that does not have special markings and is the target lane line is determined as the target index mapping relationship;

[0159] When the reference direction and the position direction are not the same, determine whether the target lane line is the boundary lane line of the reference direction;

[0160] If the target lane line is the boundary lane line in the reference direction, then the index mapping relationship that has special identification and is the target lane line will be determined as the target index mapping relationship;

[0161] If the target lane line is not the boundary lane line of the reference direction, then in the position direction of the target lane line, the index mapping relationship of the lane line closest to the target lane line is determined as the target index mapping relationship.

[0162] It should be noted that the special markings are used to indicate the index mapping relationship of the boundary lane lines of vehicles that are not located in any lane and belong to the reference direction.

[0163] The process of determining the target index mapping relationship described above will be illustrated with a specific example:

[0164] When lane index values ​​correspond to the right lane (i.e., using the right as the reference direction), and the target vehicle is to the right of the target lane line (its position direction is right), the index relationship of the target lane line is determined as the target index mapping relationship. It should be noted that if the target lane line is the right boundary lane line, the target vehicle is not traveling in the lane. If the target vehicle is to the left of the target lane line (its position direction is left), it is determined whether the target lane line is the left boundary lane line. If the target lane line is the left boundary lane line, the index mapping relationship with a special identifier that is the target lane line is determined as the target index mapping relationship. In other words, among the two index mapping relationships of the left boundary lane line, the index mapping relationship with the special identifier is determined as the target index mapping relationship, indicating that the target vehicle is not traveling in the lane. If the target lane line is not the left boundary lane line, the index mapping relationship of the lane line closest to the target lane line in the position direction of the target lane line is determined as the target index mapping relationship. In other words, the index mapping relationship of the lane line located to the left of the target lane line and closest to the target lane line is determined as the target index mapping relationship.

[0165] When lane index values ​​correspond to the left lane (i.e., using the left as the reference direction) to obtain various index mapping relationships, if the target vehicle is to the left of the target lane line (its position direction is left), then the index relationship of the target lane line is determined as the target index mapping relationship. It should be noted that if the target lane line is the left boundary lane line, the target vehicle is not traveling in the lane. If the target vehicle is to the right of the target lane line (its position direction is right), then it is determined whether the target lane line is the right boundary lane line. If the target lane line is the right boundary lane line, then the index mapping relationship with a special identifier that is the target lane line is determined as the target index mapping relationship. In other words, among the two index mapping relationships of the right boundary lane line, the index mapping relationship with the special identifier is determined as the target index mapping relationship, indicating that the target vehicle is not traveling in the lane. If the target lane line is not the right boundary lane line, then in the position direction of the target lane line, the index mapping relationship of the lane line closest to the target lane line is determined as the target index mapping relationship. In other words, the index mapping relationship of the lane line located to the right of the target lane line and closest to the target lane line is determined as the target index mapping relationship.

[0166] S106. Determine the lane represented by the relative lane index in the target index mapping relationship as the lane to which the target vehicle belongs.

[0167] The method provided in this embodiment of the invention involves: acquiring the lane lines and lanes of the road surface currently being traveled by the vehicle; determining the lane line index and the relative lane index of each lane; obtaining index mapping relationships based on the lane line index and the relative lane index, where each index mapping relationship includes the lane line index and the corresponding relative lane index; identifying the lane line closest to the target vehicle as the target lane line, and the target vehicle as the vehicle to be assigned to the lane; determining the target index mapping relationship based on the position information of the target vehicle and the target lane line; and identifying the lane represented by the relative lane index in the target index mapping relationship as the lane to which the target vehicle belongs. In the process of identifying the lane to which a vehicle belongs, after determining the target lane line, the lane to which the vehicle belongs can be accurately determined based on the positional relationship between the vehicle and the target lane line, as well as the index mapping relationship between the relative lane index and the lane line index, without relying on a map database, thus avoiding errors in lane determination due to untimely map database updates.

[0168] Preferably, the present invention can determine the lanes of multiple target vehicles. Among the target vehicles, the target vehicle that belongs to the same lane as the current vehicle and is located in front of the current vehicle is identified as the first vehicle. The distance between each first vehicle and the current vehicle is determined. Based on each distance, the driving strategy of the current vehicle is adjusted. Preferably, after determining the distance between each first vehicle and the current vehicle, the distance with the smallest value is determined as the evaluation distance. Then, the driving strategy of the current vehicle is adjusted based on the evaluation distance. Further, the evaluation distance can be used to assess whether the current vehicle and the first vehicle corresponding to the evaluation distance maintain a safe distance. If not, when adjusting the vehicle's driving strategy, a warning can be displayed to remind the driver, or the vehicle can automatically decelerate to maintain a safe distance from the first vehicle corresponding to the evaluation distance.

[0169] Reference Figure 5 The following is another flowchart of the vehicle lane identification method provided in the embodiments of the present invention, which is described in detail below.

[0170] (1) Establish a vehicle coordinate system with the center of the rear axle of the current vehicle as the origin, the forward direction of the current vehicle as the positive x-axis of the vehicle coordinate system, the left direction as the positive y-axis of the vehicle coordinate system, and the upward direction as the positive z-axis of the vehicle coordinate system.

[0171] (2) By using the post-fusion technology of lidar and camera, the stable tracking output of the target vehicle's center coordinates (x, y, z) in the vehicle coordinate system is obtained; the target vehicle here can be referenced Figure 1 Description of the target vehicle.

[0172] (3) Based on the image processing algorithm, the lane line detection results are obtained, and the fitting equations of each lane line are obtained in the vehicle coordinate system, that is, each lane line is obtained.

[0173] Specifically, based on deep learning network models and traditional edge detection image segmentation algorithms, the road surface image of the current vehicle's travel path is processed to extract lane line contour information. In the vehicle coordinate system, the lane line contour information is binarized, and post-processing operations such as calculating lane line contour center points are performed. The center points of each lane line contour are then fitted to obtain the lane line fitting equation, thus obtaining each lane line. The lane line fitting equation can be expressed as: y = C0 + C1 × x + C2 × x 2 +C3×x 3 Where C0, C1, C2, and C3 represent the coefficients of the fitting equations. The coefficients of each fitting equation may be different, and the coefficients of each fitting equation for different lane lines may also be different. For each fitting equation system of each lane line, the coordinates of the points on the lane line can be fitted by mathematical methods; (x, y) represents the coordinates of the points on the lane line in the vehicle coordinate system.

[0174] (4) It is necessary to verify whether there are any missed lane line detections. Specifically, this can be done by: verifying the calculation of adjacent lane line widths. If the width is greater than or equal to a multiple of the national standard lane width threshold of 350cm, then insert the lane line fitting equation and update the lane line index. The lane line index refers to defining the lane line detection results from left to right as 0, 1, 2…, such as… Figure 6 As shown; Figure 6 The vehicle in the text refers to the current vehicle, and target 1 refers to target vehicle 1.

[0175] The process iterates through the lane line detection results, determining whether the lateral difference between adjacent lane lines is greater than or equal to a multiple of the national standard lane width threshold of 350cm. If so, the fitting equation for the missed lane line is calculated and inserted, and the lane line index is updated. It should be noted that this process is equivalent to determining whether a lane line group exists that meets the insertion conditions, and if so, inserting the lane line content; the national standard lane width threshold here is equivalent to the standard lane width mentioned above.

[0176] like Figure 6 As shown, the lane detection results include lane 0 and lane 1. Since their widths are calculated to be twice the lane width threshold of 350cm, two lane lines are inserted, and the lane line indices are updated to 0, 1, 2, and 3. The fitting equation coefficients C'0, C'1, C'2, and C'3 for the inserted lane 1 and lane 2 are consistent with those for lane 0. The fitting equation coefficients for lane 1 are C'0 = C0 - 1 × 350, and for lane 2 are C'0 = C0 - 2 × 350, where C0 is the fitting equation coefficient for lane 0.

[0177] It should be noted that the determination of the fitting equation coefficient C'0 is related to the nth lane line inserted. The general formula for the fitting equation coefficient C'0 of the i-th inserted lane line is: C'0 = C0 - i * H, where C0 is the fitting equation coefficient in the determined lane line fitting equation, i is the nth lane line inserted, and H is the national standard lane width threshold. For example, when inserting to the right using subtraction, in the vehicle coordinate system, the left side of the current vehicle is the positive y-axis. Therefore, when inserting to the right, subtract N times the lane width from the previous C0, where the lane width is the national standard lane width threshold.

[0178] (5) Obtain the relative lane index based on the lane line index. Define the lane index of the lane currently being traveled as 0, and define the lanes to the left of the current vehicle as -1, -2, -3…, and the lanes to the right of the current vehicle as 1, 2, 3… respectively. In the vehicle coordinate system, define the mapping relationship between each lane line index and the relative lane index: <lane line index, relative lane index>. The obtained lane line fitting equation and lane line index are used to obtain the mapping relationship between the lane line index and the relative lane index through the vehicle's position coordinates (0, 0). This mapping relationship is equivalent to the index mapping relationship mentioned above.

[0179] For example, in Figure 6 In the diagram, the lane indexes are 0, 1, 2, 3. The current vehicle is located between lane line 1 and lane line 2. According to the definition of relative lane index, the mapping relationship between lane line index and relative lane index is obtained: <0, -1>, <1, 0>, <2, 1>. If the target vehicle is outside the left boundary lane line 0 or the right boundary lane line 3, its relative lane index value is defined as -1000.

[0180] (6) Based on the vehicle center coordinates of the target vehicle, determine the index of the lane line with the closest horizontal and vertical distance, and further determine the positional relationship between the target vehicle and the lane line.

[0181] If the target vehicle is on the right side of the lane line, the lane to which the target vehicle belongs is the relative lane index corresponding to the lane line index; if the target vehicle is on the left side of the lane line, the lane to which the target vehicle belongs is the relative lane index corresponding to the previous index of the lane line.

[0182] For example, determining the lane to which the target vehicle belongs is as described in steps S1 and S2 below, specifically as follows:

[0183] Step 1: Based on the target vehicle's center coordinates, calculate its lateral and perpendicular distances to each lane line, and find the index of the nearest lane line. For example, in... Figure 6 In the middle, the center position coordinates of target vehicle 1 are (x1, y1), and its horizontal and vertical distances to lane line 3 are the closest. Record the lane line index value 3; execute step S2;

[0184] Step S2: Based on the lateral coordinates of the target vehicle's center position, determine its positional relationship with the nearest lane line determined in S1. If the target vehicle is to the right of the lane line, based on the mapping relationship obtained above, determine the lane to which the target vehicle belongs as the mapping value of the lane line index; if the target vehicle is to the left of the lane line, based on the mapping relationship obtained above, determine the lane to which the target vehicle belongs as the mapping value of the previous index of the lane line. Figure 6In the analysis, target vehicle 1 is closest to lane line 3 in both lateral and vertical distances, and is located to the left of lane line 3. According to the determination rule, the mapping relationship between lane line index and relative lane index is found. The lane to which target vehicle 1 belongs is the relative lane index corresponding to lane line 2, thus determining that target vehicle 1 belongs to lane 1.

[0185] (7) Among the vehicles ahead of the current vehicle in the current driving lane, determine the nearest vehicle ahead of the current vehicle's driving path.

[0186] Based on the lane assignments of the target vehicle identified above, filter the target vehicles traveling ahead in this lane, sort them by distance from the current vehicle to the nearest vehicle, and determine the closest vehicle. For example... Figure 7 As shown in the figure, the current vehicle is the vehicle in question, and the target vehicle is the target vehicle. Target vehicle 3 and target vehicle 4 are traveling in the same lane as the current vehicle. Based on the center position coordinates of the target vehicles, it can be determined that target vehicle 3 is the closest to the current vehicle. Therefore, target vehicle 3 is the closest vehicle in front of the current vehicle on its travel path. The current vehicle should pay attention to the speed and other information of target vehicle 3 to avoid a collision.

[0187] This invention proposes a method for determining the lane of a vehicle, effectively improving the situation where incorrect lane identification of a target vehicle occurs due to unsatisfactory lane line detection results. This method more accurately determines the lane of the target vehicle and identifies the nearest vehicle traveling ahead. Simultaneously, this method effectively reduces the complexity and cost of related technologies.

[0188] and Figure 1 Corresponding to the method shown, the present invention also provides a vehicle lane identification device, which is used to support Figure 1 The method shown is specifically implemented in a vehicle, and the device can be installed in the vehicle.

[0189] Reference Figure 8 This is a schematic diagram of a vehicle lane identification device provided in an embodiment of the present invention, and is described in detail below:

[0190] The first acquisition unit 801 is used to acquire the lane lines and lanes of the road surface where the vehicle is currently traveling.

[0191] The first determining unit 802 is used to determine the lane line index of each lane line and the relative lane index of each lane.

[0192] The second acquisition unit 803 is used to acquire each index mapping relationship based on each lane line index and each relative lane index, wherein the index mapping relationship includes a lane line index and a relative lane index corresponding to the lane line index;

[0193] The second determining unit 804 is used to determine the lane line closest to the target vehicle as the target lane line, wherein the target vehicle is the vehicle to be determined to belong to the lane.

[0194] The third determining unit 805 is used to determine the target index mapping relationship in each of the index mapping relationships based on the position information of the target vehicle and the target lane line;

[0195] The fourth determining unit 806 is used to determine the lane represented by the relative lane index in the target index mapping relationship as the lane to which the target vehicle belongs.

[0196] The apparatus provided in this invention acquires the lane lines and lanes of the road surface currently being traveled by the vehicle; determines the lane line index of each lane line and the relative lane index of each lane; based on the lane line index and the relative lane index, acquires the index mapping relationship, which includes the lane line index and the relative lane index corresponding to that lane line index; identifies the lane line closest to the target vehicle as the target lane line, and the target vehicle is the vehicle whose lane it belongs to; based on the position information of the target vehicle and the target lane line, determines the target index mapping relationship in the index mapping relationship; and identifies the lane represented by the relative lane index in the target index mapping relationship as the lane to which the target vehicle belongs. In the process of identifying the lane to which a vehicle belongs, after determining the target lane line, based on the positional relationship between the vehicle and the target lane line, and the index mapping relationship between the relative lane index and the lane line index, the lane to which the vehicle belongs can be accurately determined without relying on a map database, avoiding errors in lane determination due to untimely map database updates.

[0197] In another apparatus provided in an embodiment of the present invention, the following is also included:

[0198] The fifth determining unit is used to determine, among the target vehicles, the target vehicle that belongs to the same lane as the current vehicle and is located in front of the current vehicle as the first vehicle;

[0199] The sixth determining unit is used to determine the distance between each of the first vehicles and the current vehicle;

[0200] An adjustment unit is used to adjust the driving strategy of the current vehicle based on each of the distances.

[0201] In another apparatus provided in an embodiment of the present invention, the first acquiring unit includes:

[0202] Establish a sub-unit to create a vehicle coordinate system with the current vehicle as the origin;

[0203] The first acquisition subunit is used to acquire lane line contour information of the road surface on which the current vehicle is traveling;

[0204] The second acquisition subunit is used to process the lane line contour information in the vehicle coordinate system to acquire each lane line;

[0205] The first determining subunit is used to determine each lane based on each of the lane lines.

[0206] In another apparatus provided in an embodiment of the present invention, the second acquisition subunit includes:

[0207] The processing module is used to process the lane line contour information in the vehicle coordinate system to obtain at least two lane lines.

[0208] A grouping module is used to group the lane lines to obtain at least one lane line group, wherein the lane line group contains two adjacent lane lines.

[0209] The acquisition module is used to acquire the lane width between two lane lines in each lane line group;

[0210] The determination module is used to determine, based on the preset standard lane width and each lane width, whether there is a lane line group that meets the preset lane line insertion conditions;

[0211] The insertion module is used to determine the lane line group that meets the lane line insertion conditions as the target lane line group when there is a lane line group that meets the lane line insertion conditions, and to add an insertion lane line to the two lane lines of the target lane line group based on the standard lane width and the lane width of the target lane line group.

[0212] In another apparatus provided in an embodiment of the present invention, the first determining unit includes:

[0213] The first allocation subunit is used to allocate lane line indexes to each of the lane lines based on a preset index allocation rule.

[0214] In another apparatus provided in an embodiment of the present invention, the first determining unit includes:

[0215] The second determining subunit is used to determine the lane where the current vehicle is located as the reference lane;

[0216] The second allocation subunit is used to allocate a standard index number to the reference lane as a relative lane index of the reference lane;

[0217] The third determining subunit is used to determine the position information of each remaining lane relative to the reference lane, and to determine the relative lane index of each remaining lane based on the position information of each remaining lane.

[0218] In another apparatus provided in an embodiment of the present invention, the second determining unit includes:

[0219] The fourth determining subunit is used to determine the vehicle center coordinates of the target vehicle in the vehicle coordinate system;

[0220] The fifth determining subunit is used to determine the lateral and vertical distances from the target vehicle to each of the lane lines based on the vehicle center coordinates;

[0221] The sixth determination sub-unit is used to determine the lane line corresponding to the shortest lateral and vertical distance as the target lane line.

[0222] In another apparatus provided in an embodiment of the present invention, the third determining unit 805 includes:

[0223] The seventh determining subunit is used to determine the reference direction when obtaining the index mapping relationship, wherein the reference direction is the left or the right.

[0224] The eighth determining subunit is used to determine the position and direction of the target vehicle on the target lane line based on the position information, wherein the position and direction is left or right;

[0225] The ninth determining subunit is used to determine the index mapping relationship that does not have a special identifier and is the target lane line as the target index mapping relationship when the reference direction is the same as the position direction;

[0226] The tenth determining subunit is used to determine whether the target lane line is the boundary lane line of the reference direction when the reference direction is not the same as the position direction.

[0227] The eleventh determining subunit is used to determine the index mapping relationship that has a special identifier and is the target lane line as the target index mapping relationship if the target lane line is the boundary lane line of the reference direction.

[0228] The twelfth determining subunit is used to determine the index mapping relationship of the lane line closest to the target lane line as the target index mapping relationship if the target lane line is not the boundary lane line of the reference direction.

[0229] This invention also provides a storage medium, which includes stored instructions, wherein when the instructions are executed, the device containing the storage medium is controlled to perform the above-described vehicle lane identification method.

[0230] This invention also provides an electronic device, the structural schematic of which is shown below. Figure 9As shown, it specifically includes a memory 901 and one or more instructions 902, wherein one or more instructions 902 are stored in the memory 901 and configured to be executed by one or more processors 903 to perform the above-mentioned vehicle lane identification method.

[0231] It should be noted that the information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0232] The specific implementation processes and derivative methods of the above embodiments are all within the protection scope of this invention.

[0233] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. 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 modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0234] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0235] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for identifying the lane to which a vehicle belongs, characterized in that, include: Obtain the lane markings and lanes of the road surface where the vehicle is currently traveling. Determine the lane line index of each lane line, and determine the relative lane index of each lane; Based on each lane line index and each relative lane index, obtain each index mapping relationship, wherein the index mapping relationship includes a lane line index and a relative lane index corresponding to that lane line index; The lane line closest to the target vehicle is identified as the target lane line, and the target vehicle is the vehicle whose lane it belongs to is to be determined. Based on the position information of the target vehicle and the target lane line, a target index mapping relationship is determined among the various index mapping relationships. This includes: determining the reference direction when acquiring the index mapping relationship, wherein the reference direction is left or right; determining the position direction of the target vehicle on the target lane line based on the position information, wherein the position direction is left or right; when the reference direction is the same as the position direction, the index mapping relationship without special identification and belonging to the target lane line is determined as the target index mapping relationship; when the reference direction is not the same as the position direction, determining whether the target lane line is the boundary lane line of the reference direction; if the target lane line is the boundary lane line of the reference direction, the index mapping relationship with special identification and belonging to the target lane line is determined as the target index mapping relationship; if the target lane line is not the boundary lane line of the reference direction, the index mapping relationship of the lane line closest to the target lane line in the position direction of the target lane line is determined as the target index mapping relationship. The lane represented by the relative lane index in the target index mapping relationship is determined as the lane to which the target vehicle belongs.

2. The method according to claim 1, characterized in that, The process of obtaining the lane markings and lanes of the road surface currently being traveled by the vehicle includes: Establish a vehicle coordinate system with the current vehicle as the origin; Obtain the lane outline information of the road surface on which the current vehicle is traveling; In the vehicle coordinate system, the lane line contour information is processed to obtain each lane line; Each lane is determined based on the lane lines described above.

3. The method according to claim 2, characterized in that, The process of processing the lane line contour information in the vehicle coordinate system to obtain each lane line includes: In the vehicle coordinate system, the lane line contour information is processed to obtain at least two lane lines; The lane lines are grouped to obtain at least one lane line group, and the lane line group contains two adjacent lane lines. Obtain the lane width between two lane lines in each lane line group; Based on the preset standard lane width and each lane width, determine whether there is a lane line group that meets the preset lane line insertion conditions; When a lane line group that meets the lane line insertion conditions exists, the lane line group that meets the lane line insertion conditions is determined as the target lane line group, and based on the standard lane width and the lane width of the target lane line group, an insertion lane line is added to the two lane lines of the target lane line group.

4. The method according to claim 1, characterized in that, Determining the lane index of each lane line includes: Based on a preset index allocation rule, lane line indices are assigned to each lane line, and the index allocation rule includes the order in which lane line indices are assigned to each lane line.

5. The method according to claim 1, characterized in that, Determining the relative lane index for each of the lanes includes: The lane currently occupied by the vehicle is designated as the reference lane; Assign a standard index number to the reference lane as its relative lane index; Determine the position information of each remaining lane relative to the reference lane, and determine the relative lane index of each remaining lane based on the position information of each remaining lane.

6. The method according to claim 2, characterized in that, The step of determining the lane line closest to the target vehicle as the target lane line includes: Determine the vehicle center coordinates of the target vehicle in the vehicle coordinate system; Based on the vehicle center coordinates, determine the lateral and vertical distances from the target vehicle to each lane line; The lane line corresponding to the shortest horizontal and vertical distance is determined as the target lane line.

7. A vehicle lane identification device, characterized in that, include: The first acquisition unit is used to acquire the lane lines and lanes of the road surface where the vehicle is currently traveling. The first determining unit is configured to determine the lane line index of each lane line and the relative lane index of each lane. The second acquisition unit is used to acquire each index mapping relationship based on each lane line index and each relative lane index, wherein the index mapping relationship includes a lane line index and a relative lane index corresponding to the lane line index; The second determining unit is used to determine the lane line closest to the target vehicle as the target lane line, wherein the target vehicle is the vehicle to be determined to belong to the lane. The third determining unit is configured to determine a target index mapping relationship among various index mapping relationships based on the position information of the target vehicle and the target lane line, including: determining a reference direction when acquiring the index mapping relationship, wherein the reference direction is left or right; determining the position direction of the target vehicle on the target lane line based on the position information, wherein the position direction is left or right; when the reference direction is the same as the position direction, determining the index mapping relationship of the target lane line without special identification as the target index mapping relationship; when the reference direction is not the same as the position direction, determining whether the target lane line is the boundary lane line of the reference direction; if the target lane line is the boundary lane line of the reference direction, determining the index mapping relationship of the target lane line with special identification as the target index mapping relationship; if the target lane line is not the boundary lane line of the reference direction, determining the index mapping relationship of the lane line closest to the target lane line in the position direction of the target lane line as the target index mapping relationship. The fourth determining unit is used to determine the lane represented by the relative lane index in the target index mapping relationship as the lane to which the target vehicle belongs.

8. A storage medium, characterized in that, The storage medium includes stored instructions, wherein when the instructions are executed, the device containing the storage medium is controlled to perform the vehicle lane identification method as described in any one of claims 1-6.

9. An electronic device, characterized in that, It includes a memory, and one or more instructions, wherein one or more instructions are stored in the memory and configured to be executed by one or more processors as described in any one of claims 1-6, for vehicle lane identification method.

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