Lane line positioning method, system, electronic device and medium

Abstract

The present invention relates to the field of intelligent networked vehicle testing, and in particular, to a lane line positioning method, system, electronic device and medium. The lane line positioning method comprises: constructing a coordinate system according to the initial position of the vehicle sent by the navigation positioning device on the vehicle; the origin of the coordinate system is the initial position of the vehicle, and the direction in which the front of the vehicle points is the X direction; determining multiple positioning intervals according to the initial position of the vehicle, the expected path, lane line information and the coordinate system; the positioning interval includes a corresponding initial position and an end position; controlling the vehicle to travel along the expected path starting from the initial position of the vehicle; when the vehicle is located in the positioning interval, controlling the powder leakage marking device to leak powder, and the powder leakage marking device includes a left powder leakage port and a right powder leakage port. This method is free from a large amount of manual operation, can realize automatic marking, and has higher accuracy and efficiency.

Description

Technical Field

[0001] The present invention relates to the field of intelligent connected vehicle testing, and in particular to a lane line positioning method, system, electronic equipment and medium. Background Art

[0002] With the continuous development of intelligent connected vehicle technology, vehicle intelligence has promoted the widespread application of vehicle lateral assisted driving or automatic driving functions. For example: active safety functions such as lane keeping and lane departure warning, assisted driving or automatic driving functions of automatic steering, and combined driving assistance functions of single-lane driving control. In order to verify these functions of the vehicle and conduct real vehicle testing, it is necessary to set up various lane lines in the test field according to standard requirements. Due to different domestic and foreign standards and specifications, lane lines are also different. According to different curvatures, they are divided into straight lane lines, curved lane lines with different curvatures, and according to the line type, they are divided into dotted and solid lane lines with different virtual-to-real ratios. Variables also include lane line width and lane width (the width between adjacent lane lines). Due to the limited space of the closed test site, it is impossible to have all non-overlapping lane lines at the same time. Therefore, lane lines that are consistent with the real road and can be recognized by the vehicle perception system are pasted. It is often necessary to repeatedly paste or modify lane lines in overlapping areas.

[0003] At present, the positioning of lane lines when pasting mainly relies on manual and ruler measurement in a small range. However, in most cases, the test requirements are large radius or long lane lines. Manual measurement takes a long time, has poor accuracy and low efficiency. In addition, for dotted lines with different virtual-to-real ratios, it is necessary to measure and mark them in sections. Therefore, the existing lane positioning line positioning method requires a large number of personnel, is difficult to operate, and takes a long time, which affects the test efficiency.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a lane line positioning method, system, electronic device and medium to solve the problems in the prior art that lane positioning line marking requires manual operation, is difficult, has poor accuracy and low efficiency.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a lane line positioning method, comprising:

[0008] According to the initial position of the vehicle sent by the navigation positioning device on the vehicle, a coordinate system is constructed; the origin of the coordinate system is the initial position of the vehicle, and the direction in which the front of the vehicle points is the X direction;

[0009] Determine a plurality of positioning intervals according to the vehicle initial position, the expected path, the lane line information and the coordinate system; the lane line information includes the lane line type, length, width, line type, virtual-to-real ratio and lane width; and the positioning interval includes the corresponding initial position and end position;

[0010] Controlling the vehicle to travel along the desired path starting from the initial position of the vehicle;

[0011] When the vehicle is located in the positioning interval, the powder leakage marking device is controlled to leak powder, and the powder leakage marking device includes a left powder leakage port and a right powder leakage port.

[0012] As a further preferred technical solution, a plurality of positioning intervals are determined according to the initial position of the vehicle, the expected path, the lane line information and the coordinate system:

[0013] Determining the vehicle's forward direction at each moment according to the vehicle's initial position and expected path;

[0014] A plurality of positioning intervals are determined according to the vehicle's forward direction, lane line information and the coordinate system at each moment.

[0015] As a further preferred technical solution, the multiple positioning intervals are determined according to the vehicle's forward direction, lane line information and the coordinate system at each moment, including:

[0016] Determine the distance between the navigation positioning device and the powder leakage marking device according to the width in the lane line information;

[0017] Determine the angle between the forward direction and the X direction according to the forward direction of the vehicle at each moment and the X direction of the coordinate system;

[0018] Determine the coordinates of the powder leakage marking device at each time according to the angle, the coordinates of the vehicle at each time, and the distance between the navigation positioning device and the powder leakage marking device;

[0019] A plurality of positioning intervals are determined according to the coordinates, lane line type, length, width, line type, and virtual-real ratio of the powder leakage marking device at each moment.

[0020] As a further preferred technical solution, the navigation positioning device is arranged at the center of the rear axle of the vehicle, and the left powder leakage port and the right powder leakage port are both located on the straight line where the rear axle of the vehicle is located;

[0021] The coordinates of the powder leakage marking device at each moment are calculated using the following formula:

[0022] ; where x 1t is the horizontal coordinate of the powder leakage port on the left at time t, xt is the horizontal coordinate of the vehicle at time t, d1 is the distance between the navigation positioning device and the left powder leakage port, α is the angle, y 1t is the ordinate of the powder leakage port on the left at time t, y t is the ordinate of the vehicle at time t;

[0023] ; where x 2t is the horizontal coordinate of the powder leakage port on the right at time t, x t is the horizontal coordinate of the vehicle at time t, d2 is the distance between the navigation positioning device and the right powder leakage port, α is the angle, y 2t is the ordinate of the powder leakage port on the right at time t, y t is the ordinate of the vehicle at time t.

[0024] As a further preferred technical solution, the method of determining multiple positioning intervals according to the coordinates, lane line type, length, width, line type, and virtual-real ratio of the powder leakage marking device at each moment includes:

[0025] Starting timing from the moment when the vehicle starts to travel, and determining the moving distance of the powder leakage marking device according to the coordinates of the powder leakage marking device at each moment;

[0026] A plurality of positioning intervals are determined according to the moving distance, lane line type, length, width, line shape, and virtual-real ratio.

[0027] As a further preferred technical solution, the moving distance is calculated using the following formula:

[0028] ; Where D1 is the moving distance of the powder leakage port on the left, x 1t is the horizontal coordinate of the powder leakage port on the left at time t, x 1t-1 is the horizontal coordinate of the powder leakage port on the left at time t-1, y 1t is the ordinate of the powder leakage port on the left at time t, y 1t-1 is the ordinate of the powder leakage port on the left at time t-1, and N is the time;

[0029] ; Where D2 is the moving distance of the powder leakage port on the right side, x 2t is the horizontal coordinate of the powder leakage port on the right at time t, x 2t-1 is the horizontal coordinate of the powder leakage port on the right at time t-1, y 2t is the ordinate of the powder leakage port on the right at time t, y 2t-1 is the ordinate of the powder leakage port on the right at time t-1, and N is the time.

[0030] In a second aspect, the present invention provides a lane positioning system, comprising:

[0031] vehicle;

[0032] A navigation and positioning device, arranged at the rear axle center of the vehicle, for sending the position of the vehicle to the powder leakage control device in real time;

[0033] An automatic driving device, arranged at the steering wheel of the vehicle, for controlling the vehicle to travel along a desired path starting from an initial position of the vehicle;

[0034] A powder leakage control device is used to construct a coordinate system according to the initial position of the vehicle sent by the navigation positioning device; the origin of the coordinate system is the initial position of the vehicle, and the direction in which the front of the vehicle points is the X direction; multiple positioning intervals are determined according to the initial position of the vehicle, the expected path, the lane line information and the coordinate system; the lane line information includes the lane line type, length, width, line type, virtual-to-real ratio and lane width, and the positioning interval includes the corresponding initial position and end position; when the vehicle is located in the positioning interval, the powder leakage marking device is controlled to leak powder, and the powder leakage marking device includes a left powder leakage port and a right powder leakage port;

[0035] And, a powder leakage marking device is connected to the rear trailer hook of the vehicle and is used to execute the powder leakage control instruction issued by the powder leakage control device.

[0036] As a further preferred technical solution, the powder leakage marking device includes a trailer hook fixing structure, a left wheel of the powder leakage marking device, a left lateral length adjustment mechanism, a left longitudinal length adjustment mechanism, a right wheel of the powder leakage marking device, a right lateral length adjustment mechanism, a right longitudinal length adjustment mechanism, a left powder leakage port and a right powder leakage port;

[0037] The trailer hook fixing structure is used to connect the rear trailer hook of the vehicle; one side of the left wheel of the powder leakage marking device is connected to the trailer hook fixing structure, and the other side is connected to the left lateral length adjustment mechanism, the left longitudinal length adjustment mechanism and the left powder leakage port in sequence; one side of the right wheel of the powder leakage marking device is connected to the trailer hook fixing structure, and the other side is connected to the right lateral length adjustment mechanism, the right longitudinal length adjustment mechanism and the right powder leakage port in sequence.

[0038] In a third aspect, the present invention provides an electronic device, comprising:

[0039] at least one processor, and a memory communicatively coupled to at least one of the processors;

[0040] The memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors so that at least one of the processors can perform the above method.

[0041] In a fourth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to enable a computer to execute the above method.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] The lane line positioning method provided by the present invention first constructs a coordinate system according to the initial position of the vehicle sent by the navigation positioning device; then determines multiple positioning intervals according to the initial position of the vehicle, the expected path, the lane line information and the coordinate system; then controls the vehicle to travel according to the expected path from the initial position of the vehicle; when the vehicle is located in the positioning interval, controls the leakage powder marking device to leak powder. The method uses a navigation positioning device installed on the vehicle to obtain the vehicle position in real time, which can achieve centimeter-level positioning and more accurate positioning, thereby improving the accuracy of lane line positioning; the determined multiple positioning intervals fully consider the initial position of the vehicle, the expected path, the lane line information and the coordinate system, and realize the rapid planning of the leakage powder intervals of the leakage powder marking devices on the left and right sides, which is more accurate than manual marking; when the vehicle is located in the positioning interval, the leakage powder marking device can be controlled to leak powder without manual adjustment, and because the leakage powder marking device uses the leakage powder marking devices on the left and right sides, it can significantly eliminate the influence of the speed difference of the inner and outer wheels on the length of the lane lines on both sides when the driving route is a curve. The method is free from a large number of manual operations, can achieve automatic marking, and has higher accuracy and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 is a schematic diagram of the process of the lane line positioning method in Example 1;

[0046] Figure 2 This is a schematic diagram of coordinate calculation of the powder leakage marking device in Example 1;

[0047] Figure 3 is a schematic diagram of the structure of the lane positioning system in Example 2;

[0048] Figure 4 is the schematic diagram with dashed lines in Example 2;

[0049] Figure 5 It is a schematic diagram of the structure of the electronic device in Example 3. DETAILED DESCRIPTION

[0050] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0051] As mentioned in the background technology, the prior art has the problem that during the lane line positioning and marking process, workers are required to manually measure, locate and mark, which leads to problems such as difficulty in positioning, low precision and low efficiency. In response to this, the present invention adopts a method based on vehicle position, path, coordinate system, and lane line information to automatically plan the positioning interval and control powder leakage. In addition, the lane line positioning system adopted by the present invention can be integrated into any existing vehicle without the need for large-scale special modification of the vehicle or design of a unique positioning and marking vehicle, making it more convenient and more widely used. The present invention is further described in detail below in conjunction with the embodiments.

[0052] Example 1

[0053] Figure 1 This is a flow chart of a lane line positioning method provided in this embodiment. The method can be executed by a lane line positioning device. The device can be composed of software and / or hardware and is generally integrated in an electronic device. The electronic device can be a car computer or other mobile terminal (such as a smart phone, tablet computer, etc.). For ease of understanding, each step in the positioning method of this embodiment is executed by a tablet computer.

[0054] like Figure 1 As shown, this embodiment provides a lane line positioning method, including the following steps:

[0055] S110, constructing a coordinate system according to the initial position of the vehicle sent by the navigation and positioning device on the vehicle; the origin of the coordinate system is the initial position of the vehicle, and the direction in which the front of the vehicle points is the X direction.

[0056] The Y direction is a direction perpendicular to the X direction and pointing to the left side of the vehicle. The above navigation and positioning device can adopt existing GPS and / or RTK positioning.

[0057] This embodiment first constructs a coordinate system based on the initial position of the vehicle, in order to calculate the subsequent vehicle coordinates, especially the coordinates of the powder leakage marking device, so as to determine the positioning interval.

[0058] S120. Determine a plurality of positioning intervals according to the vehicle's initial position, expected path, lane line information and the coordinate system; the lane line information includes lane line type, length, width, line type, virtual-to-real ratio and lane width; and the positioning interval includes a corresponding initial position and an end position.

[0059] The lane line types include straight lines and curves. Length refers to the total length of the entire lane line. Line types include dashed lines and solid lines. The dashed-to-solid ratio refers to the length ratio of the line segment to the blank segment when the line type is dashed. For example, when the dashed-to-solid ratio is 6:3, the blank segment is 3 meters long and the line segment is 6 meters long. Lane width refers to the width between two adjacent lane lines.

[0060] Optionally, a plurality of positioning intervals are determined according to the initial position of the vehicle, the expected path, the lane line information and the coordinate system:

[0061] Determining the vehicle's forward direction at each moment according to the vehicle's initial position and expected path;

[0062] A plurality of positioning intervals are determined according to the vehicle's forward direction, lane line information and the coordinate system at each moment.

[0063] In actual application scenarios, the expected path can be a straight line, a curve, or a combination of the two. The direction of the vehicle at each moment may be different from the direction of the vehicle head at the initial position of the vehicle. Therefore, it is necessary to first determine the vehicle's forward direction at each moment in order to further determine the positioning interval. Optionally, the interval between two adjacent moments is 0.01s.

[0064] Optionally, the determining of a plurality of positioning intervals according to the vehicle's forward direction, lane line information and the coordinate system at each time comprises:

[0065] Determine the distance between the navigation positioning device and the powder leakage marking device according to the width in the lane line information;

[0066] Determine the angle between the forward direction and the X direction according to the forward direction of the vehicle at each moment and the X direction of the coordinate system;

[0067] Determine the coordinates of the powder leakage marking device at each time according to the angle, the coordinates of the vehicle at each time, and the distance between the navigation positioning device and the powder leakage marking device;

[0068] A plurality of positioning intervals are determined according to the coordinates, lane line type, length, width, line type, and virtual-real ratio of the powder leakage marking device at each moment.

[0069] The powder leakage marking device in this embodiment includes a left powder leakage port and a right powder leakage port. Due to the difference in lane width, the distance between the left powder leakage port and the right powder leakage port needs to be adjusted to match the lane width.

[0070] Optionally, the navigation positioning device is arranged at the center of the rear axle of the vehicle, and the left powder leakage port and the right powder leakage port are both located on a straight line where the rear axle of the vehicle is located;

[0071] like Figure 2 As shown, the coordinates of the powder leakage marking device at each moment are calculated using the following formula:

[0072] ; where x 1t is the horizontal coordinate of the powder leakage port on the left at time t, x t is the horizontal coordinate of the vehicle at time t, d1 is the distance between the navigation positioning device and the left powder leakage port, α is the angle, y 1t is the ordinate of the powder leakage port on the left at time t, y t is the ordinate of the vehicle at time t;

[0073] ; where x 2t is the horizontal coordinate of the powder leakage port on the right at time t, x t is the horizontal coordinate of the vehicle at time t, d2 is the distance between the navigation positioning device and the right powder leakage port, α is the angle, y 2t is the ordinate of the powder leakage port on the right at time t, y t is the ordinate of the vehicle at time t.

[0074] In the above formula, when α is 0, it means that the vehicle's forward direction is consistent with the X direction.

[0075] Optionally, the determining of multiple positioning intervals according to the coordinates, lane line type, length, width, line type, and virtual-real ratio of the powder leakage marking device at each time includes:

[0076] Starting timing from the moment when the vehicle starts to travel, and determining the moving distance of the powder leakage marking device according to the coordinates of the powder leakage marking device at each moment;

[0077] A plurality of positioning intervals are determined according to the moving distance, lane line type, length, width, line shape, and virtual-real ratio.

[0078] Optionally, the moving distance is calculated using the following formula:

[0079] ; Where D1 is the moving distance of the powder leakage port on the left, x 1t is the horizontal coordinate of the powder leakage port on the left at time t, x 1t-1is the horizontal coordinate of the powder leakage port on the left at time t-1, y 1t is the ordinate of the powder leakage port on the left at time t, y 1t-1 is the ordinate of the powder leakage port on the left at time t-1, and N is the time;

[0080] ; Where D2 is the moving distance of the powder leakage port on the right side, x 2t is the horizontal coordinate of the powder leakage port on the right at time t, x 2t-1 is the horizontal coordinate of the powder leakage port on the right at time t-1, y 2t is the ordinate of the powder leakage port on the right at time t, y 2t-1 is the ordinate of the powder leakage port on the right at time t-1, and N is the time.

[0081] Optionally, between S120 and S130, the process further includes: determining the openings of the left and right powder leakage ports according to the lane line width. This step can further determine the openings of the left and right powder leakage ports so as to draw a lane line of a desired width. The larger the lane line width, the larger the openings of the left and right powder leakage ports.

[0082] S130: Control the vehicle to travel along the expected path starting from the initial position of the vehicle.

[0083] S140. When the vehicle is located in the positioning interval, control a powder leakage marking device to leak powder, wherein the powder leakage marking device includes a left powder leakage port and a right powder leakage port.

[0084] Optionally, controlling the powder leakage marking device to leak powder includes: respectively controlling the opening and closing of the solenoid valves of the left powder leakage port and the right powder leakage port, thereby controlling the powder leakage of the left powder leakage port and the right powder leakage port.

[0085] The lane line positioning method first constructs a coordinate system according to the initial position of the vehicle sent by the navigation positioning device; then determines multiple positioning intervals according to the initial position of the vehicle, the expected path, the lane line information and the coordinate system; then controls the vehicle to travel along the expected path from the initial position of the vehicle; when the vehicle is located in the positioning interval, controls the leakage marking device to leak powder. The method uses a navigation positioning device installed on the vehicle to obtain the vehicle position in real time, which can achieve centimeter-level positioning and more accurate positioning, thereby improving the accuracy of lane line positioning; the determined multiple positioning intervals fully consider the initial position of the vehicle, the expected path, the lane line information and the coordinate system, and realize the rapid planning of the leakage intervals of the leakage marking devices on the left and right sides, which is more accurate than manual marking; when the vehicle is located in the positioning interval, the leakage marking device can be controlled to leak powder without manual adjustment, and because the leakage marking device uses leakage marking devices on the left and right sides, it can significantly eliminate the influence of the speed difference of the inner and outer wheels on the length of the lane lines on both sides when the driving route is a curve. The method is free from a large number of manual operations, can achieve automatic marking, and has higher accuracy and efficiency.

[0086] After the lane lines are drawn using the method of this embodiment, the lane lines can be pasted according to the stone powder on the ground.

[0087] Example 2

[0088] like Figure 3 As shown, this embodiment provides a lane positioning system, including:

[0089] Vehicle 1;

[0090] A navigation and positioning device 2, arranged at the rear axle center of the vehicle, for sending the position of the vehicle to the powder leakage control device in real time;

[0091] An automatic driving device 3, arranged at the steering wheel of the vehicle, for controlling the vehicle to travel along a desired path starting from an initial position of the vehicle;

[0092] The powder leakage control device 4 is used to construct a coordinate system according to the initial position of the vehicle sent by the navigation positioning device; the origin of the coordinate system is the initial position of the vehicle, and the direction in which the front of the vehicle points is the X direction; multiple positioning intervals are determined according to the initial position of the vehicle, the expected path, the lane line information and the coordinate system; the lane line information includes the lane line type, length, width, line type, virtual-to-real ratio and lane width, and the positioning interval includes the corresponding initial position and end position; when the vehicle is located in the positioning interval, the powder leakage marking device is controlled to leak powder, and the powder leakage marking device includes a left powder leakage port and a right powder leakage port;

[0093] And, a powder leakage marking device is connected to the rear trailer hook of the vehicle and is used to execute the powder leakage control instruction issued by the powder leakage control device.

[0094] Optionally, the powder leakage marking device includes a trailer hook fixing structure 501, a left wheel of the powder leakage marking device, a left lateral length adjustment mechanism, a left longitudinal length adjustment mechanism, a right wheel 502 of the powder leakage marking device, a right lateral length adjustment mechanism 503, a right longitudinal length adjustment mechanism 504, a left powder leakage port 505 and a right powder leakage port 506;

[0095] The trailer hook fixing structure is used to connect the rear trailer hook of the vehicle; one side of the left wheel of the powder leakage marking device is connected to the trailer hook fixing structure, and the other side is connected to the left lateral length adjustment mechanism, the left longitudinal length adjustment mechanism and the left powder leakage port in sequence; one side of the right wheel of the powder leakage marking device is connected to the trailer hook fixing structure, and the other side is connected to the right lateral length adjustment mechanism, the right longitudinal length adjustment mechanism and the right powder leakage port in sequence.

[0096] In this optional embodiment, a left side lateral length adjustment mechanism, a left side longitudinal length adjustment mechanism, a right side lateral length adjustment mechanism, and a right side longitudinal length adjustment mechanism are provided, so that the positions of the left side powder leakage port and the right side powder leakage port can be adjusted, so that different lane lines can be adapted.

[0097] Preferably, the left powder leakage port and the right powder leakage port are symmetrically distributed relative to the center of the rear axle of the vehicle.

[0098] Optionally, the powder leakage marking device further includes a fixing rod, which includes a left fixing rod and a right fixing rod 507, both of which are connected to the rear of the vehicle body to achieve a reliable and stable connection between the powder leakage marking device and the vehicle body. The left fixing rod is respectively connected to the trailer hook fixing structure and the left wheel of the powder leakage marking device, and the right fixing rod is respectively connected to the trailer hook fixing structure and the right wheel of the powder leakage marking device.

[0099] Optionally, the automatic driving device includes a first motor, a second motor and a third motor, wherein the first motor is used to control the rotation of the steering wheel, the second motor is used to control the opening of the accelerator pedal, and the third motor is used to control the opening of the brake pedal, and the above three motors can realize automatic control of the steering and acceleration and deceleration of the vehicle. Preferably, in order to ensure the accuracy of the positioning line, the vehicle speed should not be greater than 10km / h.

[0100] Optionally, the powder leakage control device includes a display UI interactive interface, a controller, a power cord, and a signal transmission line. Through the display UI interactive interface, the operator can input the desired path and lane line information into the powder leakage control device, and the controller can construct a coordinate system, determine the positioning interval, and control the powder leakage marking device to leak powder (specifically, the opening and closing of the solenoid valves of the powder leakage ports on the left and right sides can be controlled by the output voltage signal). For example, the desired path can be a straight line in the first section with a length of 200 meters, a spiral line in the second section (to ensure a smooth transition at the connection), a starting radius of 99999999 meters, an ending radius of 200 meters, and a length of 50 meters. The third section is a curve with a radius of 200 meters and a length of 300 meters. The lane width is, for example, 3.75 meters.

[0101] Figure 4 The schematic diagram is shown as a dotted line drawing, from which it can be seen that when the lane line type is a dotted line, the corresponding relationship between the voltage control signal, the solenoid valve state, the powder leakage switch state and the lane line.

[0102] Example 3

[0103] like Figure 5 As shown, this embodiment provides an electronic device, including:

[0104] at least one processor; and

[0105] a memory communicatively connected to at least one of the processors; wherein,

[0106] The memory stores instructions executable by at least one of the processors, and the instructions are executed by at least one of the processors to enable at least one of the processors to perform the above method. At least one processor in the electronic device can perform the above method, and thus has at least the same advantages as the above method.

[0107] Optionally, the electronic device also includes interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on a memory to display graphical information of a GUI (Graphical User Interface) on an external input / output device (such as a display device coupled to an interface). In other embodiments, if necessary, multiple processors can be used together with multiple memories, and / or multiple buses can be used together with multiple memories. Similarly, multiple electronic devices can be connected (for example, as a server array, a group of blade servers, or a multi-processor system), and each device provides some necessary operations. Figure 5 A processor 301 is taken as an example.

[0108] The memory 302 is a computer-readable storage medium that can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the lane line positioning method in the embodiment of the present invention. The processor 301 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 302, that is, realizing the above-mentioned lane line positioning method.

[0109] The memory 302 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 302 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 302 may further include a memory remotely arranged relative to the processor 301, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0110] The electronic device may further include: an input device 303 and an output device 304. The processor 301, the memory 302, the input device 303 and the output device 304 may be connected via a bus or other means. Figure 5 The example of connecting through bus is taken in the following.

[0111] The input device 303 can receive input digital or character information, and the output device 304 can include a display device, an auxiliary lighting device (e.g., LED), and a tactile feedback device (e.g., a vibration motor), etc. The display device can include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display, and a plasma display. In some embodiments, the display device can be a touch screen.

[0112] Example 4

[0113] This embodiment provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to enable a computer to execute the above method. The computer instructions on the computer-readable storage medium are used to enable a computer to execute the above method, and thus have at least the same advantages as the above method.

[0114] The medium in the present invention may adopt any combination of one or more computer-readable media. The medium may be a computer-readable signal medium or a computer-readable storage medium. The medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of the medium (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, the medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device, or device.

[0115] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0116] The program code contained on the computer-readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, RF (Radio Frequency), etc., or any suitable combination of the above.

[0117] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0118] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0119] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A lane line positioning method, characterized in that: include: According to the initial position of the vehicle sent by the navigation positioning device on the vehicle, a coordinate system is constructed; the origin of the coordinate system is the initial position of the vehicle, and the direction in which the front of the vehicle points is the X direction; Determining a plurality of positioning intervals according to the initial position of the vehicle, the expected path, the lane line information and the coordinate system, including: determining the vehicle's forward direction at each time according to the initial position of the vehicle and the expected path; determining a plurality of positioning intervals according to the vehicle's forward direction at each time, the lane line information and the coordinate system; the lane line information includes lane line type, length, width, line type, virtual-to-real ratio and lane width, and the positioning interval includes a corresponding initial position and an end position; Controlling the vehicle to travel along the desired path starting from the initial position of the vehicle; When the vehicle is located in the positioning interval, controlling the powder leakage marking device to leak powder, the powder leakage marking device comprising a left powder leakage port and a right powder leakage port; Determining a plurality of positioning intervals according to the vehicle's forward direction, lane line information and the coordinate system at each time includes: Determine the distance between the navigation positioning device and the powder leakage marking device according to the width in the lane line information; Determine the angle between the forward direction and the X direction according to the forward direction of the vehicle at each moment and the X direction of the coordinate system; Determine the coordinates of the powder leakage marking device at each time according to the angle, the coordinates of the vehicle at each time, and the distance between the navigation positioning device and the powder leakage marking device; Determine multiple positioning intervals according to the coordinates, lane line type, length, width, line type, and virtual-real ratio of the leakage powder marking device at each time, including: start timing at the time when the vehicle starts to travel, and determine the moving distance of the leakage powder marking device according to the coordinates of the leakage powder marking device at each time; determine multiple positioning intervals according to the moving distance, lane line type, length, width, line type, and virtual-real ratio; The moving distance is calculated using the following formula: ; Where D1 is the moving distance of the powder leakage port on the left, x 1t is the horizontal coordinate of the powder leakage port on the left at time t, x 1t-1 is the horizontal coordinate of the powder leakage port on the left at time t-1, y 1t is the ordinate of the powder leakage port on the left at time t, y 1t-1 is the ordinate of the powder leakage port on the left at time t-1, and N is the time; ; Where D2 is the moving distance of the powder leakage port on the right side, x 2t is the horizontal coordinate of the powder leakage port on the right at time t, x 2t-1 is the horizontal coordinate of the powder leakage port on the right at time t-1, y 2t is the ordinate of the powder leakage port on the right at time t, y 2t-1 is the ordinate of the powder leakage port on the right at time t-1, and N is the time.

2. The lane line positioning method according to claim 1, characterized in that: The navigation positioning device is arranged at the center of the rear axle of the vehicle, and the left powder leakage port and the right powder leakage port are both located on the straight line where the rear axle of the vehicle is located; The coordinates of the powder leakage marking device at each moment are calculated using the following formula: ; where x 1t is the horizontal coordinate of the powder leakage port on the left at time t, x t is the horizontal coordinate of the vehicle at time t, d1 is the distance between the navigation positioning device and the left powder leakage port, α is the angle, y 1t is the ordinate of the powder leakage port on the left at time t, y t is the ordinate of the vehicle at time t; ; where x 2t is the horizontal coordinate of the powder leakage port on the right at time t, x t is the horizontal coordinate of the vehicle at time t, d2 is the distance between the navigation positioning device and the right powder leakage port, α is the angle, y 2t is the ordinate of the powder leakage port on the right at time t, y t is the vertical coordinate of the vehicle at time t.

3. A lane positioning system, characterized in that: include: vehicle; A navigation and positioning device, arranged at the rear axle center of the vehicle, for sending the position of the vehicle to the powder leakage control device in real time; An automatic driving device, arranged at the steering wheel of the vehicle, for controlling the vehicle to travel along a desired path starting from an initial position of the vehicle; A powder leakage control device is used to construct a coordinate system according to the initial position of the vehicle sent by the navigation positioning device; the origin of the coordinate system is the initial position of the vehicle, and the direction pointed by the front of the vehicle is the X direction; According to the initial position of the vehicle, the expected path, the lane line information and the coordinate system, a plurality of positioning intervals are determined, including: according to the initial position of the vehicle and the expected path, the vehicle's forward direction at each moment is determined; according to the forward direction of the vehicle at each moment, the lane line information and the coordinate system, a plurality of positioning intervals are determined; the lane line information includes lane line type, length, width, line type, virtual-to-real ratio and lane width, and the positioning interval includes a corresponding initial position and an end position; when the vehicle is located in the positioning interval, a powder leakage marking device is controlled to leak powder, and the powder leakage marking device includes a left powder leakage port and a right powder leakage port; according to the forward direction of the vehicle at each moment, the lane line information and the coordinate system, a plurality of positioning intervals are determined, including: according to the width in the lane line information, the The distance between the navigation positioning device and the powder leakage marking device; according to the forward direction of the vehicle at each moment and the X direction of the coordinate system, determine the angle between the forward direction and the X direction; according to the angle, the coordinates of the vehicle at each moment, and the distance between the navigation positioning device and the powder leakage marking device, determine the coordinates of the powder leakage marking device at each moment; according to the coordinates of the powder leakage marking device at each moment, the lane line type, length, width, line type, and virtual-real ratio, determine multiple positioning intervals, including: starting the timing at the moment when the vehicle starts to travel, and determining the moving distance of the powder leakage marking device according to the coordinates of the powder leakage marking device at each moment; determining multiple positioning intervals according to the moving distance, lane line type, length, width, line type, and virtual-real ratio; the moving distance is calculated using the following formula: ; Where D1 is the moving distance of the powder leakage port on the left, x 1t is the horizontal coordinate of the powder leakage port on the left at time t, x 1t-1 is the horizontal coordinate of the powder leakage port on the left at time t-1, y 1t is the ordinate of the powder leakage port on the left at time t, y 1t-1 is the ordinate of the powder leakage port on the left at time t-1, and N is the time; ; Where D2 is the moving distance of the powder leakage port on the right side, x 2t is the horizontal coordinate of the powder leakage port on the right at time t, x 2t-1 is the horizontal coordinate of the powder leakage port on the right at time t-1, y 2t is the ordinate of the powder leakage port on the right at time t, y 2t-1 is the ordinate of the powder leakage port on the right side at time t-1, and N is the time; And, a powder leakage marking device is connected to the rear trailer hook of the vehicle and is used to execute the powder leakage control instruction issued by the powder leakage control device.

4. The lane line positioning system according to claim 3, characterized in that: The powder leakage marking device comprises a trailer hook fixing structure, a left wheel of the powder leakage marking device, a left lateral length adjustment mechanism, a left longitudinal length adjustment mechanism, a right wheel of the powder leakage marking device, a right lateral length adjustment mechanism, a right longitudinal length adjustment mechanism, a left powder leakage port and a right powder leakage port; The trailer hook fixing structure is used to connect the rear trailer hook of the vehicle; one side of the left wheel of the powder leakage marking device is connected to the trailer hook fixing structure, and the other side is connected to the left lateral length adjustment mechanism, the left longitudinal length adjustment mechanism and the left powder leakage port in sequence; one side of the right wheel of the powder leakage marking device is connected to the trailer hook fixing structure, and the other side is connected to the right lateral length adjustment mechanism, the right longitudinal length adjustment mechanism and the right powder leakage port in sequence.

5. An electronic device, characterized in that: include: at least one processor, and a memory communicatively coupled to at least one of the processors; The memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors so that at least one of the processors can execute the method of claim 1 or 2.

6. A computer-readable storage medium, characterized in that: The medium stores computer instructions, which are used to enable a computer to execute the method according to claim 1 or 2.

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