Lane matching method and device, equipment and storage medium

Abstract

The invention discloses a lane matching method, device and equipment and a storage medium, and relates to the technical field of automatic driving, and the lane matching method comprises the steps: obtaining a lane track point coordinate and a vehicle coordinate; determining an outer envelope range of the lane segment according to coordinates of every two adjacent lane track points; determining a vehicle outer envelope range according to preset vehicle outer envelope parameters and vehicle coordinates; calculating a projection distance from the vehicle to a lane corresponding to the outer envelope range of the lane segment according to a position relationship between the outer envelope range of the lane segment and the outer envelope range of the vehicle; and determining a lane meeting a preset binding condition based on the projection distance, and binding the vehicle with the lane meeting the preset binding condition. According to the invention, the accuracy of lane binding can be improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a lane matching method, device, equipment and storage medium. Background Art

[0002] In the process of intelligent driving, it is necessary to frequently calculate the lane where the vehicle is located as the data set for intelligent driving. The accuracy of lane calculation directly affects the quality of the data set. Accurate lane information can ensure that the lane labels made in the data set, the identification of vehicle lane changes, and the design of interactive labels between vehicles are more accurate. However, traditional lane matching methods have many shortcomings. For example, when the curvature of the lane line changes greatly or the lane width is uneven, it is easy to make misjudgments and fail to accurately identify the lane where the vehicle is located.

[0003] Therefore, how to improve the accuracy of lane binding is a problem that needs to be solved urgently. Summary of the invention

[0004] The main purpose of this application is to provide a lane matching method, device, equipment and storage medium, aiming to solve the technical problem of how to improve the accuracy of lane binding.

[0005] To achieve the above object, the present application provides a lane matching method, which includes: Get the lane trajectory point coordinates and vehicle coordinates; According to the coordinates of two adjacent lane trajectory points, the outer envelope range of the lane segment is determined; Determining the vehicle outer envelope range according to preset vehicle outer envelope parameters and the vehicle coordinates; Calculating a projection distance from the vehicle to the lane corresponding to the outer envelope of the lane segment according to a positional relationship between the outer envelope of the lane segment and the outer envelope of the vehicle; A lane that meets a preset binding condition is determined based on the projection distance, and the vehicle is bound to the lane that meets the preset binding condition.

[0006] In one embodiment, the preset vehicle outer envelope parameters include a width parameter and a length parameter, and the step of determining the vehicle outer envelope range according to the preset vehicle outer envelope parameters and the vehicle coordinates includes: Determine the upper left corner coordinates and the lower right corner coordinates of the vehicle outer envelope according to the vehicle coordinates, the width parameter and the length parameter; The outer envelope range of the vehicle is determined according to the upper left corner coordinates and the lower right corner coordinates.

[0007] In one embodiment, the step of calculating the projection distance from the vehicle to the lane corresponding to the outer envelope of the lane segment according to the positional relationship between the outer envelope of the lane segment and the outer envelope of the vehicle comprises: Determining whether the outer envelope range of the lane segment and the outer envelope range of the vehicle intersect; If the lane segment outer envelope and the vehicle outer envelope intersect, a projection distance from the vehicle to the lane corresponding to the lane outer envelope is calculated according to the lane trajectory point coordinates within the lane segment outer envelope and the vehicle coordinates.

[0008] In one embodiment, the step of determining whether the outer envelope range of the lane segment and the outer envelope range of the vehicle intersect includes: If the minimum value of the ordinate of the outer envelope range of the lane segment is greater than or equal to the ordinate of the upper left corner coordinate, or the maximum value of the ordinate of the outer envelope range of the lane segment is less than or equal to the ordinate of the lower right corner coordinate, or the minimum value of the abscissa of the outer envelope range of the lane segment is greater than or equal to the abscissa of the lower right corner coordinate, or the maximum value of the abscissa of the outer envelope range of the lane segment is less than or equal to the abscissa of the upper left corner coordinate, then it is determined that the outer envelope range of the lane segment does not intersect with the outer envelope range of the vehicle.

[0009] In one embodiment, the step of calculating the projection distance from the vehicle to the lane corresponding to the lane outer envelope range according to the lane trajectory point coordinates within the lane segment outer envelope range and the vehicle coordinates comprises: Calculating a vector between the vehicle and the lane trajectory point within the outer envelope of the lane segment according to the lane trajectory point coordinates within the outer envelope of the lane segment and the vehicle coordinates; Calculating the cosine value of the angle between the vehicle and the lane trajectory point within the outer envelope of the lane segment according to the vector; The projection distance from the vehicle to the lane corresponding to the outer envelope of the lane is calculated according to the cosine value of the angle, the coordinates of the lane trajectory points within the outer envelope of the lane segment, and the vehicle coordinates.

[0010] In one embodiment, the lane trajectory points within the outer envelope of the lane segment include a first trajectory point and a second trajectory point, and the step of calculating a vector between the vehicle and the lane trajectory points within the outer envelope of the lane segment according to the coordinates of the lane trajectory points within the outer envelope of the lane segment and the vehicle coordinates includes: Calculating a first vector from the first trajectory point to the vehicle coordinates according to the first trajectory point and the vehicle coordinates; Calculating a second vector from the second trajectory point to the vehicle coordinates according to the second trajectory point and the vehicle coordinates; Calculating a lane trajectory vector from the first trajectory point to the second trajectory point according to the first trajectory point and the second trajectory point; A vector of a lane trajectory point between the vehicle and the lane segment outer envelope is obtained according to the first vector, the second vector and the lane trajectory vector.

[0011] In one embodiment, the step of determining a lane that meets a preset binding condition based on the projection distance and binding the vehicle to the lane that meets the preset binding condition includes: Comparing the projection distances to obtain a minimum projection distance; Compare the minimum projection distance with a preset distance threshold to obtain a comparison result; If the comparison result is that the minimum projection distance is less than the preset distance threshold, then obtaining the outer envelope range of the lane segment corresponding to the minimum projection distance; A target lane is determined according to an outer envelope range of the lane segment corresponding to the minimum projection distance, and the vehicle is bound to the target lane.

[0012] In addition, to achieve the above-mentioned purpose, the present application also provides a lane matching device, the lane matching device comprising: An acquisition module, used to acquire the coordinates of lane trajectory points and vehicle coordinates; A lane segment outer envelope range determination module, used to determine the lane segment outer envelope range according to the coordinates of two adjacent lane trajectory points; A vehicle outer envelope range determination module, used to determine the vehicle outer envelope range according to preset vehicle outer envelope parameters and the vehicle coordinates; A projection distance calculation module, used to calculate the projection distance from the vehicle to the lane corresponding to the outer envelope of the lane segment according to the positional relationship between the outer envelope of the lane segment and the outer envelope of the vehicle; The lane binding module is used to determine a lane that meets a preset binding condition based on the projection distance, and bind the vehicle to the lane that meets the preset binding condition.

[0013] In addition, to achieve the above-mentioned purpose, the present application also proposes a lane matching device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the lane matching method described above.

[0014] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium, and a program for implementing the lane matching method is stored on the computer-readable storage medium. The program for implementing the lane matching method is executed by a processor to implement the steps of the lane matching method as described above.

[0015] The present application provides a lane matching method, which obtains the coordinates of the lane trajectory points and the vehicle coordinates to determine the outer envelope range of the lane segment and the outer envelope range of the vehicle. The relative position relationship between the vehicle and the lane can be determined in segments according to the outer envelope range of the lane segment and the outer envelope range of the vehicle, thereby improving the accuracy of the relative position relationship between the vehicle and the lane. The projection distance from the lane to the vehicle corresponding to the outer envelope range of the lane is calculated. Based on the projection distance and the preset binding conditions, the lane can be dynamically selected according to the real-time data and bound to the vehicle. Accurate lane calculation helps to improve the quality of the intelligent driving data set, thereby improving the accuracy of intelligent driving decisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] Figure 1 A schematic diagram of a process flow provided for the first embodiment of the lane matching method of the present application; Figure 2 A schematic diagram of the relative position between the vehicle and the lane in the lane matching method of this application; Figure 3 This is a schematic diagram of the module structure of the lane matching device according to an embodiment of the present application; Figure 4 Schematic diagram of the device structure of the hardware operating environment involved in the lane matching method in the embodiment of the present application.

[0019] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0020] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0021] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0022] The main solution of the present application is: obtaining the coordinates of lane trajectory points and vehicle coordinates; determining the outer envelope range of the lane segment according to the coordinates of two adjacent lane trajectory points; determining the outer envelope range of the vehicle according to preset vehicle outer envelope parameters and the vehicle coordinates; calculating the projection distance from the vehicle to the lane corresponding to the outer envelope range of the lane segment according to the positional relationship between the outer envelope range of the lane segment and the outer envelope range of the vehicle; determining the lane that meets the preset binding conditions based on the projection distance, and binding the vehicle to the lane that meets the preset binding conditions.

[0023] In the process of intelligent driving, it is necessary to frequently calculate the lane where the vehicle is located as the data set for intelligent driving. The accuracy of lane calculation directly affects the quality of the data set. Accurate lane information can ensure that the lane labels made in the data set, the identification of vehicle lane changes, and the design of interactive labels between vehicles are more accurate. However, the traditional lane matching method has many shortcomings. For example, when the curvature of the lane line changes greatly or the lane width is uneven, it is easy to make misjudgments and fail to accurately identify the lane where the vehicle is located. Therefore, how to improve the accuracy of lane binding is a problem that needs to be solved urgently.

[0024] This application obtains the coordinates of the lane trajectory points and the vehicle coordinates to determine the outer envelope of the lane segment and the outer envelope of the vehicle. The relative position relationship between the vehicle and the lane can be determined in segments based on the outer envelope of the lane segment and the outer envelope of the vehicle, thereby improving the accuracy of the relative position relationship between the vehicle and the lane. The projection distance from the lane to the vehicle corresponding to the outer envelope of the lane is calculated. Based on the projection distance and the preset binding conditions, the lane can be dynamically selected and bound to the vehicle according to real-time data. Accurate lane calculation helps to improve the quality of the intelligent driving data set, thereby improving the accuracy of intelligent driving decisions.

[0025] It should be noted that the execution subject of this embodiment may be a lane matching system, or a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a lane matching device capable of realizing the above functions, etc., and this embodiment does not specifically limit this. The following takes the lane matching system as an example to illustrate this embodiment and the following embodiments.

[0026] Based on this, this application proposes a lane matching method of the first embodiment, please refer to Figure 1 , the lane matching method comprises steps S10 to S50: Step S10, obtaining the lane trajectory point coordinates and vehicle coordinates; It should be noted that each lane is composed of several lane trajectory point coordinates, which can be recorded as point1, point2, ..., pointM. The lane trajectory point coordinates are data collected by on-board sensors (such as cameras, lidar, millimeter-wave radar, etc.) or external traffic management systems. In addition, the lane information corresponding to the lane trajectory point can also be obtained at the same time. The lane information may include the width, direction, identifier, etc. of the lane corresponding to the lane trajectory point. For different lanes, each lane has a unique identifier (such as a number, a string, etc.) to distinguish different lanes. For example, the lane number of each lane can be recorded as lane1, lane2, ..., laneN.

[0027] The vehicle coordinates (object_x, object_y) represent the precise position of the vehicle on the current road, which can be determined by the vehicle's positioning system (such as GPS, inertial navigation system, etc.) and the vehicle's internal sensors (such as wheel speed sensors, steering wheel angle sensors, etc.). The sensors can provide real-time information such as the vehicle's position, speed, and direction, thereby obtaining the vehicle's precise position in the map or lane coordinate system.

[0028] Step S20, determining the outer envelope range of the lane segment according to the coordinates of the lane trajectory points adjacent to each other; It should be noted that, refer to Figure 2 For two adjacent lane trajectory point coordinates, the lane segment outer envelope is determined by the minimum x_min of the horizontal coordinate, the maximum x_max of the horizontal coordinate, the minimum y_min of the vertical coordinate, and the maximum y_max of the vertical coordinate. Repeat the above process until all the lane trajectory points adjacent to each other on the lane have their corresponding lane segment outer envelopes determined.

[0029] Step S30, determining the vehicle outer envelope range according to preset vehicle outer envelope parameters and the vehicle coordinates; It should be noted that the vehicle envelope parameters usually include a width parameter w and a length parameter h, which are usually set according to the specific size, shape, safety margin, etc. of the vehicle. The vehicle envelope range is calculated based on the preset vehicle envelope parameters and vehicle coordinates to reflect the space range occupied by the vehicle on the road.

[0030] Step S40, calculating a projection distance from the vehicle to a lane corresponding to the outer envelope of the lane segment according to a positional relationship between the outer envelope of the lane segment and the outer envelope of the vehicle; It should be noted that by comparing the outer envelope of the lane segment with the outer envelope of the vehicle, it is determined whether the two have an intersection. If there is an intersection, the projection distance of the vehicle relative to the lane corresponding to the outer envelope of the lane segment is further calculated. For two lane trajectory points in the outer envelope of the lane segment, the vector from the vehicle to each trajectory point and the vector between the trajectory points are calculated, and the cosine value of the angle between the vector from the vehicle to the trajectory point and the vector between the trajectory points is calculated. According to the positive or negative value of the cosine value of the angle, different methods are used to calculate the projection distance from the vehicle to the trajectory point to evaluate the relative position relationship between the vehicle and the lane trajectory point corresponding to the outer envelope of the lane segment.

[0031] Step S50: determining a lane that meets a preset binding condition based on the projection distance, and binding the vehicle to the lane that meets the preset binding condition.

[0032] It should be noted that in order to ensure that the vehicle can be accurately identified and bound to the target lane, the width of the lane and the actual position of the vehicle must be considered. Since the lane has a certain width, direct binding may be inaccurate when the vehicle is far away from the lane. Therefore, it is necessary to set a projection distance threshold as a preset binding condition. Only when the minimum projection distance is less than this threshold, the lane with the lane number to which the corresponding lane trajectory point belongs is used as the lane to which the vehicle is bound. In addition, in order to prevent the vehicle from driving in the wrong or significantly deviated direction for a long time, the preset binding condition can also set a lane direction deviation threshold to monitor the vehicle's driving direction and remove data driving in the wrong or significantly deviated direction. When the projection distance meets the projection distance threshold requirement and the lane direction is within the lane direction deviation threshold range, the vehicle is determined to be in the lane and is bound to the lane.

[0033] This embodiment provides a lane matching method, which obtains the coordinates of the lane trajectory points and the vehicle coordinates to determine the outer envelope range of the lane segment and the outer envelope range of the vehicle. The relative position relationship between the vehicle and the lane can be determined in segments according to the outer envelope range of the lane segment and the outer envelope range of the vehicle, thereby improving the accuracy of the relative position relationship between the vehicle and the lane. The projection distance from the lane to the vehicle corresponding to the outer envelope range of the lane is calculated. Based on the projection distance and the preset binding conditions, the lane can be dynamically selected according to the real-time data and bound to the vehicle. Accurate lane calculation helps to improve the quality of the intelligent driving data set, thereby improving the accuracy of intelligent driving decisions.

[0034] In a feasible implementation manner, the preset vehicle outer envelope parameters include a width parameter and a length parameter, and step S30 may include steps S301-S302: Step S301, determining the upper left corner coordinates and the lower right corner coordinates of the vehicle outer envelope according to the vehicle coordinates, the width parameter and the length parameter; Step S302: determining the outer envelope of the vehicle according to the coordinates of the upper left corner and the coordinates of the lower right corner.

[0035] It should be noted that the vehicle envelope parameters include width parameter w and length parameter h, which are usually set according to factors such as the specific size, shape and safety margin of the vehicle. Figure 2 , calculate the coordinates of the upper left corner of the vehicle's outer envelope, denoted as P1(x_1, y_1), where x_1=object_x–w / 2, y_1=object_y+h / 2. Calculate the coordinates of the lower right corner of the vehicle's outer envelope, denoted as P2(x_2, y_2), where x_2=object_x+w / 2, y_2=object_y-h / 2.

[0036] In this implementation, by calculating the upper left corner coordinates and the lower right corner coordinates of the vehicle's outer envelope, the vehicle's outer envelope range can be intuitively expressed, and it is easy to determine whether the lane trajectory point coordinates are within the vehicle's outer envelope range, determine the relative position relationship between the vehicle and the lane, and further perform subsequent operations of lane binding.

[0037] In a feasible implementation, step S40 may include steps S401-S402: Step S401, determining whether the outer envelope range of the lane segment and the outer envelope range of the vehicle intersect; Step S402: If the lane segment outer envelope and the vehicle outer envelope intersect, a projection distance from the vehicle to the lane corresponding to the lane outer envelope is calculated according to the lane trajectory point coordinates within the lane segment outer envelope and the vehicle coordinates.

[0038] It should be noted that for the outer envelope range of the lane segment, its horizontal and vertical coordinates are compared with the coordinates of the upper left corner (x_1, y_1) and the lower right corner (x_2, y_2) of the outer envelope range of the vehicle. The lane segments that have no intersection with the vehicle can be quickly filtered out according to the determined outer envelope range of the lane segment, thereby reducing the amount of calculation and improving the efficiency of lane binding.

[0039] Optionally, step S401 may include step S4011: Step S4011: If the minimum value of the ordinate of the outer envelope range of the lane segment is greater than or equal to the ordinate of the upper left corner coordinate, or the maximum value of the ordinate of the outer envelope range of the lane segment is less than or equal to the ordinate of the lower right corner coordinate, or the minimum value of the abscissa of the outer envelope range of the lane segment is greater than or equal to the abscissa of the lower right corner coordinate, or the maximum value of the abscissa of the outer envelope range of the lane segment is less than or equal to the abscissa of the upper left corner coordinate, it is determined that the outer envelope range of the lane segment does not intersect with the outer envelope range of the vehicle.

[0040] It should be noted that by comparing the coordinates of the lane segment outer envelope range with the coordinates of the upper left corner and the lower right corner of the vehicle outer envelope, the positional relationship between the lane segment outer envelope range and the vehicle outer envelope range is directly and clearly defined. If the minimum ordinate value of the lane segment outer envelope range is greater than or equal to the ordinate value of the upper left corner coordinate (y_min≥y_1), or the maximum ordinate value of the lane segment outer envelope range is less than or equal to the ordinate value of the lower right corner coordinate (y_max≤y_2), or the minimum abscissa value of the lane segment outer envelope range is greater than or equal to the abscissa value of the lower right corner coordinate (x_min≥x_2), or the maximum abscissa value of the lane segment outer envelope range is less than or equal to the abscissa value of the upper left corner coordinate (x_max≤x_1), then it is determined that the lane segment outer envelope range does not intersect with the vehicle outer envelope range; otherwise, the lane segment outer envelope range does intersect with the vehicle outer envelope range.

[0041] Optionally, the step of calculating the projection distance from the vehicle to the lane corresponding to the lane outer envelope range according to the lane trajectory point coordinates within the lane segment outer envelope range and the vehicle coordinates may include steps S4021 to S4023: Step S4021, calculating a vector between the vehicle and the lane trajectory point within the outer envelope of the lane segment according to the lane trajectory point coordinates within the outer envelope of the lane segment and the vehicle coordinates; Step S4022, calculating the cosine value of the angle between the vehicle and the lane trajectory point within the outer envelope of the lane segment according to the vector; Step S4023, calculating the projection distance from the vehicle to the lane corresponding to the outer envelope of the lane according to the cosine value of the angle, the coordinates of the lane trajectory points within the outer envelope of the lane segment, and the vehicle coordinates.

[0042] Optionally, the lane trajectory points within the outer envelope of the lane segment include a first trajectory point and a second trajectory point, and step S4021 may include steps S40211 to S40213: Step S40211, calculating a first vector from the first trajectory point to the vehicle coordinates according to the first trajectory point and the vehicle coordinates; Step S40212, calculating a second vector from the second trajectory point to the vehicle coordinates according to the second trajectory point and the vehicle coordinates; Step S40213, calculating a lane trajectory vector from the first trajectory point to the second trajectory point according to the first trajectory point and the second trajectory point; Step S40214: Obtain a vector of a lane trajectory point within an outer envelope range between the vehicle and the lane segment according to the first vector, the second vector and the lane trajectory vector.

[0043] It should be noted that the lane trajectory points within the outer envelope of the lane segment include the first trajectory point point1 (x1, y1) and the second trajectory point point2 (x2, y2), and the vehicle coordinates are labeled agent (p1, p2). The first vector from the first trajectory point to the vehicle coordinates is (v1_x, v1_y) = (p1–x1, p2–y1), and the lane trajectory vector from the first trajectory point to the second trajectory point is (v2_x, v2_y) = (x2–x1, y2–y1). The second vector from the second trajectory point to the vehicle coordinates is (v3_x, v3_y) = (p1–x2, p2–y2).

[0044] After obtaining the vectors, the cosine value of the angle between the first vector and the lane trajectory vector, as well as the cosine value of the angle between the second vector and the lane trajectory vector are calculated respectively. The cosine value of the angle can reflect the relationship between the directions of the two vectors. When the cosine value of the angle between the first vector and the lane trajectory vector is less than zero, the projection distance is calculated as follows:

[0045] When the cosine value of the angle between the first vector and the lane trajectory vector is greater than or equal to zero, the projection distance is calculated as follows:

[0046] in, is the cosine of the angle between the first vector and the lane trajectory vector.

[0047] When the cosine value of the angle between the second vector and the lane trajectory vector is less than zero, the projection distance is calculated as follows:

[0048] When the cosine value of the angle between the second vector and the lane trajectory vector is greater than or equal to zero, the projection distance is calculated as follows:

[0049] in, is the cosine of the angle between the first vector and the lane trajectory vector.

[0050] In this implementation, the projection distance from the vehicle to the lane can be accurately calculated by combining the cosine value of the angle with the coordinates of the lane trajectory points and the vehicle coordinates within the outer envelope of the lane segment. As a quantitative indicator, the projection distance can intuitively reflect the relative position relationship between the vehicle and the lane, thereby improving the accuracy of the calculation of the relative position between the vehicle and the lane, providing accurate data support for lane binding, and helping to improve the accuracy of lane binding.

[0051] In a feasible implementation, step S50 may include steps S501 to S504: Step S501, comparing the projection distances to obtain a minimum projection distance; Step S502, comparing the minimum projection distance with a preset distance threshold to obtain a comparison result; Step S503: if the comparison result is that the minimum projection distance is less than the preset distance threshold, then obtaining the outer envelope range of the lane segment corresponding to the minimum projection distance; Step S504: determining a target lane according to an outer envelope range of the lane segment corresponding to the minimum projection distance, and binding the vehicle to the target lane.

[0052] It should be noted that the projection distance value is obtained by calculating the projection distance between the vehicle and the two lane trajectory points within the outer envelope of the lane segment. A lane may correspond to multiple lane segment outer envelopes, so multiple projection distance values ​​can be obtained. In order to determine the closest distance from the vehicle to the entire lane, it is necessary to compare these projection distance values, find the minimum value of all projection distances, and update the minimum projection distance value in real time during the vehicle's driving process. The minimum projection distance value is used as the projection distance from the vehicle to the lane, which will be used as the data basis for subsequent lane binding decisions.

[0053] Since lanes have a certain width, some vehicles cannot be truly bound to lanes. Even if they are bound to lanes, it is meaningless if the vehicle is far away from the lane. Therefore, a distance threshold needs to be set. The distance threshold is pre-set according to actual application requirements. Only when the minimum projection distance is less than the distance threshold, the lane trajectory point corresponding to the minimum projection distance is determined, and the lane with the lane number to which the lane trajectory point belongs is used as the lane bound to the vehicle. Therefore, the lane trajectory point corresponding to the minimum projection distance is obtained, and the bound lane is determined according to the lane identifier in the lane information corresponding to the lane trajectory point, and the vehicle is bound to the lane. Otherwise, it is determined that the vehicle has no lane to be bound, and the vehicle binding can be defined as a free lane.

[0054] In this embodiment, by comparing multiple projected distances and selecting the minimum value, the closest point of the vehicle to the entire lane is determined, which helps to improve the accuracy of lane binding. By comparing the minimum projected distance with the preset distance threshold, it is possible to accurately determine whether the proximity between the vehicle and the lane has reached the standard that the vehicle can be considered to be driving in the lane, effectively reducing the possibility of vehicle misbinding and improving the accuracy of lane binding.

[0055] The present application also provides a lane matching device, please refer to Figure 3 , the lane matching device comprises: An acquisition module 10, used to acquire the coordinates of the lane trajectory points and the vehicle coordinates; A lane segment outer envelope range determination module 20, used to determine the lane segment outer envelope range according to the coordinates of two adjacent lane trajectory points; A vehicle outer envelope range determination module 30, used to determine the vehicle outer envelope range according to preset vehicle outer envelope parameters and the vehicle coordinates; A projection distance calculation module 40, configured to calculate a projection distance from the vehicle to a lane corresponding to the outer envelope of the lane segment according to a positional relationship between the outer envelope of the lane segment and the outer envelope of the vehicle; The lane binding module 50 is used to determine a lane that meets a preset binding condition based on the projection distance, and bind the vehicle to the lane that meets the preset binding condition.

[0056] The lane matching device provided in the embodiment of the present application adopts the lane matching method in the above embodiment, which can solve the technical problem of lane matching. Compared with the prior art, the beneficial effects of the lane matching device provided in the embodiment of the present application are the same as the beneficial effects of the lane matching method provided in the above embodiment, and other technical features in the lane matching device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0057] The present application provides a lane matching device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the lane matching method in the above-mentioned embodiment 1.

[0058] Reference below Figure 4 , which shows a schematic diagram of the structure of a lane matching device suitable for implementing the embodiment of the present application. The lane matching device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The lane matching device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0059] like Figure 4As shown, the lane matching device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the lane matching device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the lane matching device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a lane matching device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0060] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0061] The lane matching device provided by the present application adopts the lane matching method in the above embodiment to solve the technical problem of lane matching. Compared with the prior art, the beneficial effects of the lane matching device provided by the present application are the same as the beneficial effects of the lane matching method provided by the above embodiment, and other technical features in the lane matching device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0062] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0063] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0064] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the lane matching method in the above-mentioned embodiment.

[0065] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0066] The computer-readable storage medium may be included in the lane matching device; or may exist independently without being assembled into the lane matching device.

[0067] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the lane matching device, the lane matching device: obtains lane trajectory point coordinates and vehicle coordinates; determines the outer envelope range of the lane segment according to the coordinates of two adjacent lane trajectory points; determines the outer envelope range of the vehicle according to preset vehicle outer envelope parameters and the vehicle coordinates; calculates the projection distance from the vehicle to the lane corresponding to the outer envelope range of the lane segment according to the positional relationship between the outer envelope range of the lane segment and the outer envelope range of the vehicle; determines the lane that meets the preset binding conditions based on the projection distance, and binds the vehicle to the lane that meets the preset binding conditions.

[0068] Computer program code for performing the operations of the present application 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., via the Internet using an Internet service provider).

[0069] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0070] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0071] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the lane matching method described above, and can solve the technical problem of lane matching. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the lane matching method provided in the above embodiment, and will not be elaborated here.

[0072] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A lane matching method, characterized in that: The lane matching method comprises: Get the lane trajectory point coordinates and vehicle coordinates; According to the coordinates of two adjacent lane trajectory points, the outer envelope range of the lane segment is determined; Determining the vehicle outer envelope range according to preset vehicle outer envelope parameters and the vehicle coordinates; Calculating a projection distance from the vehicle to the lane corresponding to the outer envelope of the lane segment according to a positional relationship between the outer envelope of the lane segment and the outer envelope of the vehicle; A lane that meets a preset binding condition is determined based on the projection distance, and the vehicle is bound to the lane that meets the preset binding condition.

2. The method according to claim 1, characterized in that The preset vehicle outer envelope parameters include a width parameter and a length parameter. The step of determining the vehicle outer envelope range according to the preset vehicle outer envelope parameters and the vehicle coordinates includes: Determine the upper left corner coordinates and the lower right corner coordinates of the vehicle outer envelope according to the vehicle coordinates, the width parameter and the length parameter; The outer envelope range of the vehicle is determined according to the upper left corner coordinates and the lower right corner coordinates.

3. The method according to claim 2, characterized in that The step of calculating the projection distance from the vehicle to the lane corresponding to the outer envelope of the lane segment according to the positional relationship between the outer envelope of the lane segment and the outer envelope of the vehicle comprises: Determining whether the outer envelope range of the lane segment and the outer envelope range of the vehicle intersect; If the lane segment outer envelope and the vehicle outer envelope intersect, a projection distance from the vehicle to the lane corresponding to the lane outer envelope is calculated according to the lane trajectory point coordinates within the lane segment outer envelope and the vehicle coordinates.

4. The method according to claim 3, characterized in that The step of determining whether the outer envelope range of the lane segment and the outer envelope range of the vehicle intersect comprises: If the minimum value of the ordinate of the outer envelope range of the lane segment is greater than or equal to the ordinate of the upper left corner coordinate, or the maximum value of the ordinate of the outer envelope range of the lane segment is less than or equal to the ordinate of the lower right corner coordinate, or the minimum value of the abscissa of the outer envelope range of the lane segment is greater than or equal to the abscissa of the lower right corner coordinate, or the maximum value of the abscissa of the outer envelope range of the lane segment is less than or equal to the abscissa of the upper left corner coordinate, then it is determined that the outer envelope range of the lane segment does not intersect with the outer envelope range of the vehicle.

5. The method according to claim 3, characterized in that The step of calculating the projection distance from the vehicle to the lane corresponding to the lane outer envelope range according to the lane trajectory point coordinates within the lane segment outer envelope range and the vehicle coordinates comprises: Calculating a vector between the vehicle and the lane trajectory point within the outer envelope of the lane segment according to the lane trajectory point coordinates within the outer envelope of the lane segment and the vehicle coordinates; Calculating the cosine value of the angle between the vehicle and the lane trajectory point within the outer envelope of the lane segment according to the vector; The projection distance from the vehicle to the lane corresponding to the outer envelope of the lane is calculated according to the cosine value of the angle, the coordinates of the lane trajectory points within the outer envelope of the lane segment, and the vehicle coordinates.

6. The method according to claim 5, characterized in that The lane trajectory points within the outer envelope of the lane segment include a first trajectory point and a second trajectory point, and the step of calculating a vector between the vehicle and the lane trajectory points within the outer envelope of the lane segment according to the coordinates of the lane trajectory points within the outer envelope of the lane segment and the vehicle coordinates includes: Calculating a first vector from the first trajectory point to the vehicle coordinates according to the first trajectory point and the vehicle coordinates; Calculating a second vector from the second trajectory point to the vehicle coordinates according to the second trajectory point and the vehicle coordinates; Calculating a lane trajectory vector from the first trajectory point to the second trajectory point according to the first trajectory point and the second trajectory point; A vector of a lane trajectory point between the vehicle and the lane segment outer envelope is obtained according to the first vector, the second vector and the lane trajectory vector.

7. The method according to claim 1, characterized in that The step of determining a lane that meets a preset binding condition based on the projection distance, and binding the vehicle to the lane that meets the preset binding condition comprises: Comparing the projection distances to obtain a minimum projection distance; Compare the minimum projection distance with a preset distance threshold to obtain a comparison result; If the comparison result is that the minimum projection distance is less than the preset distance threshold, then obtaining the outer envelope range of the lane segment corresponding to the minimum projection distance; A target lane is determined according to an outer envelope range of the lane segment corresponding to the minimum projection distance, and the vehicle is bound to the target lane.

8. A lane matching device, characterized in that: The lane matching device comprises: An acquisition module, used to acquire the coordinates of lane trajectory points and vehicle coordinates; A lane segment outer envelope range determination module, used to determine the lane segment outer envelope range according to the coordinates of two adjacent lane trajectory points; A vehicle outer envelope range determination module, used to determine the vehicle outer envelope range according to preset vehicle outer envelope parameters and the vehicle coordinates; A projection distance calculation module, used to calculate the projection distance from the vehicle to the lane corresponding to the outer envelope of the lane segment according to the positional relationship between the outer envelope of the lane segment and the outer envelope of the vehicle; The lane binding module is used to determine a lane that meets a preset binding condition based on the projection distance, and bind the vehicle to the lane that meets the preset binding condition.

9. A lane matching device, characterized in that: The lane matching device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the lane matching method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the lane matching method according to any one of claims 1 to 7 are implemented.

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