Lane Matching Method, Device, Equipment and Storage Medium

Abstract

The present application discloses a lane matching method, apparatus, device, and storage medium. The present application relates to the field of autonomous driving technology. The lane matching method includes: obtaining lane trajectory point coordinates and vehicle coordinates; determining the outer envelope range of a lane segment according to the coordinates of two adjacent lane trajectory points; determining the outer envelope range of the vehicle according to a preset vehicle outer envelope parameter 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 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. The present application can improve the accuracy of lane binding.

Description

Technical Field

[0001] This 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] During the process of intelligent driving, it is necessary to frequently calculate the lane where the vehicle is located as a dataset for intelligent driving. The accuracy of lane calculation directly affects the quality of the dataset. Accurate lane information can ensure that lane labels, vehicle lane change recognition, and vehicle - to - vehicle interaction label design in the dataset are more accurate. However, there are many deficiencies in traditional lane matching methods. For example, when the curvature of the lane line changes greatly or the lane width is uneven, misjudgment is likely to occur, and it is impossible to accurately identify the lane where the vehicle is located.

[0003] Therefore, how to improve the accuracy of lane binding is an urgent problem to be solved currently. 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 purpose, this application provides a lane matching method, and the lane matching method includes:

[0006] Obtain lane trajectory point coordinates and vehicle coordinates;

[0007] Determine the outer envelope range of the lane segment according to the coordinates of two adjacent lane trajectory points;

[0008] Determine the vehicle outer envelope range according to the preset vehicle outer envelope parameters and the vehicle coordinates;

[0009] Calculate 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 vehicle outer envelope range;

[0010] Based on the projection distance, determine the lane that meets the preset binding condition, and bind the vehicle to the lane that meets the preset binding condition.

[0011] In an 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:

[0012] Determine the upper - left corner coordinates and lower - right corner coordinates of the vehicle outer envelope according to the vehicle coordinates, the width parameter, and the length parameter;

[0013] Determine the vehicle envelope range according to the upper left corner coordinates and the lower right corner coordinates.

[0014] In one embodiment, the step of calculating the projection distance of the vehicle to the lane corresponding to the lane segment envelope range according to the positional relationship between the lane segment envelope range and the vehicle envelope range includes:

[0015] Determine whether there is an intersection between the lane segment envelope range and the vehicle envelope range;

[0016] If there is an intersection between the lane segment envelope range and the vehicle envelope range, calculate the projection distance of the vehicle to the lane corresponding to the lane envelope range according to the lane trajectory point coordinates within the lane segment envelope range and the vehicle coordinates.

[0017] In one embodiment, the step of determining whether there is an intersection between the lane segment envelope range and the vehicle envelope range includes:

[0018] If the minimum value of the ordinate of the lane segment envelope range is greater than or equal to the ordinate of the upper left corner coordinates, or the maximum value of the ordinate of the lane segment envelope range is less than or equal to the ordinate of the lower right corner coordinates, or the minimum value of the abscissa of the lane segment envelope range is greater than or equal to the abscissa of the lower right corner coordinates, or the maximum value of the abscissa of the lane segment envelope range is less than or equal to the abscissa of the upper left corner coordinates, it is determined that there is no intersection between the lane segment envelope range and the vehicle envelope range.

[0019] In one embodiment, the step of calculating the projection distance of the vehicle to the lane corresponding to the lane envelope range according to the lane trajectory point coordinates within the lane segment envelope range and the vehicle coordinates includes:

[0020] Calculate the vector between the vehicle and the lane trajectory points within the lane segment envelope range according to the lane trajectory point coordinates within the lane segment envelope range and the vehicle coordinates;

[0021] Calculate the cosine value of the included angle formed by the vehicle and the lane trajectory points within the lane segment envelope range according to the vector;

[0022] Calculate the projection distance of the vehicle to the lane corresponding to the lane envelope range according to the cosine value of the included angle, the coordinates of the lane trajectory points within the lane segment envelope range and the vehicle coordinates.

[0023] 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. The step of calculating the 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:

[0024] Calculating a first vector from the first trajectory point to the vehicle coordinates according to the first trajectory point and the vehicle coordinates;

[0025] Calculating a second vector from the second trajectory point to the vehicle coordinates according to the second trajectory point and the vehicle coordinates;

[0026] 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;

[0027] Obtaining the vector between the vehicle and the lane trajectory points within the outer envelope of the lane segment according to the first vector, the second vector, and the lane trajectory vector.

[0028] 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:

[0029] Comparing the projection distances to obtain the minimum projection distance;

[0030] Comparing the minimum projection distance with a preset distance threshold to obtain a comparison result;

[0031] If the comparison result is that the minimum projection distance is less than the preset distance threshold, obtaining the outer envelope range of the lane segment corresponding to the minimum projection distance;

[0032] Determining a target lane according to the outer envelope range of the lane segment corresponding to the minimum projection distance and binding the vehicle to the target lane.

[0033] In addition, to achieve the above object, the present application further provides a lane matching device, which includes:

[0034] An acquisition module for acquiring lane trajectory point coordinates and vehicle coordinates;

[0035] A lane segment outer envelope range determination module for determining the outer envelope range of the lane segment according to the coordinates of two adjacent lane trajectory points;

[0036] A vehicle outer envelope range determination module for determining the outer envelope range of the vehicle according to preset vehicle outer envelope parameters and the vehicle coordinates;

[0037] A projection distance calculation module, configured to calculate 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;

[0038] A lane binding module, configured 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.

[0039] In addition, to achieve the above object, the present application further provides a lane matching device, where the device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the lane matching method as described above.

[0040] In addition, to achieve the above object, the present application further provides a storage medium, where the storage medium is a computer-readable storage medium, and a program for implementing the lane matching method is stored on the computer-readable storage medium, and 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.

[0041] The present application provides a lane matching method. By obtaining the coordinates of lane trajectory points and vehicle coordinates, the outer envelope range of the lane segment and the outer envelope range of the vehicle are determined. According to the outer envelope range of the lane segment and the outer envelope range of the vehicle, the relative positional relationship between the vehicle and the lane can be determined in segments, improving the accuracy of determining the relative positional relationship between the vehicle and the lane. Calculate the projection distance from the lane corresponding to the outer envelope range of the lane to the vehicle. Based on the projection distance and preset binding conditions, the lane can be dynamically selected according to real-time data and bound to the vehicle. Accurate lane calculation helps to improve the quality of the intelligent driving data set, and further improves the accuracy of intelligent driving decision-making. Description of the Drawings

[0042] The drawings here are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0043] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0044] Figure 1 It is a schematic flowchart provided for the first embodiment of the lane matching method of the present application;

[0045] Figure 2 It is a schematic diagram of the relative position between the vehicle and the lane for the lane matching method of the present application;

[0046] Figure 3 It is a schematic diagram of the module structure of the lane matching device according to an embodiment of the present application;

[0047] Figure 4 It is a schematic diagram of the device structure of the hardware operating environment involved in the lane matching method according to an embodiment of the present application.

[0048] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0049] 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.

[0050] In order to better understand the technical solutions of the present application, the following will be described in detail with reference to the accompanying drawings of the specification and specific implementation manners.

[0051] The main solution of the present application is: obtain the lane trajectory point coordinates and vehicle coordinates; determine the lane segment envelope range according to the coordinates of two adjacent lane trajectory points; determine the vehicle envelope range according to the preset vehicle envelope parameters and the vehicle coordinates; calculate the projection distance from the vehicle to the lane corresponding to the lane segment envelope range according to the positional relationship between the lane segment envelope range and the vehicle envelope range; determine the lane that meets the preset binding condition based on the projection distance, and bind the vehicle to the lane that meets the preset binding condition.

[0052] During the process of intelligent driving, it is necessary to frequently calculate the lane where the vehicle is located as a dataset for intelligent driving. The accuracy of lane calculation directly affects the quality of the dataset. Accurate lane information can ensure that the lane labels, vehicle lane change recognition, and vehicle interaction label design in the dataset are more accurate. However, there are many deficiencies in traditional lane matching methods. For example, when the curvature of the lane line changes greatly or the lane width is uneven, it is easy to produce misjudgments and cannot accurately identify the lane where the vehicle is located. Therefore, how to improve the accuracy of lane binding is an urgent problem to be solved at present.

[0053] In this application, by obtaining the lane trajectory point coordinates and vehicle coordinates, the outer envelope range of the lane segment and the outer envelope range of the vehicle are determined. According to 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 segment by segment, improving the accuracy of determining the relative position relationship between the vehicle and the lane. Calculate the projection distance from the lane corresponding to the outer envelope range of the lane to the vehicle. 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, and further improves the accuracy of intelligent driving decision-making.

[0054] It should be noted that the execution subject of this embodiment can 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 implementing the above functions. This embodiment does not make specific limitations on this. Hereinafter, taking the lane matching system as the execution subject as an example, this embodiment and the following embodiments will be described.

[0055] Based on this, the present application proposes a lane matching method for the first embodiment. Please refer to Figure 1 , and the lane matching method includes steps S10 to S50:

[0056] Step S10, obtain lane trajectory point coordinates and vehicle coordinates;

[0057] 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 collected through on-vehicle sensors (such as cameras, lidar, millimeter-wave radars, etc.) or data collected by an external traffic management system. In addition, the lane information corresponding to the lane trajectory points can 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.) for distinguishing different lanes. For example, the lane numbers of each lane can be recorded as lane1, lane2,..., laneN respectively.

[0058] The vehicle coordinates (object_x, object_y) represent the exact 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.). Through the sensors, the position, speed, direction, etc. of the vehicle can be provided in real time, so as to obtain the exact position of the vehicle in the map or lane coordinate system.

[0059] Step S20, determine the outer envelope range of the lane segment according to two adjacent lane trajectory point coordinates;

[0060] It should be noted that, with reference to Figure 2 , for the coordinates of two adjacent lane trajectory points, the outer envelope range of the lane segment is determined by the minimum value x_min of the abscissa, the maximum value x_max of the abscissa, the minimum value y_min of the ordinate, and the maximum value y_max of the ordinate. Repeat the above process until the outer envelope ranges of all pairwise adjacent lane trajectory points on the lane are determined.

[0061] Step S30: Determine the outer envelope range of the vehicle according to the preset vehicle outer envelope parameters and the vehicle coordinates;

[0062] It should be noted that the vehicle outer envelope parameters usually include a width parameter w and a length parameter h, and are usually set according to factors such as the specific size, shape of the vehicle, and safety margin. Calculating the outer envelope range of the vehicle according to the preset vehicle outer envelope parameters and vehicle coordinates can reflect the space range occupied by the vehicle on the road.

[0063] Step S40: Calculate the projection distance of 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;

[0064] It should be noted that by comparing the outer envelope range of the lane segment with the outer envelope range of the vehicle, it is determined whether there is an intersection between the two. If there is an intersection, the projection distance of the vehicle relative to the lane corresponding to the outer envelope range of the lane segment is further calculated. For two lane trajectory points in the outer envelope range of the lane segment, calculate the vector from the vehicle to each trajectory point, and the vector between the trajectory points, and calculate the cosine value of the angle between the vector from the vehicle to the trajectory point and the vector between the trajectory points. According to the positive or negative of the cosine value of the angle, different methods are used to calculate the projection distance of the vehicle to the trajectory point to evaluate the relative positional relationship between the vehicle and the lane trajectory point corresponding to the outer envelope range of the lane segment.

[0065] Step S50: Determine the lane that meets the preset binding condition based on the projection distance, and bind the vehicle to the lane that meets the preset binding condition.

[0066] It should be noted that to ensure that the vehicle can accurately identify and bind 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, directly binding when the vehicle is far from the lane may be inaccurate. Therefore, a projection distance threshold needs to be set as a preset binding condition. Only when the minimum value of the projection distance is less than this threshold, the lane corresponding to the lane number of the lane trajectory points will be used as the lane to which the vehicle is bound. In addition, 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 driving direction of the vehicle and remove data driving in the wrong or significantly deviated direction. When the projection distance meets the requirements of the projection distance threshold and the lane direction is within the lane direction deviation threshold, it is determined that the vehicle is located in the lane and is bound to the lane.

[0067] This embodiment provides a lane matching method. By obtaining the coordinates of lane trajectory points and vehicle coordinates, the outer envelope range of the lane segment and the outer envelope range of the vehicle are determined. According to 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, improving the accuracy of determining the relative position relationship between the vehicle and the lane. Calculate the projection distance from the lane corresponding to the outer envelope range of the lane to the vehicle. Based on the projection distance and the preset binding conditions, the lane can be dynamically selected according to real-time data and bound to the vehicle. Accurate lane calculation helps to improve the quality of the intelligent driving data set, and further improves the accuracy of intelligent driving decision-making.

[0068] In a feasible implementation manner, the preset vehicle outer envelope parameters include a width parameter and a length parameter. Step S30 may include steps S301 to S302:

[0069] Step S301, according to the vehicle coordinates, the width parameter, and the length parameter, determine the upper left corner coordinates and the lower right corner coordinates of the vehicle outer envelope;

[0070] Step S302, according to the upper left corner coordinates and the lower right corner coordinates, determine the vehicle outer envelope range.

[0071] It should be noted that the vehicle outer envelope parameters include a width parameter w and a length parameter h, which are usually set according to factors such as the specific size, shape, and safety margin of the vehicle. Refer to Figure 2 , calculate the coordinates of the upper left corner point of the vehicle 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 point of the vehicle outer envelope, denoted as P2(x_2, y_2), where x_2 = object_x + w / 2, y_2 = object_y - h / 2.

[0072] In this embodiment, by calculating the upper left corner coordinates and the lower right corner coordinates of the vehicle outer envelope, the outer envelope range of the vehicle can be intuitively expressed, which is easy to judge whether the lane trajectory point coordinates are within the vehicle outer envelope range, determine the relative position relationship between the vehicle and the lane, and thus further perform subsequent operations of lane binding.

[0073] In a feasible embodiment, step S40 may include steps S401 to S402:

[0074] Step S401, determine whether there is an intersection between the outer envelope range of the lane segment and the outer envelope range of the vehicle;

[0075] Step S402, if there is an intersection between the outer envelope range of the lane segment and the outer envelope range of the vehicle, calculate the projection distance from the vehicle to the lane corresponding to the outer envelope range of the lane according to the lane trajectory point coordinates within the outer envelope range of the lane segment and the vehicle coordinates.

[0076] It should be noted that for the outer envelope range of the lane segment, by comparing its abscissa and ordinate with the upper left corner (x_1, y_1) and lower right corner (x_2, y_2) coordinates of the vehicle outer envelope range, 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 calculation amount and improving the efficiency of lane binding.

[0077] Optionally, step S401 may include step S4011:

[0078] 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 there is no intersection between the outer envelope range of the lane segment and the outer envelope range of the vehicle.

[0079] It should be noted that by comparing the coordinates of the outer envelope range of the lane segment with the upper left and lower right coordinates of the vehicle's outer envelope, the positional relationship between the outer envelope range of the lane segment and the outer envelope range of the vehicle is directly and clearly defined. 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 coordinate (y_min≥y_1), 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 coordinate (y_max≤y_2), 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 coordinate (x_min≥x_2), 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 coordinate (x_max≤x_1), it is determined that there is no intersection between the outer envelope range of the lane segment and the outer envelope range of the vehicle; otherwise, there is an intersection between the outer envelope range of the lane segment and the outer envelope range of the vehicle.

[0080] Optionally, the step of calculating the projection distance from the vehicle to the lane corresponding to the outer envelope range of the lane according to the lane trajectory point coordinates within the outer envelope range of the lane segment and the vehicle coordinates may include steps S4021 to S4023:

[0081] Step S4021, calculate the vector between the vehicle and the lane trajectory points within the outer envelope range of the lane segment according to the lane trajectory point coordinates within the outer envelope range of the lane segment and the vehicle coordinates;

[0082] Step S4022, calculate the cosine value of the included angle formed by the vehicle and the lane trajectory points within the outer envelope range of the lane segment according to the vector;

[0083] Step S4023, calculate the projection distance from the vehicle to the lane corresponding to the outer envelope range of the lane according to the cosine value of the included angle, the coordinates of the lane trajectory points within the outer envelope range of the lane segment, and the vehicle coordinates.

[0084] Optionally, the lane trajectory points within the outer envelope range of the lane segment include a first trajectory point and a second trajectory point, and step S4021 may include steps S40211 to S40213:

[0085] Step S40211, calculate the first vector from the first trajectory point to the vehicle coordinates according to the first trajectory point and the vehicle coordinates;

[0086] Step S40212, calculate the second vector from the second trajectory point to the vehicle coordinates according to the second trajectory point and the vehicle coordinates;

[0087] Step S40213, calculate the lane trajectory vector from the first trajectory point to the second trajectory point according to the first trajectory point and the second trajectory point;

[0088] Step S40214: Obtain the vector of the vehicle to the lane trajectory points within the outer envelope range of the lane segment according to the first vector, the second vector, and the lane trajectory vector.

[0089] It should be noted that the lane trajectory points within the outer envelope range 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 denoted as 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).

[0090] After obtaining the vectors, calculate the cosine value of the included angle between the first vector and the lane trajectory vector, and the cosine value of the included angle between the second vector and the lane trajectory vector respectively. The cosine value of the included angle can reflect the relationship between the directions of the two vectors. When the cosine value of the included angle between the first vector and the lane trajectory vector is less than zero, the calculation method of the projection distance is:

[0091]

[0092] When the cosine value of the included angle between the first vector and the lane trajectory vector is greater than or equal to zero, the calculation method of the projection distance is:

[0093]

[0094] where is the cosine value of the included angle between the first vector and the lane trajectory vector.

[0095] When the cosine value of the included angle between the second vector and the lane trajectory vector is less than zero, the calculation method of the projection distance is:

[0096]

[0097] When the cosine value of the included angle between the second vector and the lane trajectory vector is greater than or equal to zero, the calculation method of the projection distance is:

[0098]

[0099] where is the cosine value of the included angle between the first vector and the lane trajectory vector.

[0100] In this embodiment, by combining the cosine value of the angle with the lane trajectory point coordinates and vehicle coordinates within the outer envelope of the lane segment, the projection distance from the vehicle to the lane can be accurately calculated. As a quantitative index, the projection distance can intuitively reflect the relative position relationship between the vehicle and the lane, improving the accuracy of calculating 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.

[0101] In a feasible embodiment, step S50 may include steps S501 to S504:

[0102] Step S501, compare the projection distances to obtain the minimum projection distance;

[0103] Step S502, compare the minimum projection distance with a preset distance threshold to obtain a comparison result;

[0104] Step S503, if the comparison result is that the minimum projection distance is less than the preset distance threshold, obtain the outer envelope range of the lane segment corresponding to the minimum projection distance;

[0105] Step S504, determine the target lane according to the outer envelope range of the lane segment corresponding to the minimum projection distance, and bind the vehicle to the target lane.

[0106] It should be noted that by calculating the projection distances formed by two lane trajectory points within the outer envelope of the lane segment, projection distance values are obtained. Since one lane may correspond to multiple outer envelope ranges of lane segments, multiple projection distance values can be obtained. To determine the closest distance from the vehicle to the entire lane, these projection distance values need to be compared to find the minimum value among all the projection distances, and the minimum projection distance is updated in real time during the vehicle's driving process. The minimum projection distance is used as the projection distance from the vehicle to the lane and serves as the data basis for subsequent lane binding decisions.

[0107] Due to the certain width of the lane, some vehicles cannot be truly bound to the lane. Even if bound to the lane, it is meaningless if the vehicle is far from the lane. Therefore, a distance threshold needs to be set. The distance threshold is preset 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 of the lane trajectory point is used as the lane to which the vehicle is bound. Therefore, the lane trajectory point corresponding to the minimum projection distance is obtained, the lane to be bound is determined according to the lane identifier in the lane information corresponding to the lane trajectory point, and the vehicle is bound to this lane. Otherwise, it is determined that the vehicle has no lane to be bound, and the vehicle can be defined as a free lane.

[0108] In this embodiment, by comparing multiple projection distances and selecting the minimum value, the closest point from the vehicle to the entire lane is determined, which helps to improve the accuracy of lane binding. By comparing the minimum value of the projection distance with a preset distance threshold, it is possible to accurately determine whether the proximity between the vehicle and the lane has reached the standard where the vehicle can be considered to be driving on the lane, effectively reducing the possibility of incorrect vehicle binding and improving the accuracy of lane binding.

[0109] The embodiment of the present application also provides a lane matching device. Please refer to Figure 3 , and the lane matching device includes:

[0110] An acquisition module 10, configured to acquire lane trajectory point coordinates and vehicle coordinates;

[0111] A lane segment outer envelope range determination module 20, configured to determine the outer envelope range of the lane segment according to the coordinates of two adjacent lane trajectory points;

[0112] A vehicle outer envelope range determination module 30, configured to determine the outer envelope range of the vehicle according to preset vehicle outer envelope parameters and the vehicle coordinates;

[0113] A projection distance calculation module 40, configured to calculate 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;

[0114] A lane binding module 50, configured 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.

[0115] The lane matching device provided by the embodiment of the present application adopts the lane matching method in the above embodiment and can solve the technical problem of lane matching. Compared with the prior art, the beneficial effects of the lane matching device provided by the embodiment of the present application are the same as those of the lane matching method provided by the above embodiment, and other technical features in the lane matching device are the same as those disclosed in the method of the above embodiment, and will not be elaborated here.

[0116] 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 first embodiment above.

[0117] Next, refer to Figure 4, which shows a schematic structural diagram of a lane matching device suitable for implementing the embodiments of the present application. The lane matching device in the embodiments 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 Assistant), PADs (Portable Application Description), PMPs (Portable Media Player), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The illustrated lane matching device is merely an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0118] As Figure 4 shown, the lane matching device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 into the random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the lane matching device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, 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 wireline 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 shown systems. Instead, more or fewer systems may be implemented or had.

[0119] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. 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 contains program codes for executing the methods shown in the flowcharts. 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 a processing device 1001, the above functions defined in the methods of the embodiments disclosed in the present application are executed.

[0120] The lane matching device provided by the present application adopts the lane matching method in the above embodiment, and can 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 those 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, and will not be elaborated here.

[0121] It should be understood that the various parts disclosed in the present 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 a suitable manner in any one or more embodiments or examples.

[0122] As described above, the above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0123] The present application provides a computer-readable storage medium, having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the lane matching method in the above embodiment.

[0124] The computer-readable storage medium provided by the present application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0125] The above computer-readable storage medium can be included in the lane matching device; or it can exist separately without being assembled into the lane matching device.

[0126] The above computer-readable storage medium carries one or more programs. When the above one or more programs are executed by the lane matching device, the lane matching device is caused to: obtain lane trajectory point coordinates and vehicle coordinates; determine the envelope range of the lane segment according to the coordinates of two adjacent lane trajectory points; determine the vehicle envelope range according to the preset vehicle envelope parameters and the vehicle coordinates; calculate the projection distance from the vehicle to the lane corresponding to the envelope range of the lane segment according to the positional relationship between the envelope range of the lane segment and the vehicle envelope range; determine the lane that meets the preset binding condition based on the projection distance, and bind the vehicle to the lane that meets the preset binding condition.

[0127] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent 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 can be connected to the user's computer through any type of network, including a local area network (LAN: Local Area Network) or a wide area network (WAN: Wide Area Network), or it can be connected to an external computer (for example, by connecting through an Internet service provider via the Internet).

[0128] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and this module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks can occur in a different order than that marked in the accompanying drawings. For example, two consecutively represented blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0129] The modules described in the embodiments of this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation on the unit itself in some cases.

[0130] The readable storage medium provided by this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned lane matching method, and can solve the technical problems of lane matching. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this application are the same as those of the lane matching method provided by the above embodiments, and will not be elaborated here.

[0131] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent scope of the present application.

Claims

1. A lane matching method, characterized in that: The lane matching method comprises: Obtain the lane trajectory point coordinates and vehicle coordinates in the map or lane coordinate system; 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 in the map or lane coordinate system according to a positional relationship between the outer envelope of the lane segment and the outer envelope of the vehicle; 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; The step of calculating the projection distance from the vehicle to the lane corresponding to the outer envelope of the lane segment in the map or lane coordinate system 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.

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 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.

4. The method according to claim 1, 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.

5. The method according to claim 4, 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.

6. 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.

7. A lane matching device, characterized in that: The lane matching device comprises: An acquisition module, used for acquiring the coordinates of the lane trajectory points and the vehicle coordinates in a map or a lane coordinate system; 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 in the map or lane coordinate system according to the positional relationship between the outer envelope of the lane segment and the outer envelope of the vehicle; A lane binding module, configured 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; The projection distance calculation module is further used to determine whether there is an intersection between the outer envelope range of the lane segment and the outer envelope range of the vehicle; if there is an intersection between the outer envelope range of the lane segment and the outer envelope range of the vehicle, the projection distance from the vehicle to the lane corresponding to the outer envelope range of the lane is calculated according to the coordinates of the lane trajectory points within the outer envelope range of the lane segment and the vehicle coordinates.

8. 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 6.

9. 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 6 are implemented.

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