Lane determination method and device and computer readable storage medium

Abstract

The invention discloses a lane determination method and device and a computer readable storage medium, and the method comprises the steps: generating a dictionary based on lane lines in a preset number of continuous image frames; determining a first track point coordinate corresponding to a lane line of each lane number based on the dictionary; based on a preset grid spacing and the first track point coordinate, establishing a two-dimensional grid corresponding to each lane line; and based on the two-dimensional grid, performing thinning processing on the first track point coordinates of the lane lines to obtain target track point coordinates corresponding to the lane lines. According to the method, the two-dimensional grids corresponding to the lane lines are established through the track point coordinates of the track points on the lane lines in the preset number of continuous image frames, and the track point coordinates of the track points on the lane lines are subjected to thinning processing through the two-dimensional grids, so that the jitter problem between the continuous different frames is reduced, and the image quality is improved. The accuracy of a lane constructed by an image frame of a vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a lane determination method, device, and computer-readable storage medium. Background Art

[0002] For smart vehicles, accurately obtaining road information of the current environment is a key and basic function that determines whether the vehicle can complete the corresponding tasks as expected and ensure that it reaches the destination safely, comfortably and quickly.

[0003] In the LCC (Lane Centering Control) scenario of pure perception map, due to the limited vehicle perception, the length L of the lane that can be identified is short (usually 20~60 meters), and the perception accuracy will decrease as the distance from the ego increases. There may be occlusion of other vehicles during vehicle driving, making it difficult to identify a larger range of map information in a single frame scenario. When the map information is perceived through consecutive different frames, due to the jitter problem between consecutive different frames, when tracking the same lane, even if the lane number is the same, its information in different frames is inconsistent, resulting in low accuracy of the lane line constructed by the vehicle's image frame, affecting the subsequent vehicle lane change recognition, vehicle lane binding and other processing based on the constructed lane by the intelligent vehicle.

[0004] Therefore, how to improve the accuracy of lane line construction through vehicle image frames is a problem that needs to be solved urgently. Summary of the invention

[0005] The main purpose of the present application is to provide a lane determination method, device and computer-readable storage medium, aiming to solve the technical problem of how to improve the accuracy of lane line construction through vehicle image frames.

[0006] To achieve the above object, the present application provides a lane determination method, which comprises the following steps: Generate a dictionary based on lane lines in a preset number of consecutive image frames, wherein the dictionary includes lane numbers of lane lines and track point coordinates of track points on the lane lines; Based on the dictionary, determine the coordinates of the first track point corresponding to the lane line of each lane number; Based on the preset grid spacing and the coordinates of the first trajectory point, respectively establish a two-dimensional grid corresponding to each lane line; Based on the two-dimensional grid, the first trajectory point coordinates of each lane line are thinned out to obtain the target trajectory point coordinates corresponding to each lane line.

[0007] Furthermore, the thinning process is performed on the first trajectory point coordinates of each lane line based on the two-dimensional grid to obtain the target trajectory point coordinates corresponding to each lane line, including: Based on the coordinates of the first trajectory points corresponding to each lane line, determine the horizontal coordinate spacing and the vertical coordinate spacing between two adjacent trajectory points corresponding to each lane line; Based on the preset spacing, the horizontal coordinate spacing, and the vertical coordinate spacing, the first track point coordinates corresponding to each lane line are screened to obtain the second track point coordinates corresponding to each lane line; Based on the two-dimensional grid, the second trajectory point coordinates of each lane line are thinned out to obtain the target trajectory point coordinates corresponding to each lane line.

[0008] Furthermore, the thinning process is performed on the second trajectory point coordinates of each lane line based on the two-dimensional grid to obtain the target trajectory point coordinates corresponding to each lane line, including: Rounding down the coordinates of the second trajectory points to obtain the coordinates of the third trajectory points corresponding to each lane line; Based on the two-dimensional grid, the third track point coordinates of each lane line are thinned out to obtain the fourth track point coordinates corresponding to each lane line; Rounding the coordinates of the fourth track points to obtain the coordinates of the fifth track points corresponding to each lane line; Based on the two-dimensional grid, the coordinates of the fifth track points of each lane line are thinned out to obtain the coordinates of the target track points corresponding to each lane line.

[0009] Further, the thinning process is performed on the third track point coordinates of each lane line based on the two-dimensional grid to obtain the fourth track point coordinates corresponding to each lane line, including: For each first target lane line in the lane lines, traverse the coordinates of the third track points of the first target lane line in sequence to obtain the first coordinates; Determine a first grid corresponding to the first coordinate in the two-dimensional grid, and obtain a first element of the first grid; If the first element is the first preset value, the trajectory point coordinates corresponding to the first coordinate in the second trajectory point coordinates are added to the fourth trajectory point coordinates corresponding to the first target lane line, and the elements of the first grid are set to the second preset value until the traversal of each third trajectory point coordinate is completed.

[0010] Furthermore, the thinning process is performed on the coordinates of the fifth trajectory points of each lane line based on the two-dimensional grid to obtain the coordinates of the target trajectory points corresponding to each lane line, including: Setting the elements of each grid in the two-dimensional grid to a first preset value; For each second target lane line in the lane line, traverse the coordinates of the fifth track point of the second target lane line in sequence to obtain the second coordinates; Determine a second grid corresponding to the second coordinate in the two-dimensional grid, and obtain a second element of the second grid; If the second element is the first preset value, the trajectory point coordinates corresponding to the second coordinate in the fourth trajectory point coordinates are added to the target trajectory point coordinates corresponding to the second target lane line, and the elements of the second grid are set to the second preset value until the traversal of each fifth trajectory point coordinate is completed.

[0011] Furthermore, the establishing of two-dimensional grids corresponding to each lane line based on the preset grid spacing and the first trajectory point coordinates includes: In the coordinates of the first trajectory point corresponding to each lane line, the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate and the minimum vertical coordinate corresponding to each lane line are obtained; Based on the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate, the minimum vertical coordinate and the preset grid spacing, a two-dimensional grid corresponding to each lane line is established.

[0012] Further, the generating a dictionary based on the lane lines in a preset number of consecutive image frames, wherein the dictionary includes lane numbers of the lane lines and track point coordinates of track points on the lane lines, including: Initialize dictionary; The coordinates of the track points are added to the dictionary based on the lane numbers of the lane lines within the preset area corresponding to the vehicle in the image frame.

[0013] Furthermore, the adding of the track point coordinates to the dictionary based on the lane number of the lane line in the preset area corresponding to the vehicle in the image frame includes: For a target image frame in each image frame, determining a target lane line in a preset area corresponding to the vehicle in the target image frame; Obtaining the trajectory point coordinates of the trajectory point on the target lane line; At the end of the list corresponding to the lane number of the target lane line in the dictionary, the track point coordinates of the track point on the target lane line are added.

[0014] In addition, to achieve the above-mentioned purpose, the present application also provides a lane determination device, which includes: a memory, a processor, and a lane determination program stored in the memory and executable on the processor, and the lane determination program implements the steps of the aforementioned lane determination method when executed by the processor.

[0015] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which a lane determination program is stored, and when the lane determination program is executed by a processor, the steps of the aforementioned lane determination method are implemented.

[0016] The present application generates a dictionary based on lane lines in a preset number of consecutive image frames, wherein the dictionary includes lane numbers of lane lines and trajectory point coordinates of trajectory points on lane lines; then, based on the dictionary, first trajectory point coordinates corresponding to lane lines of each lane number are determined; then, based on a preset grid spacing and the first trajectory point coordinates, two-dimensional grids corresponding to each lane line are respectively established; then, based on the two-dimensional grids, the first trajectory point coordinates of each lane line are respectively thinned to obtain target trajectory point coordinates corresponding to each lane line, and two-dimensional grids corresponding to each lane line are established through the trajectory point coordinates of trajectory points on lane lines in a preset number of consecutive image frames, and the trajectory point coordinates of trajectory points on lane lines are thinned through the two-dimensional grids, so that the number of trajectory points of original lane trajectory points can be greatly reduced, the jitter problem between consecutive frames can be reduced, the reliability of lane trajectory can be ensured, and the accuracy of lanes constructed by image frames passing through vehicles can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] 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.

[0019] Figure 1 A schematic diagram of a process flow provided for the first embodiment of the lane determination method of the present application; Figure 2 This is a schematic diagram of a scene in an embodiment of a lane determination method of the present application; Figure 3 This is a schematic diagram of the data structure of the dictionary in an embodiment of the lane determination method of the present application; Figure 4 This is a schematic diagram of a lane line scenario in an embodiment of a lane determination method of the present application; Figure 5 This is a schematic diagram of the module structure of the lane determination device according to an embodiment of the present application.

[0020] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0022] 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.

[0023] The main solution of the present application is: based on the lane lines in a preset number of consecutive image frames, a dictionary is generated, wherein the dictionary includes the lane numbers of the lane lines and the trajectory point coordinates of the trajectory points on the lane lines; based on the dictionary, the first trajectory point coordinates corresponding to the lane lines of each lane number are determined; based on the preset grid spacing and the first trajectory point coordinates, two-dimensional grids corresponding to each lane line are established respectively; based on the two-dimensional grids, the first trajectory point coordinates of each lane line are thinned out respectively to obtain the target trajectory point coordinates corresponding to each lane line.

[0024] At present, in the LCC (Lane Centering Control) scenario of pure perception map, due to the limited perception of the vehicle, the length L of the lane that can be recognized is short (usually 20~60 meters), and the perception accuracy will decrease as the distance from the ego increases. There may be occlusion of other vehicles during the driving process of the vehicle, making it difficult to recognize a large range of map information in a single frame scenario. When the map information is perceived through different consecutive frames, due to the jitter problem between different consecutive frames, when tracking the same lane, even if the lane number is the same, its information in different frames is inconsistent, resulting in low accuracy of the lane line constructed through the vehicle's image frame, affecting the subsequent vehicle lane change recognition, vehicle lane binding and other processing based on the constructed lane by the intelligent vehicle. Therefore, how to improve the accuracy of lane line construction through vehicle image frames is a problem that needs to be solved urgently.

[0025] The present application establishes a two-dimensional grid corresponding to each lane line through the trajectory point coordinates of the trajectory points on the lane line in a preset number of continuous image frames, and thins the trajectory point coordinates of the trajectory points on the lane line through the two-dimensional grid. This can greatly reduce the number of trajectory points of the original lane trajectory points, reduce the jitter problem between different continuous frames, ensure the reliability of the lane trajectory, and improve the accuracy of the lane constructed by the image frames of the vehicle.

[0026] It should be noted that the execution subject of this embodiment may be a lane determination device, 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 construction device capable of realizing the above functions, etc., and this embodiment does not specifically limit this. The following takes the lane determination device as the execution subject as an example to illustrate this embodiment and the following embodiments.

[0027] Based on this, this application proposes a lane determination method of the first embodiment, please refer to Figure 1 , the lane determination method comprises steps S110 to S140: Step S110, generating a dictionary based on lane lines in a preset number of consecutive image frames, wherein the dictionary includes lane numbers of lane lines and track point coordinates of track points on the lane lines; In this embodiment, the data stream of the images taken by the vehicle before the current moment can be obtained in chronological order, and the data stream includes a preset number of continuous image frames, which can be 1000, and the interval between frames in the continuous image frames can be 0.1s. A dictionary lane_dict can be initialized in advance, and the key value of the dictionary is the lane number laneid that appears in the continuous image frames, and the value of the dictionary is the data information of the splicing of the lane corresponding to the key between different frames, which can be a list list, used to store the trajectory point sequence of the lane line corresponding to the key.

[0028] After a preset number of continuous image frames are acquired, a dictionary is generated based on the lane lines in the preset number of continuous image frames, wherein the dictionary includes the lane number of the lane line and the track point coordinates of the track point on the lane line; specifically, each of the continuous image frames can be processed in chronological order to determine the target lane line in the preset area corresponding to the vehicle in the image frame, and the track point coordinates of the track point on the target lane line can be acquired, such as Figure 2 As shown, Figure 2 Where v is the driving direction of the vehicle (self-vehicle), the line segment with an arrow is the lane line, the dotted box is the preset area, the lane line in the dotted box is the target lane line, including lane line 1 (lane1), lane line 2 (lane2), lane line 3 (lane3) and lane line 4 (lane4), the track points on lane line 1 (lane1) include track point 1 (point1), track point 2 (point2), track point 3 (point3), add the track point coordinates to the list corresponding to the lane number of the target lane line in the dictionary, and then add the track point coordinates of the lane line in each image frame to the dictionary according to the corresponding lane number, such as Figure 3As shown in the figure, taking lane 1 (lane1) as an example, the value of lane 1 in the dictionary includes track point 1 (point1), track point 2 (point2), track point 3 (point3) in image frame 1 (frame1), track point 4 (point4), track point 5 (point5) in image frame 2 (frame2), track point M (pointM), track point M+1 (pointM+1), track point M+2 (pointM+2) in image frame M (frameM), etc.

[0029] The preset area may be an area between α meters directly behind the vehicle and β meters directly in front of the vehicle, for example, α=5, β=20, and pointi is the trajectory point coordinate corresponding to trajectory point i.

[0030] It should be noted that the coordinates of the trajectory points are all coordinates in the vehicle coordinate system, and the lane line can be the lane center line, lane boundary line, road edge, etc.

[0031] Step S120, determining the coordinates of the first track points corresponding to the lane lines of each lane number based on the dictionary; In this embodiment, after adding the trajectory point coordinates corresponding to all image frames in the continuous image frames to the dictionary, the first trajectory point coordinates corresponding to the lane line of each lane number are determined based on the dictionary. For example, for the lane line lane1, its first trajectory point coordinates include point1, point2, point3, point4, point5…pointM, pointM+1, pointM+2…pointN.

[0032] Step S130, establishing two-dimensional grids corresponding to each lane line based on a preset grid spacing and the coordinates of the first trajectory point; In this embodiment, after obtaining the first trajectory point coordinates corresponding to the lane lines of each lane number, the preset grid spacing is obtained, and based on the preset grid spacing and the first trajectory point coordinates, the two-dimensional grids corresponding to each lane line are established respectively. Specifically, for the lane line of each lane number, the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate and the minimum vertical coordinate are obtained among all the first trajectory point coordinates of the lane line, and based on the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate, the minimum vertical coordinate and the preset grid spacing, the two-dimensional grid corresponding to the lane line is established, wherein the preset grid spacing may be 1m*1m, and the basic unit of 1m*1m is a grid of the two-dimensional grid, and the elements of the grid are initialized to a first preset value, which may be 0, and the second preset value may be 1.

[0033] Step S140: thinning the first trajectory point coordinates of each lane line based on the two-dimensional grid to obtain the target trajectory point coordinates corresponding to each lane line.

[0034] In this embodiment, after establishing a two-dimensional grid, the first trajectory point coordinates of each lane line are thinned out based on the two-dimensional grid to obtain the target trajectory point coordinates corresponding to each lane line. Specifically, for each lane line with a lane number, one trajectory point coordinate is obtained in turn from all the first trajectory point coordinates of the lane line, and the obtained trajectory point coordinates are projected to the two-dimensional grid to obtain a grid corresponding to the obtained trajectory point coordinates. If an element of the grid is a first preset value, the obtained trajectory point coordinate is retained, that is, the obtained trajectory point coordinate is added to the target trajectory point coordinates corresponding to the lane line, and the elements of the grid are set to the second preset value; if the elements of the grid are the second preset value, the obtained trajectory point coordinate is discarded to achieve screening of the trajectory points of the lane line.

[0035] The lane determination method proposed in this embodiment generates a dictionary based on lane lines in a preset number of continuous image frames, wherein the dictionary includes lane numbers of lane lines and trajectory point coordinates of trajectory points on lane lines; then, based on the dictionary, first trajectory point coordinates corresponding to lane lines of each lane number are determined; then, based on a preset grid spacing and the first trajectory point coordinates, two-dimensional grids corresponding to each lane line are respectively established; then, based on the two-dimensional grids, the first trajectory point coordinates of each lane line are respectively thinned to obtain target trajectory point coordinates corresponding to each lane line, and two-dimensional grids corresponding to each lane line are established through the trajectory point coordinates of trajectory points on lane lines in a preset number of continuous image frames, and the trajectory point coordinates of trajectory points on lane lines are thinned through the two-dimensional grids, which can greatly reduce the number of trajectory points of original lane trajectory points, reduce the jitter problem between consecutive frames, ensure the reliability of lane trajectory, and improve the accuracy of lanes constructed by image frames passing through vehicles.

[0036] In a feasible implementation, step S140 may include steps S141 to S143: Step S141, based on the coordinates of the first trajectory points corresponding to each lane line, determining the horizontal coordinate spacing and the vertical coordinate spacing between two adjacent trajectory points corresponding to each lane line; Step S142, based on the preset spacing, the horizontal coordinate spacing and the vertical coordinate spacing, the first track point coordinates corresponding to each lane line are screened to obtain the second track point coordinates corresponding to each lane line; Step S143: thinning the coordinates of the second trajectory points of each lane line based on the two-dimensional grid to obtain the coordinates of the target trajectory points corresponding to each lane line.

[0037] In this embodiment, after establishing a two-dimensional grid, based on the first trajectory point coordinates corresponding to each lane line, the horizontal coordinate spacing and the vertical coordinate spacing between two adjacent trajectory points corresponding to each lane line are determined. Specifically, for each lane line with a lane number, in all the first trajectory point coordinates of the lane line, the trajectory point coordinates of two adjacent trajectory points are obtained in turn, and based on the horizontal coordinates and the vertical coordinates in the trajectory point coordinates of the two adjacent trajectory points, the corresponding horizontal coordinate spacing and vertical coordinate spacing are calculated respectively, wherein the horizontal coordinate spacing is the absolute value of the difference between the horizontal coordinates of the two adjacent trajectory points, and the vertical coordinate spacing is the absolute value of the difference between the vertical coordinates of the two adjacent trajectory points, and finally the horizontal coordinate spacing and the vertical coordinate spacing of all two adjacent trajectory points in the first trajectory point coordinates of the lane line are obtained.

[0038] After obtaining the horizontal coordinate spacing and the vertical coordinate spacing, the first trajectory point coordinates corresponding to each lane line are screened based on the preset spacing, the horizontal coordinate spacing and the vertical coordinate spacing to obtain the second trajectory point coordinates corresponding to each lane line. Specifically, for each lane line with a lane number, the horizontal coordinate spacing and the vertical coordinate spacing of each group of two adjacent trajectory points are compared with the preset spacing to determine whether there are two adjacent trajectory points of the lane line whose horizontal coordinate spacing is less than the preset spacing and whose vertical coordinate spacing is less than the preset spacing. If so, the latter trajectory point of the two adjacent trajectory points is discarded, wherein the front-to-back order of the two adjacent trajectory points is the order of the coordinates of the two trajectory points in the coordinates of the first trajectory point.

[0039] After obtaining the second trajectory point coordinates, the second trajectory point coordinates of each lane line are thinned out based on the two-dimensional grid to obtain the target trajectory point coordinates corresponding to each lane line. Specifically, for each lane line with a lane number, one trajectory point coordinate is obtained in turn from all the second trajectory point coordinates of the lane line, and the obtained trajectory point coordinates are projected onto the two-dimensional grid to obtain a grid corresponding to the obtained trajectory point coordinates. If an element of the grid is a first preset value, the obtained trajectory point coordinates are retained, that is, the obtained trajectory point coordinates are added to the target trajectory point coordinates corresponding to the lane line, and the elements of the grid are set to the second preset values; if the elements of the grid are the second preset values, the obtained trajectory point coordinates are discarded to achieve screening of the trajectory points of the lane line.

[0040] The lane determination method proposed in this embodiment determines the horizontal coordinate spacing and the vertical coordinate spacing between two adjacent trajectory points corresponding to each lane line based on the first trajectory point coordinates corresponding to each lane line; then, based on the preset spacing, the horizontal coordinate spacing and the vertical coordinate spacing, the first trajectory point coordinates corresponding to each lane line are screened to obtain the second trajectory point coordinates corresponding to each lane line; then, based on the two-dimensional grid, the second trajectory point coordinates of each lane line are thinned out to obtain the target trajectory point coordinates corresponding to each lane line. The first trajectory point coordinates corresponding to each lane line can be initially screened by the preset spacing, the horizontal coordinate spacing and the vertical coordinate spacing to reduce the number of trajectory points of each lane line, thereby further improving the accuracy of the lane constructed by the image frame of the vehicle.

[0041] In a feasible implementation, step S143 may include steps S1431 to S1434: Step S1431, rounding down the coordinates of the second trajectory points to obtain the coordinates of the third trajectory points corresponding to each lane line; Step S1432, performing thinning processing on the third track point coordinates of each lane line based on the two-dimensional grid to obtain the fourth track point coordinates corresponding to each lane line; Step S1433, rounding the coordinates of the fourth track point to obtain the coordinates of the fifth track point corresponding to each lane line; Step S1434: thinning the coordinates of the fifth trajectory points of each lane line based on the two-dimensional grid to obtain the coordinates of the target trajectory points corresponding to each lane line.

[0042] In this embodiment, after obtaining the coordinates of the second trajectory point, the second trajectory point coordinates are rounded down to obtain the corresponding third trajectory point coordinates of each lane line. For example, the coordinate 1.1 is rounded down to 1, and the coordinate 1.9 is rounded down to 1. By rounding down, the coordinates of each second trajectory point are converted into integer third trajectory point coordinates, and then the horizontal coordinate and the vertical coordinate of the third trajectory point coordinate can be used as the grid row and grid column indexes in the two-dimensional grid, respectively.

[0043] After obtaining the coordinates of the third trajectory points, the coordinates of the third trajectory points of each lane line are thinned out based on the two-dimensional grid to obtain the coordinates of the fourth trajectory points corresponding to each lane line. Specifically, in a feasible implementation, step S1432 may include steps a1 to a3: Step a1, for each first target lane line in the lane lines, traverse the coordinates of the third track points of the first target lane line in sequence to obtain the first coordinates; Step a2, determining a first grid corresponding to the first coordinate in the two-dimensional grid, and obtaining a first element of the first grid; Step a3, if the first element is the first preset value, then the trajectory point coordinates corresponding to the first coordinates in the second trajectory point coordinates are added to the fourth trajectory point coordinates corresponding to the first target lane line, and the elements of the first grid are set to the second preset value until the traversal of each third trajectory point coordinate is completed.

[0044] In this embodiment, for each first target lane line in the lane lines, the third trajectory point coordinates of the first target lane line are traversed in sequence to obtain the first coordinate (the third trajectory point coordinate currently traversed), and the traversal is performed in sequence according to the order of the third trajectory point coordinates in the target lane lines. The first grid corresponding to the first coordinate is determined in the two-dimensional grid, that is, the grid row and grid column indexes of the first grid are consistent with the two coordinate values ​​of the first coordinate, the grid row index is the horizontal coordinate of the first coordinate, and the grid column index is the vertical coordinate of the first coordinate, the first element of the first grid is obtained, and it is determined whether the first element is a first preset value.

[0045] If the first element is the first preset value, the trajectory point coordinates corresponding to the first coordinate in the second trajectory point coordinates are added to the fourth trajectory point coordinates corresponding to the first target lane line, and the elements of the first grid are set to the second preset value to add the trajectory point coordinates before rounding down to the fourth trajectory point coordinates; if the first element is the second preset value, the first coordinate is discarded; until the traversal of each third trajectory point coordinate is completed, all the fourth trajectory point coordinates of the target lane line are obtained.

[0046] In this embodiment, after obtaining the coordinates of the fourth trajectory point, the coordinates of the fourth trajectory point are rounded to obtain the corresponding fifth trajectory point coordinates of each lane line; for example, the coordinate 1.4 is rounded to 1, and the coordinate 1.9 is rounded to 2. By rounding, the coordinates of each fourth trajectory point are converted into integer fifth trajectory point coordinates, and then the horizontal coordinate and the vertical coordinate of the fifth trajectory point coordinate can be used as the grid row and grid column indexes in the two-dimensional grid, respectively.

[0047] After obtaining the coordinates of the fifth trajectory point, the coordinates of the fifth trajectory point of each lane line are thinned out based on the two-dimensional grid to obtain the coordinates of the target trajectory point corresponding to each lane line. Specifically, in a feasible implementation, step S1434 may include steps b1 to b4: Step b1, setting the elements of each grid in the two-dimensional grid to a first preset value; Step b2, for each second target lane line in the lane line, traverse the coordinates of the fifth track point of the second target lane line in sequence to obtain the second coordinates; Step b3, determining a second grid corresponding to the second coordinate in the two-dimensional grid, and obtaining a second element of the second grid; Step b4, if the second element is the first preset value, then the trajectory point coordinates corresponding to the second coordinate in the fourth trajectory point coordinates are added to the target trajectory point coordinates corresponding to the second target lane line, and the elements of the second grid are set to the second preset value until the traversal of each fifth trajectory point coordinate is completed.

[0048] In this embodiment, after the coordinates of the fifth track point are acquired, the elements of each grid in the two-dimensional grid are set to the first preset value, that is, the elements of each grid in the two-dimensional grid are reset to the first preset value.

[0049] Next, for each second target lane line in the lane line, the fifth track point coordinates of the second target lane line are traversed in sequence to obtain the second coordinates (the coordinates of the fifth track point currently traversed), and the traversal is performed in sequence according to the order of the fifth track point coordinates in the target lane line. The second grid corresponding to the second coordinate is determined in the two-dimensional grid, that is, the grid row and grid column indexes of the second grid are consistent with the two coordinate values ​​of the second coordinate, the grid row index is the horizontal coordinate of the second coordinate, and the grid column index is the vertical coordinate of the second coordinate, the second element of the second grid is obtained, and it is determined whether the second element is the first preset value.

[0050] If the second element is the first preset value, the trajectory point coordinates corresponding to the second coordinate in the fourth trajectory point coordinates are added to the target trajectory point coordinates corresponding to the second target lane line, and the elements of the second grid are set to the second preset value to add the trajectory point coordinates before rounding to the fourth trajectory point coordinates; if the first element is the second preset value, the first coordinate is discarded; until the traversal of each fifth trajectory point coordinate is completed, all the target trajectory point coordinates of the target lane line are obtained, such as Figure 4 As shown, Figure 4 This is the sequence of trajectory points of the lane line after two thinning processes. By performing two thinning processes on the coordinates of the trajectory points of the lane line, the number of trajectory points of each lane line is reduced, and the jitter problem between the trajectory points in the lane line is reduced.

[0051] In this embodiment, after the coordinates of the second trajectory points of all lane lines are processed by the processing method of this embodiment, the coordinates of the target trajectory points corresponding to each lane line can be obtained.

[0052] The lane determination method proposed in this embodiment obtains the third trajectory point coordinates corresponding to each lane line by rounding down the second trajectory point coordinates; then, based on the two-dimensional grid, the third trajectory point coordinates of each lane line are thinned out to obtain the fourth trajectory point coordinates corresponding to each lane line; then, the fourth trajectory point coordinates are rounded off to obtain the fifth trajectory point coordinates corresponding to each lane line; then, based on the two-dimensional grid, the fifth trajectory point coordinates of each lane line are thinned out to obtain the target trajectory point coordinates corresponding to each lane line. By thinning out the trajectory point coordinates of the lane line twice to reduce the number of trajectory points of each lane line, the accuracy of the lane constructed by the image frame of the vehicle is further improved.

[0053] In a feasible implementation, step S130 may include steps S131-S132: Step S131, obtaining the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate and the minimum vertical coordinate corresponding to each lane line in the first trajectory point coordinates corresponding to each lane line; Step S132, based on the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate, the minimum vertical coordinate and the preset grid spacing, respectively establish a two-dimensional grid corresponding to each lane line.

[0054] In this embodiment, after obtaining the first trajectory point coordinates corresponding to the lane lines of each lane number, the maximum horizontal coordinate, minimum horizontal coordinate, maximum vertical coordinate and minimum vertical coordinate corresponding to each lane line are obtained in the first trajectory point coordinates corresponding to each lane line. For the lane line of each lane number, the horizontal coordinate comparison and the vertical coordinate comparison are performed respectively in all the first trajectory point coordinates of the lane line to obtain the maximum horizontal coordinate, minimum horizontal coordinate, maximum vertical coordinate and minimum vertical coordinate corresponding to the lane line.

[0055] Next, the preset grid spacing is obtained, and based on the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate, the minimum vertical coordinate and the preset grid spacing, the two-dimensional grids corresponding to each lane line are established respectively, wherein the preset grid spacing can be 1m*1m, and the basic unit of 1m*1m is a grid of the two-dimensional grid, and the elements of the grid are initialized to a first preset value, which can be 0, and the second preset value can be 1.

[0056] Specifically, for each lane line with a lane number, a two-dimensional grid corresponding to the lane line is established based on the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate, the minimum vertical coordinate and the preset grid spacing of the lane line, wherein the horizontal spacing of the two-dimensional grid is the spacing between the maximum horizontal coordinate and the minimum horizontal coordinate, and the vertical spacing of the two-dimensional grid is the spacing between the maximum vertical coordinate and the minimum vertical coordinate, so that the grid row index and the grid column index of each grid in the two-dimensional grid are both integers, so as to facilitate the thinning of the trajectory points through the two-dimensional grid.

[0057] The lane determination method proposed in this embodiment obtains the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate and the minimum vertical coordinate corresponding to each lane line in the first trajectory point coordinate corresponding to each lane line; then, based on the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate, the minimum vertical coordinate and the preset grid spacing, a two-dimensional grid corresponding to each lane line is established respectively. By establishing a two-dimensional grid according to the trajectory point coordinates, the trajectory points are thinned out through the two-dimensional grid, thereby further improving the accuracy of the lane constructed by the image frame of the vehicle.

[0058] In a feasible implementation, step S110 may include steps S111-S112: Step S111, initializing the dictionary; Step S112, adding the coordinates of the track point to the dictionary based on the lane number of the lane line in the preset area corresponding to the vehicle in the image frame.

[0059] In this embodiment, the data stream of the images taken by the vehicle before the current moment can be obtained in chronological order, and the data stream includes a preset number of continuous image frames, which can be 1000, and the interval between frames in the continuous image frames can be 0.1s. A dictionary lane_dict can be initialized first, and the key value of the dictionary is the lane number laneid that appears in the continuous image frames, and the value of the dictionary is the data information of the splicing of the lane corresponding to the key between different frames, which can be a list list, used to store the trajectory point sequence of the lane line corresponding to the key.

[0060] Next, based on the lane number of the lane line in the preset area corresponding to the vehicle in the image frame, the coordinates of the track point are added to the dictionary. In a feasible implementation, step S112 may include steps S1121 to S1123: Step S1121, for a target image frame in each image frame, determining a target lane line in a preset area corresponding to the vehicle in the target image frame; Step S1122, obtaining the trajectory point coordinates of the trajectory point on the target lane line; Step S1123, adding the track point coordinates of the track point on the target lane line to the end of the list corresponding to the lane number of the target lane line in the dictionary.

[0061] In this embodiment, for the target image frame in each image frame, the target lane line in the preset area corresponding to the vehicle in the target image frame is determined. Specifically, the lane line in the target image frame and the preset area corresponding to the vehicle in the target image frame can be identified by a recognition algorithm in the relevant technology, and then the target lane line in the preset area corresponding to the vehicle in the target image frame is determined, such as Figure 2 As shown, Figure 2 Where ego is the vehicle (self-vehicle), v is the driving direction of the vehicle, the line segment with an arrow is the lane line, the dotted box is the preset area, and the lane line in the dotted box is the target lane line. The preset area can be the area between α meters directly behind the vehicle and β meters directly in front of the vehicle, for example, α=5, β=20.

[0062] Next, obtain the trajectory point coordinates of the target lane line, such as Figure 2 As shown, point1, point2, and point3 are the trajectory point coordinates of the trajectory points on lane line lane1.

[0063] After obtaining the trajectory point coordinates of the trajectory point on the target lane line, add the trajectory point coordinates of the trajectory point on the target lane line to the end of the list corresponding to the lane number of the target lane line in the dictionary, such as Figure 3 As shown, taking lane line lane1 as an example, the value of lane line lane1 in the dictionary includes point1, point2 and point3 in image frame 1 (frame1), point4 and point5 in image frame 2 (frame2), pointM, pointM+1 and pointM+2 in image frame M (frameM), etc.

[0064] The lane determination method proposed in this embodiment initializes a dictionary; and based on the lane number of the lane line in the preset area corresponding to the vehicle in the image frame, the coordinates of the trajectory point are added to the dictionary, so that the lane lines in consecutive image frames can be spliced ​​in the dictionary, so as to facilitate the thinning of the trajectory points through a two-dimensional grid, thereby further improving the accuracy of the lane constructed by the image frame of the vehicle.

[0065] The lane determination device provided in the embodiment of the present application adopts the lane determination method in the above embodiment, which can solve the technical problem of how to improve the accuracy of lane line construction through the image frame of the vehicle. Compared with the prior art, the beneficial effects of the lane determination device provided in the embodiment of the present application are the same as the beneficial effects of the lane determination method provided in the above embodiment, and the other technical features in the lane determination device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0066] The present application provides a lane determination 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 determination method in the above-mentioned embodiment 1.

[0067] Reference below Figure 5 , which shows a schematic diagram of the structure of a lane determination device suitable for implementing an embodiment of the present application. The lane determination 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 5 The lane determination 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.

[0068] like Figure 5As shown, the lane determination 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 determination 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 determination device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a lane determination 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 provided instead.

[0069] 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.

[0070] The lane determination device provided by the present application adopts the lane determination method in the above embodiment, which can solve the technical problem of how to improve the accuracy of lane line construction through the image frame of the vehicle. Compared with the prior art, the beneficial effects of the lane determination device provided by the present application are the same as the beneficial effects of the lane determination method provided by the above embodiment, and the other technical features in the lane determination device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0071] 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.

[0072] 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.

[0073] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, the computer-readable program instructions being used to execute the lane determination method in the above-mentioned embodiment.

[0074] 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.

[0075] The computer-readable storage medium may be included in the lane determination device; or may exist independently without being assembled into the lane determination device.

[0076] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the lane determination device, the lane determination device: generates a dictionary based on the lane lines in a preset number of continuous image frames, wherein the dictionary includes the lane numbers of the lane lines and the trajectory point coordinates of the trajectory points on the lane lines; determines the first trajectory point coordinates corresponding to the lane lines of each lane number based on the dictionary; establishes two-dimensional grids corresponding to each lane line based on the preset grid spacing and the first trajectory point coordinates; and performs thinning processing on the first trajectory point coordinates of each lane line based on the two-dimensional grid to obtain the target trajectory point coordinates corresponding to each lane line.

[0077] 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).

[0078] 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.

[0079] 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.

[0080] 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 above lane determination method, and can solve the technical problem of how to improve the accuracy of lane line construction through the image frames of the vehicle. 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 determination method provided in the above embodiment, and will not be repeated here.

[0081] An embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the lane determination method as described above when executed by a processor.

[0082] The computer program product provided in this application can solve the technical problem of how to improve the accuracy of lane line construction through vehicle image frames. Compared with the prior art, the beneficial effects of the computer program product provided in the embodiment of this application are the same as the beneficial effects of the lane determination method provided in the above embodiment, which will not be repeated here.

[0083] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A lane determination method, characterized in that: The lane determination method comprises the following steps: Generate a dictionary based on lane lines in a preset number of consecutive image frames, wherein the dictionary includes lane numbers of lane lines and track point coordinates of track points on the lane lines; Based on the dictionary, determine the coordinates of the first track point corresponding to the lane line of each lane number; Based on the preset grid spacing and the coordinates of the first trajectory point, respectively establish a two-dimensional grid corresponding to each lane line; Based on the two-dimensional grid, the first trajectory point coordinates of each lane line are thinned out to obtain the target trajectory point coordinates corresponding to each lane line.

2. The lane determination method according to claim 1, characterized in that: The thinning process is performed on the first track point coordinates of each lane line based on the two-dimensional grid to obtain the target track point coordinates corresponding to each lane line, including: Based on the coordinates of the first trajectory points corresponding to each lane line, determine the horizontal coordinate spacing and the vertical coordinate spacing between two adjacent trajectory points corresponding to each lane line; Based on the preset spacing, the horizontal coordinate spacing, and the vertical coordinate spacing, the first track point coordinates corresponding to each lane line are screened to obtain the second track point coordinates corresponding to each lane line; Based on the two-dimensional grid, the second trajectory point coordinates of each lane line are thinned out to obtain the target trajectory point coordinates corresponding to each lane line.

3. The lane determination method according to claim 2, characterized in that: The thinning process is performed on the second trajectory point coordinates of each lane line based on the two-dimensional grid to obtain the target trajectory point coordinates corresponding to each lane line, including: Rounding down the coordinates of the second trajectory points to obtain the coordinates of the third trajectory points corresponding to each lane line; Based on the two-dimensional grid, the third track point coordinates of each lane line are thinned out to obtain the fourth track point coordinates corresponding to each lane line; Rounding the coordinates of the fourth track points to obtain the coordinates of the fifth track points corresponding to each lane line; Based on the two-dimensional grid, the coordinates of the fifth track points of each lane line are thinned out to obtain the coordinates of the target track points corresponding to each lane line.

4. The lane determination method according to claim 3, characterized in that: The thinning process is performed on the third track point coordinates of each lane line based on the two-dimensional grid to obtain the fourth track point coordinates corresponding to each lane line, including: For each first target lane line in the lane lines, traverse the coordinates of the third track points of the first target lane line in sequence to obtain the first coordinates; Determine a first grid corresponding to the first coordinate in the two-dimensional grid, and obtain a first element of the first grid; If the first element is the first preset value, the trajectory point coordinates corresponding to the first coordinates in the second trajectory point coordinates are added to the fourth trajectory point coordinates corresponding to the first target lane line, and the elements of the first grid are set to the second preset value.

5. The lane determination method according to claim 3, characterized in that: The thinning process is performed on the coordinates of the fifth track points of each lane line based on the two-dimensional grid to obtain the coordinates of the target track points corresponding to each lane line, including: Setting the elements of each grid in the two-dimensional grid to a first preset value; For each second target lane line in the lane line, traverse the coordinates of the fifth track point of the second target lane line in sequence to obtain the second coordinates; Determine a second grid corresponding to the second coordinate in the two-dimensional grid, and obtain a second element of the second grid; If the second element is the first preset value, the trajectory point coordinates corresponding to the second coordinates in the fourth trajectory point coordinates are added to the target trajectory point coordinates corresponding to the second target lane line, and the elements of the second grid are set to the second preset value.

6. The lane determination method according to claim 1, characterized in that: The step of establishing two-dimensional grids corresponding to lane lines based on the preset grid spacing and the first track point coordinates includes: In the coordinates of the first trajectory point corresponding to each lane line, the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate and the minimum vertical coordinate corresponding to each lane line are obtained; Based on the maximum horizontal coordinate, the minimum horizontal coordinate, the maximum vertical coordinate, the minimum vertical coordinate and the preset grid spacing, a two-dimensional grid corresponding to each lane line is established.

7. The lane determination method according to any one of claims 1 to 6, characterized in that: The generating of a dictionary based on lane lines in a preset number of consecutive image frames, wherein the dictionary includes lane numbers of lane lines and track point coordinates of track points on the lane lines, including: Initialize dictionary; The coordinates of the track points are added to the dictionary based on the lane numbers of the lane lines within the preset area corresponding to the vehicle in the image frame.

8. The lane determination method according to claim 7, characterized in that: The adding the track point coordinates to the dictionary based on the lane number of the lane line in the preset area corresponding to the vehicle in the image frame includes: For a target image frame in each image frame, determining a target lane line in a preset area corresponding to the vehicle in the target image frame; Obtaining the trajectory point coordinates of the trajectory point on the target lane line; At the end of the list corresponding to the lane number of the target lane line in the dictionary, the track point coordinates of the track point on the target lane line are added.

9. A lane determination device, characterized in that: The lane determination device includes: a memory, a processor, and a lane determination program stored in the memory and executable on the processor. When the lane determination program is executed by the processor, the steps of the lane determination method according to any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a lane determination program, which, when executed by a processor, implements the steps of the lane determination method according to any one of claims 1 to 8.

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