Isolation belt identification method and device, electronic equipment and computer readable medium

Abstract

The invention discloses an isolation belt identification method and device, electronic equipment and a computer readable medium, and relates to the technical field of automatic driving. A specific implementation mode of the method comprises the following steps: respectively acquiring driving directions of a first lane and a second lane which are adjacent to each other; whether the driving direction of the first lane is opposite to the driving direction of the second lane or not is judged, and in response to the fact that the driving direction of the first lane is opposite to the driving direction of the second lane, the area between the first lane and the second lane is recognized as an isolation belt. According to the embodiment, the identification accuracy of the isolation strip can be improved, so that the precision requirement of a high-precision map is met.

Description

Technical Field

[0001] The present invention relates to the field of map construction technology, and in particular to a method, device, electronic device and computer-readable medium for identifying isolation zones. Background Art

[0002] A system for rapidly generating road information of a reconstructed high-precision map is known. The system draws lane dividers based on the vehicle motion trajectories of two adjacent lanes. If no vehicle trajectory is generated between the two lane dividers and the distance between the lane dividers is greater than or less than the standard width of the road, it is recognized that the area between the lane dividers is not a lane but a central isolation strip (for example, refer to Chinese invention patent CN111578964B).

[0003] However, the standard width of roads in actual road construction may not meet the theoretical requirements, and there are errors. The errors are accumulated on multi-lane roads, and the estimated isolation zone position also has errors. In addition, there are also deviations caused by factors such as construction causing vehicles to collectively deviate to one side. Therefore, the existing isolation zone recognition method cannot meet the accuracy requirements of high-precision maps. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides an isolation zone identification method, device, electronic device and computer-readable medium to solve the technical problem of failing to meet the accuracy requirements of high-precision maps.

[0005] To achieve the above object, according to one aspect of an embodiment of the present invention, a method for identifying an isolation zone is provided, comprising:

[0006] respectively obtaining the driving directions of the adjacent first lane and the second lane;

[0007] It is determined whether a driving direction of the first lane is opposite to a driving direction of the second lane, and in response to the driving direction of the first lane being opposite to the driving direction of the second lane, an area between the first lane and the second lane is identified as a separation zone.

[0008] Optionally, in response to the driving direction of the first lane being opposite to the driving direction of the second lane, identifying an area between the first lane and the second lane as a separation zone includes:

[0009] determining whether a distance between the first lane and the second lane is greater than or equal to a distance threshold, and in response to a driving direction of the first lane being opposite to a driving direction of the second lane, acquiring a distance between the first lane and the second lane;

[0010] In response to a distance between the first lane and the second lane being greater than or equal to a distance threshold, an area between the first lane and the second lane is identified as a separation zone.

[0011] Optionally, in response to a distance between the first lane and the second lane being greater than or equal to a distance threshold, identifying an area between the first lane and the second lane as a separation zone includes:

[0012] In response to a distance between the first lane and the second lane being greater than or equal to a distance threshold, identifying an area between the first lane and the second lane as an unknown area;

[0013] The first lane line and the second lane line of the first lane and the second lane close to the unknown area are respectively obtained, and it is determined whether the first lane line and the second lane line are both solid lines. In response to the first lane line and the second lane line being both solid lines, the unknown area between the first lane and the second lane is identified as a separation zone.

[0014] Optionally, the method further comprises:

[0015] respectively acquiring a third lane connected to the first lane and a fourth lane connected to the second lane;

[0016] Acquire a distance between the third lane and the fourth lane;

[0017] It is determined whether a distance between the third lane and the fourth lane is greater than or equal to a distance threshold, and in response to the distance between the third lane and the fourth lane being greater than or equal to the distance threshold, an area between the third lane and the fourth lane is identified as a separation zone.

[0018] Optionally, in response to a distance between the third lane and the fourth lane being greater than or equal to a distance threshold, identifying an area between the third lane and the fourth lane as a separation zone includes:

[0019] In response to a distance between the third lane and the fourth lane being greater than or equal to a distance threshold, identifying an area between the third lane and the fourth lane as an unknown area;

[0020] The third lane line and the fourth lane line of the third lane and the fourth lane close to the unknown area are respectively obtained to determine whether the third lane line and the fourth lane line are both solid lines; in response to the third lane line and the fourth lane line being both solid lines, the unknown area between the third lane and the fourth lane is identified as a separation zone.

[0021] Optionally, the method further comprises:

[0022] In response to a distance between the first lane and the second lane being less than a distance threshold, a region between the first lane and the second lane is identified as having no distance.

[0023] Optionally, the method further comprises:

[0024] In response to the first lane marking and / or the second lane marking being a dotted line, an unknown area between the first lane and the second lane is identified as an enterable area.

[0025] In addition, according to another aspect of an embodiment of the present invention, there is provided a device for identifying an isolation zone, comprising:

[0026] An acquisition unit, used to respectively acquire the driving directions of the adjacent first lane and the second lane;

[0027] An identification unit is used to determine whether the driving direction of the first lane is opposite to the driving direction of the second lane, and in response to the driving direction of the first lane being opposite to the driving direction of the second lane, identify the area between the first lane and the second lane as a separation zone.

[0028] Optionally, the identification unit is further used for:

[0029] In response to the driving direction of the first lane being opposite to the driving direction of the second lane, acquiring a distance between the first lane and the second lane;

[0030] It is determined whether a distance between the first lane and the second lane is greater than or equal to a distance threshold, and in response to the distance between the first lane and the second lane being greater than or equal to the distance threshold, an area between the first lane and the second lane is identified as a separation zone.

[0031] Optionally, the identification unit is further used for:

[0032] In response to a distance between the first lane and the second lane being greater than or equal to a distance threshold, identifying an area between the first lane and the second lane as an unknown area;

[0033] The first lane line and the second lane line of the first lane and the second lane close to the unknown area are respectively obtained, and it is determined whether the first lane line and the second lane line are both solid lines. In response to the first lane line and the second lane line being both solid lines, the unknown area between the first lane and the second lane is identified as a separation zone.

[0034] Optionally, the identification unit is further used for:

[0035] respectively acquiring a third lane connected to the first lane and a fourth lane connected to the second lane;

[0036] Acquire a distance between the third lane and the fourth lane;

[0037] It is determined whether a distance between the third lane and the fourth lane is greater than or equal to a distance threshold, and in response to the distance between the third lane and the fourth lane being greater than or equal to the distance threshold, an area between the third lane and the fourth lane is identified as a separation zone.

[0038] Optionally, the identification unit is further used for:

[0039] In response to a distance between the third lane and the fourth lane being greater than or equal to a distance threshold, identifying an area between the third lane and the fourth lane as an unknown area;

[0040] The third lane line and the fourth lane line of the third lane and the fourth lane close to the unknown area are respectively obtained to determine whether the third lane line and the fourth lane line are both solid lines; in response to the third lane line and the fourth lane line being both solid lines, the unknown area between the third lane and the fourth lane is identified as a separation zone.

[0041] Optionally, the identification unit is further used for:

[0042] In response to a distance between the first lane and the second lane being less than a distance threshold, a region between the first lane and the second lane is identified as having no distance.

[0043] Optionally, the identification unit is further used for:

[0044] In response to the first lane marking and / or the second lane marking being a dotted line, an unknown area between the first lane and the second lane is identified as an enterable area.

[0045] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, including:

[0046] one or more processors;

[0047] a storage device for storing one or more programs,

[0048] When the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any one of the above embodiments.

[0049] According to another aspect of an embodiment of the present invention, a computer-readable medium is provided, on which a computer program is stored. When the program is executed by a processor, the method described in any one of the above embodiments is implemented.

[0050] An embodiment of the above invention has the following advantages or beneficial effects: the embodiment of the present invention identifies the isolation belt according to the driving direction of two adjacent lanes, which helps to improve the recognition accuracy of the isolation belt, thereby meeting the accuracy requirements of the high-precision map. Moreover, since the embodiment of the present invention can automatically identify the isolation belt according to the driving direction of the first lane and the driving direction of the second lane, there is no need to use manual methods for identification, which significantly improves the recognition efficiency of the isolation belt, thereby improving the construction efficiency of the high-precision map.

[0051] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with the specific implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0053] Figure 1 is a flow chart of a method for identifying isolation zones according to a first embodiment of the present invention;

[0054] Figure 2 is a schematic diagram of isolation zone identification according to the first embodiment of the present invention;

[0055] Figure 3 is a flow chart of a method for identifying isolation zones according to a second embodiment of the present invention;

[0056] Figure 4 is a flow chart of a method for identifying isolation zones according to a third embodiment of the present invention;

[0057] Figure 5a , Figure 5b and Figure 5c is a schematic diagram of identifying unknown areas, isolation zones, and accessible areas according to a third embodiment of the present invention;

[0058] Figure 6 is a flow chart of a method for identifying isolation zones according to a fourth embodiment of the present invention;

[0059] Figure 7 is a schematic diagram of a first lane, a second lane, a third lane and a fourth lane according to a first embodiment of the present invention;

[0060] Figure 8 is a schematic diagram of an isolation zone identification device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0062] Figure 1 FIG. 1 is a flow chart of a method for identifying an isolation zone according to a first embodiment of the present invention. Figure 1 As shown, the isolation zone identification method for identifying the isolation zone may include:

[0063] Step S101, respectively obtaining the driving directions of the adjacent first lane and second lane.

[0064] First, the road scene data collected by the shooting vehicle is obtained, and then non-road elements in the road scene data are removed, such as vehicles, pedestrians, buildings and other non-road elements, so as to obtain lane data; then, the lane network is drawn in the three-dimensional map based on the lane data.

[0065] After the lane network is drawn, the driving directions of two adjacent vehicles are obtained respectively, such as Figure 2 As shown, the driving directions of the adjacent first lane and second lane are respectively acquired.

[0066] Step S102: determine whether the driving direction of the first lane is opposite to the driving direction of the second lane. In response to the driving direction of the first lane being opposite to the driving direction of the second lane, identify the area between the first lane and the second lane as a separation zone.

[0067] In this step, the driving direction of the first lane is compared with the driving direction of the second lane to determine whether the driving direction of the first lane is opposite to the driving direction of the second lane. If so, the area between the first lane and the second lane is identified as a separation zone.

[0068] According to the various embodiments described above, it can be seen that the embodiment of the present invention solves the technical problem in the prior art that the accuracy requirements of high-precision maps cannot be met by identifying the area between the first lane and the second lane as a separation zone in response to the driving direction of the first lane being opposite to the driving direction of the second lane. The embodiment of the present invention identifies the separation zone according to the driving direction of two adjacent lanes, which helps to improve the recognition accuracy of the separation zone, thereby meeting the accuracy requirements of the high-precision map. Moreover, since the embodiment of the present invention can automatically identify the separation zone according to the driving direction of the first lane and the driving direction of the second lane, there is no need to use manual identification, which significantly improves the recognition efficiency of the separation zone, thereby improving the efficiency of building high-precision maps.

[0069] Figure 3 FIG. 4 is a flow chart of a method for identifying an isolation zone according to a second embodiment of the present invention. Figure 3 As shown, the isolation zone identification method for identifying the isolation zone may include:

[0070] Step S301, respectively obtaining the driving directions of the adjacent first lane and second lane.

[0071] Step S302, determining whether the driving direction of the first lane is opposite to the driving direction of the second lane; if so, executing step S303; if not, executing step S306.

[0072] Step S303: obtaining a distance between the first lane and the second lane.

[0073] Step S304, determining whether the distance between the first lane and the second lane is greater than or equal to a distance threshold; if so, executing step S305; if not, executing step S307.

[0074] Step S305: identifying an area between the first lane and the second lane as a separation zone.

[0075] Step S306: manual intervention judgment.

[0076] Step S307: Identify the area between the first lane and the second lane as having no gap.

[0077] In this embodiment, if it is determined that the driving direction of the first lane is opposite to that of the second lane, it is necessary to further obtain the distance between the first lane and the second lane, and determine whether the distance between the first lane and the second lane is greater than or equal to the distance threshold; if the distance between the first lane and the second lane is greater than or equal to the distance threshold, the area between the first lane and the second lane is identified as a separation zone, otherwise, the area between the first lane and the second lane is identified as having no distance, which may be caused by a mapping error. Among them, the distance threshold can be set according to actual needs, for example, it can be set to 18cm, 20cm or 23cm, etc., and the embodiment of the present invention does not limit this.

[0078] It should be noted that if the driving direction of the first lane is not opposite to that of the second lane, manual intervention is required to ensure accurate recognition and meet the accuracy requirements of high-precision maps. If there is an irregular distance between the first lane and the second lane, manual intervention is required.

[0079] In this embodiment, when it is determined that the driving direction of the first lane is opposite to that of the second lane, the distance between the first lane and the second lane is further combined to identify whether the area between the first lane and the second lane is a separation zone, which helps to improve the recognition accuracy of the separation zone, thereby meeting the accuracy requirements of the high-precision map.

[0080] Figure 4 FIG. 4 is a flow chart of a method for identifying isolation zones according to a third embodiment of the present invention. Figure 4 As shown, the isolation zone identification method may include:

[0081] Step S401, respectively obtain the driving directions of the adjacent first lane and second lane.

[0082] Step S402, determining whether the driving direction of the first lane is opposite to the driving direction of the second lane; if so, executing step S403; if not, executing step S408.

[0083] Step S403: obtaining a distance between the first lane and the second lane.

[0084] Step S404, determining whether the distance between the first lane and the second lane is greater than or equal to a distance threshold; if so, executing step S405; if not, executing step S409.

[0085] Step S405: Identify the area between the first lane and the second lane as an unknown area, and obtain a first lane line and a second lane line of the first lane and the second lane close to the unknown area, respectively.

[0086] Step S406, determining whether the first lane line and the second lane line are both solid lines; if so, executing step 407; if not, executing step S410.

[0087] Step S407: identifying an area between the first lane and the second lane as a separation zone.

[0088] Step S408: Manual intervention judgment.

[0089] Step S409: identifying an area between the first lane and the second lane as having no gap.

[0090] Step S410: identifying an unknown area between the first lane and the second lane as an accessible area.

[0091] In this embodiment, if it is determined that the distance between the first lane and the second lane is greater than or equal to the distance threshold, the area between the first lane and the second lane is temporarily identified as an unknown area, such as Figure 5a As shown; then further obtain the first lane line and the second lane line of the first lane and the second lane near the unknown area, and determine whether the first lane line and the second lane line are both solid lines. If so, the unknown area between the first lane and the second lane is identified as a separation zone, such as Figure 5b Otherwise, the unknown area between the first lane and the second lane is identified as an accessible area, as shown in Figure 5c shown.

[0092] In order to ensure recognition accuracy, after the unknown area between the first lane and the second lane is identified as an accessible area, manual marking is required. For example, the accessible area may be further marked as a corner or a public parking area, which helps improve the accuracy of the map.

[0093] Figure 6 FIG. 4 is a flow chart of a method for identifying isolation zones according to a fourth embodiment of the present invention. Figure 6 As shown, the isolation zone identification method may include:

[0094] Step S601, respectively obtaining the driving directions of the adjacent first lane and second lane.

[0095] Step S602, determining whether the driving direction of the first lane is opposite to the driving direction of the second lane; if so, executing step S603; if not, executing step S608.

[0096] Step S603: obtaining a distance between the first lane and the second lane.

[0097] Step S604, determining whether the distance between the first lane and the second lane is greater than or equal to a distance threshold; if so, executing step S605; if not, executing step S609.

[0098] Step S605 , respectively obtaining a first lane marking and a second lane marking of the first lane and the second lane close to the unknown area.

[0099] Step S606, determining whether the first lane line and the second lane line are both solid lines; if so, executing step 607; if not, executing step S610.

[0100] Step S607: Identify the area between the first lane and the second lane as a separation zone.

[0101] Step S608: Manual intervention judgment.

[0102] Step S609: Identify the area between the first lane and the second lane as having no gap.

[0103] Step S610: identifying an unknown area between the first lane and the second lane as an accessible area.

[0104] Step S611, respectively acquiring a third lane connected to the first lane and a fourth lane connected to the second lane.

[0105] Steps S603 to S610 are repeatedly executed until all linkable lanes have been identified or it is identified that there is no gap between two adjacent lanes.

[0106] After the area between the first lane and the second lane is identified, the third lane connected to the first lane and the fourth lane connected to the second lane are obtained respectively, such as Figure 7 As shown, the area between the third lane and the fourth lane is identified. The identification process is similar to the above embodiment and will not be repeated herein.

[0107] Since the first lane is linked to the third lane, the driving direction of the first lane is usually the same as that of the third lane. Similarly, the driving direction of the second lane is also the same as that of the fourth lane. In order to improve the recognition efficiency, it is not necessary to determine whether the driving direction of the third lane is opposite to that of the fourth lane. The driving direction of the third lane and that of the fourth lane are directly determined, and the subsequent process, i.e., step S603-step S610, is continued to be executed based on the determination result. In other words, the third lane is regarded as the first lane, and the fourth lane is regarded as the second lane, and steps S603-step S610 are executed again to obtain the recognition result, which can significantly improve the recognition efficiency of the isolation zone.

[0108] Figure 8 Schematic diagram of a device for identifying isolation zones according to an embodiment of the present invention. Figure 8 As shown, the isolation zone recognition device includes an acquisition unit 801 and an identification unit 802; wherein the acquisition unit 801 is used to respectively acquire the driving directions of the adjacent first lane and second lane; the identification unit 802 is used to determine whether the driving direction of the first lane is opposite to the driving direction of the second lane, and in response to the driving direction of the first lane being opposite to the driving direction of the second lane, the area between the first lane and the second lane is identified as an isolation zone.

[0109] Optionally, the identification unit 802 is further configured to:

[0110] In response to the driving direction of the first lane being opposite to the driving direction of the second lane, acquiring a distance between the first lane and the second lane;

[0111] It is determined whether a distance between the first lane and the second lane is greater than or equal to a distance threshold, and in response to the distance between the first lane and the second lane being greater than or equal to the distance threshold, an area between the first lane and the second lane is identified as a separation zone.

[0112] Optionally, the identification unit 802 is further configured to:

[0113] In response to a distance between the first lane and the second lane being greater than or equal to a distance threshold, identifying an area between the first lane and the second lane as an unknown area;

[0114] The first lane line and the second lane line of the first lane and the second lane close to the unknown area are respectively obtained, and it is determined whether the first lane line and the second lane line are both solid lines. In response to the first lane line and the second lane line being both solid lines, the unknown area between the first lane and the second lane is identified as a separation zone.

[0115] Optionally, the identification unit 802 is further configured to:

[0116] respectively acquiring a third lane connected to the first lane and a fourth lane connected to the second lane;

[0117] Acquire a distance between the third lane and the fourth lane;

[0118] It is determined whether a distance between the third lane and the fourth lane is greater than or equal to a distance threshold, and in response to the distance between the third lane and the fourth lane being greater than or equal to the distance threshold, an area between the third lane and the fourth lane is identified as a separation zone.

[0119] Optionally, the identification unit 802 is further configured to:

[0120] In response to a distance between the third lane and the fourth lane being greater than or equal to a distance threshold, identifying an area between the third lane and the fourth lane as an unknown area;

[0121] The third lane line and the fourth lane line of the third lane and the fourth lane close to the unknown area are respectively obtained to determine whether the third lane line and the fourth lane line are both solid lines; in response to the third lane line and the fourth lane line being both solid lines, the unknown area between the third lane and the fourth lane is identified as a separation zone.

[0122] Optionally, the identification unit 802 is further configured to:

[0123] In response to a distance between the first lane and the second lane being less than a distance threshold, a region between the first lane and the second lane is identified as having no distance.

[0124] Optionally, the identification unit 802 is further configured to:

[0125] In response to the first lane marking and / or the second lane marking being a dotted line, an unknown area between the first lane and the second lane is identified as an enterable area.

[0126] It should be noted that the specific implementation content of the isolation zone identification device of the present invention has been described in detail in the isolation zone identification method described above, so the repeated content will not be described again here.

[0127] The flow chart and block diagram in the figure illustrate the possible implementation architecture, function and operation of the system, method and computer program according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, program segment or part of the code, and the above-mentioned module, program segment or 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 box can also occur in a different order from the order marked in the accompanying drawings. For example, two 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 box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0128] The units involved in the embodiments of the present invention may be implemented by software or hardware. The units described may also be set in a processor, for example, it may be described as: a processor includes an acquisition unit and an identification unit, wherein the names of these units do not constitute a limitation on the units themselves in some cases.

[0129] As another aspect, the present invention further provides a computer-readable medium, which may be included in the device described in the above embodiment; or may exist independently without being assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the device implements the following method: respectively obtaining the driving directions of the adjacent first lane and second lane; judging whether the driving direction of the first lane is opposite to the driving direction of the second lane, and in response to the driving direction of the first lane being opposite to the driving direction of the second lane, identifying the area between the first lane and the second lane as a separation zone. The computer-readable medium may include ROM, RAM, magnetic disk, optical disk or USB flash drive, etc.

[0130] The embodiment of the present invention identifies the isolation zone according to the driving direction of two adjacent lanes, which helps to improve the identification accuracy of the isolation zone, thereby meeting the accuracy requirements of the high-precision map. Moreover, since the embodiment of the present invention can automatically identify the isolation zone according to the driving direction of the first lane and the driving direction of the second lane, there is no need to use manual methods to identify it, which significantly improves the identification efficiency of the isolation zone, thereby improving the efficiency of building high-precision maps.

[0131] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for identifying an isolation zone, characterized in that: include: respectively obtaining the driving directions of the adjacent first lane and the second lane; It is determined whether a driving direction of the first lane is opposite to a driving direction of the second lane, and in response to the driving direction of the first lane being opposite to the driving direction of the second lane, an area between the first lane and the second lane is identified as a separation zone.

2. The isolation zone identification method according to claim 1, characterized in that: In response to a driving direction of the first lane being opposite to a driving direction of the second lane, identifying an area between the first lane and the second lane as a separation zone, comprising: In response to the driving direction of the first lane being opposite to the driving direction of the second lane, acquiring a distance between the first lane and the second lane; It is determined whether a distance between the first lane and the second lane is greater than or equal to a distance threshold, and in response to the distance between the first lane and the second lane being greater than or equal to the distance threshold, an area between the first lane and the second lane is identified as a separation zone.

3. The isolation zone identification method according to claim 2, characterized in that: In response to a distance between the first lane and the second lane being greater than or equal to a distance threshold, identifying an area between the first lane and the second lane as a separation zone, comprising: In response to a distance between the first lane and the second lane being greater than or equal to a distance threshold, identifying an area between the first lane and the second lane as an unknown area; The first lane line and the second lane line of the first lane and the second lane close to the unknown area are respectively obtained, and it is determined whether the first lane line and the second lane line are both solid lines. In response to the first lane line and the second lane line being both solid lines, the unknown area between the first lane and the second lane is identified as a separation zone.

4. The isolation zone identification method according to claim 3, characterized in that: Also includes: respectively acquiring a third lane connected to the first lane and a fourth lane connected to the second lane; Acquire a distance between the third lane and the fourth lane; It is determined whether a distance between the third lane and the fourth lane is greater than or equal to a distance threshold, and in response to the distance between the third lane and the fourth lane being greater than or equal to the distance threshold, an area between the third lane and the fourth lane is identified as a separation zone.

5. The isolation zone identification method according to claim 4, characterized in that: In response to a distance between the third lane and the fourth lane being greater than or equal to a distance threshold, identifying an area between the third lane and the fourth lane as a separation zone, comprising: In response to a distance between the third lane and the fourth lane being greater than or equal to a distance threshold, identifying an area between the third lane and the fourth lane as an unknown area; The third lane line and the fourth lane line of the third lane and the fourth lane close to the unknown area are respectively obtained to determine whether the third lane line and the fourth lane line are both solid lines; in response to the third lane line and the fourth lane line being both solid lines, the unknown area between the third lane and the fourth lane is identified as a separation zone.

6. The isolation zone identification method according to claim 2, characterized in that: The method further comprises: In response to a distance between the first lane and the second lane being less than a distance threshold, a region between the first lane and the second lane is identified as having no distance.

7. The isolation zone identification method according to claim 3, characterized in that: The method further comprises: In response to the first lane marking and / or the second lane marking being a dotted line, an unknown area between the first lane and the second lane is identified as an enterable area.

8. A device for identifying an isolation zone, characterized in that: include: An acquisition unit, used to respectively acquire the driving directions of the adjacent first lane and the second lane; An identification unit is used to determine whether the driving direction of the first lane is opposite to the driving direction of the second lane, and in response to the driving direction of the first lane being opposite to the driving direction of the second lane, identify the area between the first lane and the second lane as a separation zone.

9. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the isolation zone identification method as described in any one of claims 1-7.

10. A computer readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the isolation zone identification method as described in any one of claims 1 to 7 is implemented.

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