Lane centering evaluation method, device and equipment for front vehicle and storage medium

Abstract

The invention discloses a lane centering evaluation method, device and equipment for a front vehicle and a storage medium, and relates to the technical field of vehicle lane centering evaluation, the lane centering evaluation method for the front vehicle is applied to an auxiliary test vehicle, and the auxiliary test vehicle is located behind a to-be-evaluated vehicle. The auxiliary test vehicle and the to-be-evaluated vehicle keep a front-back connection relation of the same lane. The lane centering evaluation method for the front vehicle comprises the following steps: acquiring images of a front road and a front vehicle; extracting a left lane line, a right lane line and a vehicle contour of the to-be-evaluated vehicle from the images of the front road and the front vehicle through a preset model; and according to the left lane line, the right lane line and the vehicle contour, evaluating the central driving state of the to-be-evaluated vehicle to obtain an evaluation result. The accuracy of lane centering effect evaluation of the vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle lane centering evaluation, and in particular to a lane centering evaluation method, device, equipment and storage medium for a leading vehicle. Background Art

[0002] As automotive technology continues to advance, more and more vehicles are equipped with lane keeping assist systems and lane centering control systems. These systems use cameras, radars or other sensors to detect lane markings and surroundings, and automatically adjust the steering wheel through the electric power steering system to keep the vehicle in the center of the lane.

[0003] In order to determine whether the vehicle is staying in the center of the lane, currently, the driver usually relies on the naked eye to observe the road ahead and the lane markings on both sides to determine the relative position of the test vehicle in the lane. In addition, there are also methods that use high-precision positioning technology to determine the specific and precise position of the vehicle on the lane, and use the centering evaluation function carried by the test vehicle itself to evaluate the current lane centering effect. However, due to factors such as the strong subjectivity of the driver's judgment and the error caused by obstacles in high-precision positioning technology, these methods are not accurate in evaluating the vehicle's lane centering effect. Therefore, the problem of how to improve the accuracy of the vehicle's lane centering effect evaluation still needs to be solved.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present application is to provide a lane centering evaluation method, device, equipment and storage medium for a leading vehicle, aiming to solve the technical problem of low accuracy in evaluating the lane centering effect of a vehicle.

[0006] To achieve the above purpose, the present application proposes a lane centering evaluation method for a vehicle ahead, the method comprising:

[0007] Acquire images of the road ahead and the vehicle ahead;

[0008] Extracting a left lane line, a right lane line, and a vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle image ahead by using a preset model;

[0009] The centering driving state of the vehicle to be evaluated is evaluated according to the left lane line, the right lane line and the vehicle profile to obtain an evaluation result.

[0010] In one embodiment, the step of evaluating the centered driving state of the vehicle to be evaluated according to the left lane line, the right lane line and the vehicle profile to obtain the evaluation result includes:

[0011] Calculate a first actual distance between the vehicle to be evaluated and the left lane line, and a second actual distance between the vehicle to be evaluated and the right lane line according to the left lane line, the right lane line, and the vehicle profile;

[0012] The centered driving state of the vehicle to be evaluated is evaluated according to the first actual distance and the second actual distance to obtain an evaluation result.

[0013] In one embodiment, the step of calculating a first actual distance between the vehicle to be evaluated and the left lane line and a second actual distance between the vehicle to be evaluated and the right lane line according to the left lane line, the right lane line and the vehicle profile comprises:

[0014] Calculating a first initial distance between the detection frame of the vehicle outline and the left lane line, and a second initial distance between the detection frame of the vehicle outline and the right lane line;

[0015] Calculating a ratio of the actual width of the vehicle to be evaluated to the width of the vehicle to be evaluated in the images of the road ahead and the vehicle ahead;

[0016] A first actual distance and a second actual distance are calculated according to the first initial distance, the second initial distance and the ratio.

[0017] In one embodiment, the step of calculating a first initial distance between the detection frame of the vehicle outline and the left lane line, and a second initial distance between the detection frame of the vehicle outline and the right lane line comprises:

[0018] Extend the bottom line segment of the detection frame of the vehicle to be evaluated to the left and right sides to obtain a left intersection point where the left extension line intersects with the left lane line and a right intersection point where the right extension line intersects with the right lane line;

[0019] Taking the distance between the left intersection point and the detection frame of the vehicle to be evaluated as a first initial distance;

[0020] The distance between the right intersection point and the detection frame of the vehicle to be evaluated is used as the second initial distance.

[0021] In one embodiment, the step of extracting the left lane line, the right lane line, and the vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle ahead image by using a preset model includes:

[0022] Detecting all vehicles and lane lines on the lane from the road ahead and the vehicle image ahead by using a decoder in a preset model, wherein the preset model includes an encoder and a plurality of decoders, and the decoders are respectively used for object detection, drivable area segmentation, and lane line detection;

[0023] A left lane line, a right lane line, and a vehicle profile of the vehicle to be evaluated are extracted from the vehicle and the lane line.

[0024] In one embodiment, after the step of evaluating the centered driving state of the vehicle to be evaluated according to the left lane line, the right lane line and the vehicle profile and obtaining the evaluation result, the method further comprises:

[0025] Saving the evaluation results in a log;

[0026] The evaluation result is output in a visual form.

[0027] In one embodiment, before extracting the left lane line, the right lane line and the vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle image ahead by using a preset model, the method includes:

[0028] The road ahead and the vehicle ahead image are preprocessed so that the road ahead and the vehicle ahead image meet the requirements of the preset model.

[0029] In addition, to achieve the above-mentioned purpose, the present application also proposes a lane centering evaluation device facing a leading vehicle, the lane centering evaluation device facing a leading vehicle comprising:

[0030] An acquisition module, used for acquiring images of the road ahead and the vehicle ahead;

[0031] An extraction module, used to extract the left lane line, the right lane line and the vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle image ahead by using a preset model;

[0032] An evaluation module is used to evaluate the centering driving state of the vehicle to be evaluated according to the left lane line, the right lane line and the vehicle profile to obtain an evaluation result.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the computer program is configured to implement the steps of the lane centering evaluation method facing the leading vehicle as described above.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the lane centering evaluation method facing the leading vehicle as described above are implemented.

[0035] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the lane centering evaluation method facing the leading vehicle as described above.

[0036] The present application provides a lane centering evaluation method for a vehicle ahead, which first obtains images of the road ahead and the vehicle ahead; extracts the left lane line, the right lane line, and the vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle ahead using a preset model; and evaluates the centering driving state of the vehicle to be evaluated based on the left lane line, the right lane line, and the vehicle profile to obtain an evaluation result. The lane centering evaluation method for a vehicle ahead is applied to an auxiliary test vehicle, which is located behind the vehicle to be evaluated, and the auxiliary test vehicle and the vehicle to be evaluated maintain a front-to-rear connection relationship in the same lane.

[0037] In summary, the present application evaluates the centering driving state of the vehicle to be evaluated in front by using an auxiliary test vehicle located at the rear, can obtain the relative relationship between the vehicle and the left and right lane lines, and evaluate the centering driving state of the vehicle with accurate quantitative analysis, thereby effectively improving the accuracy of the evaluation of the vehicle's lane centering effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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.

[0039] 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.

[0040] Figure 1 A flow chart of a first embodiment of a lane centering evaluation method for a vehicle ahead of the present invention;

[0041] Figure 2 A flow chart of the second embodiment of the lane centering evaluation method for the vehicle ahead provided in this application;

[0042] Figure 3 This is a schematic diagram of calculating a first actual distance and a second actual distance according to a road ahead and a vehicle ahead image in Embodiment 2 of the lane centering evaluation method facing a front vehicle of the present application;

[0043] Figure 4 A flow chart of the third embodiment of the lane centering evaluation method for the vehicle ahead provided in this application;

[0044] Figure 5 This is a schematic diagram of the YOLOP model structure in Embodiment 3 of the lane centering evaluation method for the vehicle ahead of this application;

[0045] Figure 6a This is a schematic diagram of an original image captured by a front-view camera in Embodiment 3 of the lane centering evaluation method for a vehicle ahead of the present application;

[0046] Figure 6b This is a schematic diagram of the results identified by the YOLOP model in Embodiment 3 of the lane centering evaluation method for the vehicle ahead of this application;

[0047] Figure 7 This is a schematic diagram of the module structure of a lane centering evaluation device facing the vehicle ahead in an embodiment of the present application;

[0048] Figure 8 Schematic diagram of the device structure of the hardware operating environment involved in the lane centering evaluation method for the leading vehicle in the embodiment of the present application.

[0049] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0051] 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.

[0052] The main solution of the embodiment of the present application is: first obtain the road ahead and the vehicle ahead image; extract the left lane line, the right lane line and the vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle ahead image through a preset model; evaluate the centering driving state of the vehicle to be evaluated according to the left lane line, the right lane line and the vehicle profile to obtain an evaluation result. Among them, the lane centering evaluation method facing the front vehicle is applied to an auxiliary test vehicle, the auxiliary test vehicle is located behind the vehicle to be evaluated, and the auxiliary test vehicle and the vehicle to be evaluated maintain a front-to-back connection relationship in the same lane.

[0053] At present, the relative position of the test vehicle in the lane is usually determined by the driver's naked eye observation of the road ahead and the lane markings on both sides. In addition, there are also methods that use high-precision positioning technology to determine the specific and precise position of the vehicle on the lane, and use the centering evaluation function on the test vehicle itself to evaluate the current lane centering effect. However, due to factors such as the strong subjectivity of the driver's judgment and the error caused by obstacles in high-precision positioning technology, these methods are not accurate in evaluating the vehicle's lane centering effect. Therefore, the problem of how to improve the accuracy of the vehicle's lane centering effect evaluation still needs to be solved.

[0054] The present application uses an auxiliary test vehicle located at the rear to evaluate the centering driving state of the vehicle to be evaluated in front, and can obtain the relative relationship between the vehicle and the left and right lane lines, and evaluate the centering driving state of the vehicle with accurate quantitative analysis, thereby effectively improving the accuracy of the evaluation of the vehicle's lane centering effect.

[0055] Based on this, the embodiment of the present application provides a lane centering evaluation method for the vehicle ahead, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the lane centering evaluation method for the preceding vehicle of the present application.

[0056] In this embodiment, the lane centering evaluation method for the vehicle ahead includes steps S10 to S30:

[0057] Step S10: Acquire images of the road ahead and the vehicle ahead;

[0058] It should be noted that the execution subject of this embodiment can be 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 an electronic device, a vehicle, etc. that can realize the above functions, and this embodiment does not specifically limit this. The following takes the auxiliary test vehicle located behind the vehicle to be evaluated as the execution subject to illustrate this embodiment and the following embodiments.

[0059] It should be noted that the acquisition method may include acquiring images of the road ahead and the vehicle ahead through an image acquisition device such as a camera.

[0060] Step S20: extracting the left lane line, the right lane line and the vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle image ahead by using a preset model;

[0061] It should be noted that there are multiple ways to extract the left lane line, the right lane line and the vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle ahead image, such as an image processing-based method or a deep learning-based method.

[0062] In a feasible manner, before extracting the left lane line, the right lane line and the vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle image ahead by using a preset model, the method includes:

[0063] The road ahead and the vehicle ahead image are preprocessed so that the road ahead and the vehicle ahead image meet the requirements of the preset model.

[0064] It should be noted that preprocessing may include adjusting the image size, normalizing the pixel values ​​of the image to a specific range, etc. Preprocessing can make the road ahead and the vehicle ahead images meet the requirements of the preset model and improve the convergence speed of the preset model.

[0065] Step S30: Evaluate the centering driving state of the vehicle to be evaluated according to the left lane line, the right lane line and the vehicle profile to obtain an evaluation result.

[0066] It can be understood that through the left lane line, the right lane line and the vehicle outline, the relative relationship between the vehicle to be evaluated and the left and right lane lines of the road can be clearly obtained, thereby judging whether the vehicle to be evaluated is in the middle of the road, completing the evaluation of the centered driving state of the vehicle to be evaluated, and obtaining the evaluation result.

[0067] In a feasible manner, after the step of obtaining the evaluation result, the following steps are included:

[0068] Saving the evaluation results in a log;

[0069] The evaluation result is output in a visual form.

[0070] It is understood that the evaluation results of the lane centering of the vehicle ahead will be saved in real time in the log to provide data support for the subsequent analysis of the problem of the lateral control function of the vehicle ahead. The results of the lane centering evaluation can be output in a visual form, such as the vehicle's offset relative to the left and right lanes can be displayed on the vehicle display.

[0071] This embodiment provides a lane centering evaluation method for a vehicle ahead, firstly obtaining images of a road ahead and a vehicle ahead; extracting a left lane line, a right lane line, and a vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle ahead using a preset model; and evaluating the centering driving state of the vehicle to be evaluated based on the left lane line, the right lane line, and the vehicle profile to obtain an evaluation result. The lane centering evaluation method for a vehicle ahead is applied to an auxiliary test vehicle, which is located behind the vehicle to be evaluated, and the auxiliary test vehicle and the vehicle to be evaluated maintain a front-to-rear connection relationship in the same lane.

[0072] In summary, this embodiment uses an auxiliary test vehicle located at the rear to evaluate the centering driving state of the vehicle to be evaluated in front, can obtain the relative relationship between the vehicle and the left and right lane lines, and accurately and quantitatively evaluate the centering driving state of the vehicle, thereby effectively improving the accuracy of the evaluation of the vehicle's lane centering effect.

[0073] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 The step of evaluating the centering driving state of the vehicle to be evaluated according to the left lane line, the right lane line and the vehicle profile to obtain the evaluation result comprises:

[0074] Step S301: Calculating a first actual distance between the vehicle to be evaluated and the left lane line, and a second actual distance between the vehicle to be evaluated and the right lane line according to the left lane line, the right lane line and the vehicle profile;

[0075] It should be noted that the first actual distance and the second actual distance are the real distances between the vehicle to be evaluated and the left lane line and the right lane line in the actual scene obtained through calculation.

[0076] In a feasible manner, the step of calculating the first actual distance between the vehicle to be evaluated and the left lane line and the second actual distance between the vehicle to be evaluated and the right lane line according to the left lane line, the right lane line and the vehicle profile includes:

[0077] Calculating a first initial distance between the detection frame of the vehicle outline and the left lane line, and a second initial distance between the detection frame of the vehicle outline and the right lane line;

[0078] Calculating a ratio of the actual width of the vehicle to be evaluated to the width of the vehicle to be evaluated in the images of the road ahead and the vehicle ahead;

[0079] A first actual distance and a second actual distance are calculated according to the first initial distance, the second initial distance and the ratio.

[0080] It can be understood that the first initial distance is the distance between the vehicle to be evaluated and the left lane line in the road ahead and the vehicle image ahead, obtained by calculation, and the second initial distance is the distance between the vehicle to be evaluated and the right lane line in the road ahead and the vehicle image ahead, obtained by calculation.

[0081] The specific calculation steps include: extending the bottom line segment of the detection frame of the vehicle to be evaluated to the left and right sides to obtain a left intersection point where the left extension line intersects the left lane line and a right intersection point where the right extension line intersects the right lane line; taking the distance between the left intersection point and the detection frame of the vehicle to be evaluated as a first initial distance; and taking the distance between the right intersection point and the detection frame of the vehicle to be evaluated as a second initial distance.

[0082] For reference Figure 3 , Figure 3 The black vehicle in the middle is the vehicle to be evaluated, the green area is the drivable area, the red lines are the left lane line and the right lane line, the light blue box is the detection box of the vehicle to be evaluated, and the length of the yellow line is 1 is the first initial distance, the length of the purple line dis 2 is the second initial distance.

[0083] After calculating the first initial distance and the second initial distance, it is necessary to calculate the ratio of the actual width of the vehicle to be evaluated to the width of the vehicle to be evaluated in the road ahead and the vehicle ahead image. By using the ratio, the first initial distance is multiplied by the ratio to obtain the first actual distance, and the second initial distance is multiplied by the ratio to obtain the second actual distance.

[0084] Step S302: Evaluate the centering driving state of the vehicle to be evaluated according to the first actual distance and the second actual distance to obtain an evaluation result.

[0085] It is understandable that the centering state of the vehicle to be evaluated on the road can be obtained through the first actual distance and the second actual distance. The smaller the difference between the first actual distance and the second actual distance, the better the centering state of the vehicle on the road.

[0086] This embodiment calculates a first actual distance between the vehicle to be evaluated and the left lane line and a second actual distance between the vehicle to be evaluated and the right lane line based on the left lane line, the right lane line and the vehicle profile; based on the first actual distance and the second actual distance, the centered driving state of the vehicle to be evaluated is evaluated to obtain an evaluation result.

[0087] In summary, this embodiment evaluates the vehicle's centered driving state by calculating the actual distance between the vehicle to be evaluated and the left and right lane lines. This is an objective and quantitative evaluation method, which can effectively improve the accuracy of the vehicle's lane centering effect evaluation.

[0088] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4The step of extracting the left lane line, the right lane line and the vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle ahead image by using a preset model comprises:

[0089] Step S201: Detecting all vehicles and lane lines on the lane from the road ahead and the vehicle image ahead by using a decoder in a preset model, wherein the preset model includes an encoder and a plurality of decoders, and the decoders are respectively used for object detection, drivable area segmentation, and lane line detection;

[0090] It should be noted that the preset model may include a YOLOP (You Only Look Once for Panoptic Driving Perception) model. Figure 5 , Figure 5 The YOLOP model consists of an encoder and three decoders. Figure 5 , the encoder Encoder is composed of Backbone (backbone network) and Neck (neck network), and the decoder Decoder is composed of Detect Head (target detection head), Drivable Area Segment Head (drivable area segmentation head) and Lane Line Segment Head (lane line detection head). Among them, Encoder is a feature compression module, which is used to compress the input image data into a feature vector. The three decoders Decoder correspond to three different tasks respectively. Detect Head is responsible for target detection, Drivable Area Segment Head is responsible for drivable area segmentation, and Lane Line Segment Head is responsible for lane line detection. The YOLOP model can automatically detect all vehicles and lane lines on the lane. Here, the identified drivable area segmentation and interest area are used for division, and only the targets of interest, namely the vehicles in front of the lane and the lane lines on both sides, are extracted. Figure 6a and Figure 6b As shown, Figure 6a is the original image captured by the front-view camera, Figure 6b This is the result after extraction by the YOLOP model, where the green area is the drivable area, the red lines are the left and right lane lines, and the light blue box is the vehicle detection box in front.

[0091] Step S202: extracting the left lane line, the right lane line and the vehicle profile of the vehicle to be evaluated from the vehicle and the lane lines.

[0092] By extracting the left lane line, the right lane line and the vehicle profile of the vehicle to be evaluated from the vehicle and the lane line, subsequent evaluation of the vehicle's centering driving state is facilitated.

[0093] This embodiment detects all vehicles and lane lines on the lane from the road ahead and the vehicle image ahead through a decoder in a preset model, wherein the preset model includes an encoder and multiple decoders, and the decoders are respectively used for target detection, drivable area segmentation, and lane line detection; and extracts the left lane line, the right lane line, and the vehicle contour of the vehicle to be evaluated from the vehicles and lane lines.

[0094] In summary, this embodiment uses the YOLOP model to extract the left lane line, the right lane line and the vehicle contour of the vehicle to be evaluated in the image of the road ahead and the vehicle ahead, and can obtain accurate lane lines and vehicle contours, providing accurate data for subsequent calculation steps, and effectively improving the accuracy of the vehicle's lane centering effect evaluation.

[0095] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the lane centering evaluation method for the preceding vehicle of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0096] The present application also provides a lane centering evaluation device facing a front vehicle, referring to FIG. 6 , the lane centering evaluation device facing a front vehicle comprises:

[0097] The acquisition module 10 is used to acquire the road image and the vehicle image in front;

[0098] An extraction module 20, configured to extract a left lane line, a right lane line, and a vehicle profile of a vehicle to be evaluated from the road ahead and the vehicle ahead image by using a preset model;

[0099] The evaluation module 30 is used to evaluate the centering driving state of the vehicle to be evaluated according to the left lane line, the right lane line and the vehicle profile to obtain an evaluation result.

[0100] This embodiment provides a lane centering evaluation method for a vehicle ahead, firstly obtaining images of a road ahead and a vehicle ahead; extracting a left lane line, a right lane line, and a vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle ahead using a preset model; and evaluating the centering driving state of the vehicle to be evaluated based on the left lane line, the right lane line, and the vehicle profile to obtain an evaluation result. The lane centering evaluation method for a vehicle ahead is applied to an auxiliary test vehicle, which is located behind the vehicle to be evaluated, and the auxiliary test vehicle and the vehicle to be evaluated maintain a front-to-rear connection relationship in the same lane.

[0101] In summary, this embodiment uses an auxiliary test vehicle located at the rear to evaluate the centering driving state of the vehicle to be evaluated in front, can obtain the relative relationship between the vehicle and the left and right lane lines, and accurately and quantitatively evaluate the centering driving state of the vehicle, thereby effectively improving the accuracy of the evaluation of the vehicle's lane centering effect.

[0102] In one embodiment, the evaluation module 30 is further used to calculate a first actual distance between the vehicle to be evaluated and the left lane line and a second actual distance between the vehicle to be evaluated and the right lane line based on the left lane line, the right lane line and the vehicle profile; and to evaluate the centered driving state of the vehicle to be evaluated based on the first actual distance and the second actual distance to obtain an evaluation result.

[0103] In one embodiment, the evaluation module 30 is further used to calculate a first initial distance between the detection frame of the vehicle contour and the left lane line, and a second initial distance between the detection frame of the vehicle contour and the right lane line; calculate a ratio of the actual width of the vehicle to be evaluated to the width of the vehicle to be evaluated in the road ahead and the vehicle ahead image; and calculate a first actual distance and a second actual distance based on the first initial distance, the second initial distance and the ratio.

[0104] In one embodiment, the evaluation module 30 is further used to extend the bottom line segment of the detection frame of the vehicle to be evaluated to the left and right sides to obtain a left intersection point where the left extension line intersects the left lane line and a right intersection point where the right extension line intersects the right lane line; the distance between the left intersection point and the detection frame of the vehicle to be evaluated is used as the first initial distance; and the distance between the right intersection point and the detection frame of the vehicle to be evaluated is used as the second initial distance.

[0105] In one embodiment, the extraction module 20 is further used to detect all vehicles and lane lines on the lane from the road ahead and the vehicle image ahead through a decoder in a preset model, wherein the preset model includes an encoder and multiple decoders, and the decoders are used to perform target detection, drivable area segmentation, and lane line detection respectively; and extract the left lane line, the right lane line, and the vehicle contour of the vehicle to be evaluated from the vehicles and lane lines.

[0106] In one embodiment, the evaluation module 30 is further used to save the evaluation result in a log;

[0107] The evaluation result is output in a visual form.

[0108] In one embodiment, the extraction module 20 is further used to pre-process the images of the road ahead and the vehicle ahead so that the images of the road ahead and the vehicle ahead meet the requirements of a preset model.

[0109] The lane centering evaluation device facing the vehicle ahead provided by the present application adopts the lane centering evaluation method facing the vehicle ahead in the above-mentioned embodiment, which can solve the technical problem of low accuracy in evaluating the lane centering effect of the vehicle. Compared with the prior art, the beneficial effects of the lane centering evaluation device facing the vehicle ahead provided by the present application are the same as the beneficial effects of the lane centering evaluation method facing the vehicle ahead provided by the above-mentioned embodiment, and the other technical features of the lane centering evaluation device facing the vehicle ahead are the same as the features disclosed in the above-mentioned embodiment method, which will not be described in detail here.

[0110] The present application provides a lane centering evaluation device facing a leading vehicle, and the lane centering evaluation device facing a leading vehicle 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 centering evaluation method facing the leading vehicle in the above-mentioned embodiment one.

[0111] Reference below Figure 7 , which shows a schematic diagram of the structure of a lane centering evaluation device for a leading vehicle suitable for implementing an embodiment of the present application. The lane centering evaluation device for a leading vehicle 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 7 The lane centering evaluation device facing the vehicle ahead is shown as merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0112] like Figure 7As shown, the lane centering evaluation device facing the vehicle ahead 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. Various programs and data required for the operation of the lane centering evaluation device facing the vehicle ahead are also stored in RAM1004. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), 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 may allow the lane centering evaluation device facing the vehicle ahead to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a lane centering evaluation device facing the vehicle ahead with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0113] 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.

[0114] The lane centering evaluation device facing the vehicle ahead provided by the present application adopts the lane centering evaluation method facing the vehicle ahead in the above-mentioned embodiment, which can solve the technical problem of low accuracy in evaluating the lane centering effect of the vehicle. Compared with the prior art, the beneficial effects of the lane centering evaluation device facing the vehicle ahead provided by the present application are the same as the beneficial effects of the lane centering evaluation method facing the vehicle ahead provided by the above-mentioned embodiment, and the other technical features of the lane centering evaluation device facing the vehicle ahead are the same as the features disclosed in the method of the previous embodiment, which will not be described in detail here.

[0115] 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.

[0116] 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.

[0117] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the lane centering evaluation method facing the leading vehicle in the above-mentioned embodiment.

[0118] 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), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can 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), etc., or any suitable combination of the above.

[0119] The computer-readable storage medium may be included in the lane centering evaluation device facing the vehicle ahead; or may exist independently without being assembled into the lane centering evaluation device facing the vehicle ahead.

[0120] 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 centering evaluation device facing the front vehicle, the lane centering evaluation device facing the front vehicle: obtains the road ahead and the vehicle ahead image; extracts the left lane line, the right lane line and the vehicle contour of the vehicle to be evaluated from the road ahead and the vehicle ahead image through a preset model; evaluates the centering driving state of the vehicle to be evaluated according to the left lane line, the right lane line and the vehicle contour, and obtains an evaluation result.

[0121] 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).

[0122] 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.

[0123] 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.

[0124] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned lane centering evaluation method facing the preceding vehicle, and can solve the technical problem of low accuracy in evaluating the lane centering effect of the vehicle. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the lane centering evaluation method facing the preceding vehicle provided by the above-mentioned embodiment, and will not be elaborated here.

[0125] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the lane centering evaluation method facing the leading vehicle as described above.

[0126] The computer program product provided by the present application can solve the technical problem of low accuracy in evaluating the lane centering effect of a vehicle. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the lane centering evaluation method for the vehicle ahead provided by the above-mentioned embodiment, and will not be elaborated here.

[0127] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A lane centering evaluation method facing a preceding vehicle, characterized in that: The lane centering evaluation method facing the leading vehicle is applied to an auxiliary test vehicle, the auxiliary test vehicle is located behind the vehicle to be evaluated, and the auxiliary test vehicle and the vehicle to be evaluated maintain a front-to-rear connection relationship in the same lane, and the method includes: Acquire images of the road ahead and the vehicle ahead; Extracting a left lane line, a right lane line, and a vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle image ahead by using a preset model; The centering driving state of the vehicle to be evaluated is evaluated according to the left lane line, the right lane line and the vehicle profile to obtain an evaluation result.

2. The method according to claim 1, characterized in that The step of evaluating the centering driving state of the vehicle to be evaluated according to the left lane line, the right lane line and the vehicle profile to obtain the evaluation result comprises: Calculate a first actual distance between the vehicle to be evaluated and the left lane line, and a second actual distance between the vehicle to be evaluated and the right lane line according to the left lane line, the right lane line, and the vehicle profile; The centered driving state of the vehicle to be evaluated is evaluated according to the first actual distance and the second actual distance to obtain an evaluation result.

3. The method according to claim 2, characterized in that The step of calculating a first actual distance between the vehicle to be evaluated and the left lane line and a second actual distance between the vehicle to be evaluated and the right lane line according to the left lane line, the right lane line and the vehicle profile comprises: Calculating a first initial distance between the detection frame of the vehicle outline and the left lane line, and a second initial distance between the detection frame of the vehicle outline and the right lane line; Calculating a ratio of the actual width of the vehicle to be evaluated to the width of the vehicle to be evaluated in the images of the road ahead and the vehicle ahead; A first actual distance and a second actual distance are calculated according to the first initial distance, the second initial distance and the ratio.

4. The method according to claim 3, characterized in that The step of calculating a first initial distance between the detection frame of the vehicle outline and the left lane line, and a second initial distance between the detection frame of the vehicle outline and the right lane line comprises: Extend the bottom line segment of the detection frame of the vehicle to be evaluated to the left and right sides to obtain a left intersection point where the left extension line intersects with the left lane line and a right intersection point where the right extension line intersects with the right lane line; Taking the distance between the left intersection point and the detection frame of the vehicle to be evaluated as a first initial distance; The distance between the right intersection point and the detection frame of the vehicle to be evaluated is used as the second initial distance.

5. The method according to claim 1, characterized in that The step of extracting the left lane line, the right lane line and the vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle image ahead by using a preset model comprises: Detecting all vehicles and lane lines on the lane from the road ahead and the vehicle image ahead by using a decoder in a preset model, wherein the preset model includes an encoder and a plurality of decoders, and the decoders are respectively used for object detection, drivable area segmentation, and lane line detection; A left lane line, a right lane line, and a vehicle profile of the vehicle to be evaluated are extracted from the vehicle and the lane line.

6. The method according to claim 1, characterized in that After the step of evaluating the centering driving state of the vehicle to be evaluated according to the left lane line, the right lane line and the vehicle profile to obtain the evaluation result, the method includes: Saving the evaluation results in a log; The evaluation result is output in a visual form.

7. The method according to claim 1, characterized in that Before extracting the left lane line, the right lane line and the vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle image ahead by using the preset model, the method includes: The road ahead and the vehicle ahead image are preprocessed so that the road ahead and the vehicle ahead image meet the requirements of a preset model.

8. A lane centering evaluation device facing a preceding vehicle, characterized in that: The device comprises: An acquisition module, used for acquiring images of the road ahead and the vehicle ahead; An extraction module, used to extract the left lane line, the right lane line and the vehicle profile of the vehicle to be evaluated from the road ahead and the vehicle image ahead by using a preset model; An evaluation module is used to evaluate the centering driving state of the vehicle to be evaluated according to the left lane line, the right lane line and the vehicle profile to obtain an evaluation result.

9. A vehicle, characterized in that: The vehicle comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the lane centering evaluation method for a leading vehicle as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the lane centering evaluation method facing the leading vehicle as described in any one of claims 1 to 7 are implemented.

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