Target lane line determination method and device and vehicle

Abstract

The embodiment of the invention discloses a target lane line determination method and device and a vehicle. The method comprises the following steps: when a plurality of to-be-determined lane lines meeting target lane line conditions are detected in front of a determined target lane line, determining a transverse distance deviation and a first angle deviation between each to-be-determined lane line and an extension line of the determined target lane line; and determining a second angle deviation between each to-be-determined lane line and the target track, and determining a target lane line in each to-be-determined lane line according to the transverse distance deviation, the first angle deviation and the second angle deviation. Wherein the target lane line is a lane line of a lane where the current vehicle is located, and the target track is a driving track of a vehicle which is located in front of the current vehicle and located in the same lane with the current vehicle. Through the method, the target lane line can be determined from the new lane line and the old lane line when the new lane line and the old lane line exist on the road simultaneously, the lane line detection requirement of a vehicle is met, and then driving safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and in particular to a method, device and vehicle for determining a target lane line. Background Art

[0002] Lane lines are important information on the road for controlling and guiding traffic, and they play a very important role in the field of autonomous driving.

[0003] Existing lane line detection methods usually only identify the lane lines themselves. However, in some scenarios, if the original old lane lines are not removed in time after the lanes are diverted or widened, multiple new and old lane lines will exist on the road at the same time. When faced with such a scenario where new and old lane lines exist on the road at the same time, existing lane line detection methods can only identify all the new and old lane lines, but cannot select the correct lane line from the identified new and old lane lines, which may cause the vehicle to drive along the wrong lane line, and then cause the vehicle to go the wrong way, or even cause a traffic accident. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a method, device and vehicle for determining a target lane line, so as to determine the target lane line from the new and old lane lines when there are both new and old lane lines on the road, meet the vehicle's lane line detection requirements, and thus ensure driving safety.

[0005] In a first aspect, an embodiment of the present invention provides a method for determining a target lane line, the method comprising:

[0006] In response to detecting a plurality of lane lines to be determined that meet the target lane line condition in front of the determined target lane line, determining a lateral distance deviation between each of the lane lines to be determined and a target extension line, the target extension line being an extension line of the determined target lane line, and the target lane line being the lane line of the lane in which the vehicle is currently located;

[0007] Determining a first angle deviation between each of the to-be-determined lane lines and the target extension line;

[0008] Determining a second angle deviation between each of the to-be-determined lane lines and a target trajectory, wherein the target trajectory is a driving trajectory of a vehicle that is in front of the current vehicle and in the same lane as the current vehicle;

[0009] The target lane line is determined in each of the lane lines to be determined according to the lateral distance deviation, the first angle deviation and the second angle deviation.

[0010] In a second aspect, an embodiment of the present invention provides a vehicle, the vehicle comprising:

[0011] Vehicle body;

[0012] a sensing system, disposed on the vehicle body, for determining a target trajectory, wherein the target trajectory is a driving trajectory of a vehicle that is in front of the current vehicle and in the same lane as the current vehicle;

[0013] A control device, wherein the control device is configured to execute the method as described in any one of the first aspects.

[0014] In a third aspect, an embodiment of the present invention provides a target lane line determination device, the device comprising:

[0015] a distance deviation determination unit, configured to determine, in response to detecting a plurality of to-be-determined lane lines that meet the target lane line condition in front of the determined target lane line, a lateral distance deviation between each of the to-be-determined lane lines and a target extension line, wherein the target extension line is an extension line of the determined target lane line, and the target lane line is a lane line of a lane in which the current vehicle is located;

[0016] A first angle deviation determining unit, used to determine a first angle deviation between each of the lane lines to be determined and the target extension line;

[0017] A second angle deviation determination unit, used to determine a second angle deviation between each of the lane lines to be determined and a target trajectory, wherein the target trajectory is a driving trajectory of a vehicle that is in front of the current vehicle and in the same lane as the current vehicle;

[0018] A lane line determination unit is used to determine the target lane line in each of the lane lines to be determined according to the lateral distance deviation, the first angle deviation and the second angle deviation.

[0019] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method as described in any one of the first aspects is implemented.

[0020] In a fifth aspect, an embodiment of the present invention provides an electronic device, the device comprising:

[0021] a memory for storing one or more computer program instructions;

[0022] A processor, wherein the one or more computer program instructions are executed by the processor to implement the method as described in any one of the first aspects.

[0023] In a sixth aspect, an embodiment of the present invention provides a computer program product, which, when executed on a computer, enables the computer to execute the method as described in any one of the methods in the first aspect.

[0024] The target lane line determination method of the embodiment of the present invention will determine the lateral distance deviation and the first angle deviation between each lane line to be determined and the extension line of the determined target lane line when multiple lane lines to be determined that meet the target lane line conditions are detected in front of the determined target lane line, and determine the second angle deviation between each lane line to be determined and the target trajectory, and then determine the target lane line in each lane line to be determined based on the lateral distance deviation, the first angle deviation and the second angle deviation. Among them, the target lane line is the lane line of the lane where the current vehicle is located, and the target trajectory is the driving trajectory of the vehicle in front of the current vehicle and in the same lane as the current vehicle. Through the method, when new and old lane lines exist on the road at the same time, the target lane line can be determined from the new and old lane lines, so as to meet the vehicle's detection requirements for lane lines and thereby ensure driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0026] Figure 1 A schematic diagram of an application scenario of a target lane line determination method according to an embodiment of the present invention;

[0027] Figure 2 A flow chart of a method for determining a target lane line according to an embodiment of the present invention;

[0028] Figure 3 is a flow chart of a method for determining a lateral distance deviation according to an embodiment of the present invention;

[0029] Figure 4 Schematic diagram of a process for determining a lateral distance deviation according to an embodiment of the present invention;

[0030] Figure 5 is a flow chart of a method for determining a first angle deviation according to an embodiment of the present invention;

[0031] Figure 6 Schematic diagram of a process for determining a first angle deviation according to an embodiment of the present invention;

[0032] Figure 7 is a flow chart of a second angle deviation determination method according to an embodiment of the present invention;

[0033] Figure 8 is a schematic diagram of a process for determining a second angle deviation according to an embodiment of the present invention;

[0034] Fig. 9 is another schematic diagram of a process for determining a second angle deviation according to an embodiment of the present invention;

[0035] Fig.10 A schematic diagram of a target lane line determination device according to an embodiment of the present invention;

[0036] Fig.11 is a schematic diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The present application is described below based on embodiments, but the present application is not limited to these embodiments. In the detailed description of the present application below, some specific details are described in detail. It is possible for those skilled in the art to fully understand the present application without the description of these details. In order to avoid confusing the essence of the present application, known methods, processes, flows, components and circuits are not described in detail.

[0038] In addition, persons of ordinary skill in the art will appreciate that the drawings provided herein are for illustration purposes and are not necessarily drawn to scale.

[0039] Unless the context clearly requires otherwise, the words "include", "comprising" and similar words throughout the application should be interpreted as including rather than exclusive or exhaustive; that is, the meaning is "including but not limited to".

[0040] In the description of this application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0041] The solutions described in this specification and in the examples, if they involve the processing of personal information, will be processed on the premise of having a legal basis (such as obtaining the consent of the subject of personal information, or being necessary for the performance of a contract, etc.), and will only be processed within the scope of regulations or agreements. If a user refuses to process personal information other than the necessary information for basic functions, it will not affect the user's use of basic functions.

[0042] Figure 1 Schematic diagram of an application scenario of the target lane line determination method according to an embodiment of the present invention. Figure 1 As shown, the vehicle 11 includes a vehicle body 15, a sensor system 14 and a control device (the control device is not shown in the figure).

[0043] It should be understood that Figure 1 The lane line 121 shown in the figure is the lane line of the overlapped part of the front lane and the rear lane after adjustment. The lane line 122 is the lane line of the rear lane after adjustment, that is, the new lane line. The lane line 123 is the lane line of the front lane after adjustment, that is, the old lane line.

[0044] The vehicle body 15 is used to realize the basic functions of the vehicle 11, such as the passenger carrying function and the mobile driving function.

[0045] The sensor system 14 is arranged on the vehicle body 15. The sensor system 14 includes at least one camera for collecting image information and at least one radar sensor for collecting point cloud information. In this embodiment, the sensor system 14 is used to collect the image information and / or point cloud information of the vehicle under the control of the control device to determine the motion trajectory of the vehicle in front of the vehicle 11 and in the same lane as the vehicle 11, and to collect the image information of the lane line to determine the position, type and curvature of the lane line of the lane where the vehicle 11 is currently located. It should be understood that each of the cameras and each of the radar sensors can be arranged at the corresponding position of the vehicle body 15 according to actual needs.

[0046] The control device can be used to control the above-mentioned devices to implement the target lane line determination method in the embodiment of the present invention.

[0047] Optionally, the control device may be a single chip microcomputer for storing and executing corresponding programs. It should be understood that the control device may be integrated with other vehicle control systems, or may be integrated as an independent lane line determination device. Among them, the vehicle control system may specifically be an Advanced Driver Assistance System (ADAS), or may be a sub-control system under the Advanced Driver Assistance System, such as a Lane Departure Warning System (LDWS) for issuing an early warning when the current vehicle is detected to deviate from a predetermined driving lane, a Lane Keeping System (LKS) for assisting the current vehicle to travel in a predetermined driving lane, or a Lane Changing Assist (LCA) for assisting the vehicle to change lanes.

[0048] During driving, the vehicle 11 can detect and track the lane line information of the lane line (i.e., the target lane line) of the current lane in real time, and provide the lane line information to the corresponding vehicle control system, so that the vehicle control system provides the user with corresponding driving assistance services according to the lane line information. When tracking and determining the target lane line, as the vehicle moves forward, the vehicle 11 can determine the lane line that constantly appears in front of the determined target lane line and meets the target lane line conditions as the target lane line. Furthermore, if vehicle 11 detects multiple lane lines to be determined (as shown in lane lines 122 and 123) that meet the target lane line conditions in front of the determined target lane line (as shown in lane line 121), the lateral distance deviation and the first angle deviation between each lane line to be determined and the extension line of the determined target lane line (as shown in extension line 1211) can be determined respectively, and the second angle deviation between each lane line to be determined and the driving trajectory of a vehicle in front of vehicle 11 and in the same lane as vehicle 11 (as shown in driving trajectory 131 of vehicle 13) can be determined, and then the target lane line can be determined among each lane line to be determined based on the lateral distance deviation, the first angle deviation and the second angle deviation.

[0049] Therefore, the target lane line determination method in this embodiment can determine the target lane line from the new and old lane lines when there are both new and old lane lines on the road, thereby meeting the vehicle's lane line detection needs and ensuring driving safety.

[0050] It should be understood that lane lines are usually set on both sides of the lane. In this embodiment, the vehicle will determine the target lane lines on both sides of the lane it is currently in. The target lane line determination process described above can be a process of determining the target lane line on either side of the lane.

[0051] Optionally, the control device may be connected to the sensor system via a LIN (Local Interconnect Network) bus or a CAN (Controller Area Network) bus to control the sensor system to collect relevant information.

[0052] Figure 2 FIG. 4 is a flow chart of a method for determining a target lane line according to an embodiment of the present invention. Figure 2 As shown, the target lane line determination method may specifically include the following steps:

[0053] It should be understood that Figure 2 The execution subject of the target lane line determination method shown may specifically be the control device in the above embodiment.

[0054] S100: In response to detecting a plurality of to-be-determined lane lines that meet target lane line conditions in front of a determined target lane line, determining a lateral distance deviation between each of the to-be-determined lane lines and a target extension line.

[0055] The target extension line is an extension line of a determined target lane line, and the target lane line is a lane line of a lane in which the vehicle is currently located.

[0056] Specifically, when the control device detects multiple lane lines to be determined that meet the target lane line conditions in front of the determined target lane line, it can determine the lateral distance deviation between each of the lane lines to be determined and the target extension line.

[0057] It should be understood that the lateral distance deviation can be used to reflect the degree of lateral distance deviation between each lane line to be determined and the target extension line, and the control device can determine the target lane line among the lane lines to be determined based on the lateral distance deviation in subsequent steps.

[0058] Optionally, in some embodiments, the control device may determine the end point of the target lane line (eg Figure 4 411 in the figure) and the starting point of the lane line ahead (as shown in Figure 4 421 and 431 in the figure) to determine whether the lane line ahead meets the target lane line condition. Wherein, the lane line ahead is a lane line that appears in front of the determined target. Specifically, the control device can determine that the lane line ahead meets the target lane line condition when the lateral distance between the end point and the starting point is less than or equal to a preset lateral distance threshold. In other embodiments, the control device can also determine whether the lane line ahead meets the target lane line condition based on the slope of the determined target lane line at the end point and the slope of the lane line ahead at the starting point. Specifically, the control device can determine that the lane line ahead meets the target lane line condition when the difference between the slope of the determined target lane line at the end point and the slope of the lane line ahead at the starting point is less than or equal to a preset slope difference. It should be understood that the control device can also combine the above two methods to determine whether the lane line ahead meets the target lane line condition. Further, in the actual application process, the control device can also be configured to determine whether the lane line ahead meets the target lane line condition in other ways.

[0059] It should be understood that if the control device determines that there are multiple lane lines ahead that meet the target lane line conditions, all of them can be determined as lane lines to be determined. If the control device determines that there are only one lane lines ahead that meet the target lane line conditions, it can be directly determined as the target lane line.

[0060] Optionally, the process of identifying lane lines can be implemented by a control device. Specifically, the control device can collect image information of lane lines through a sensor system. After collecting the image information, the control device can perform perspective transformation and preprocessing on the collected image information to convert the image information into a bird's-eye view and remove content in the image information that is not related to the lane lines, and then perform edge detection on the lane lines in the image information to detect edge pixel points of the lane lines in the image information, and then select the center point of each row of edge pixel points and fit the selected center point to determine the corresponding lane line. It should be understood that the control device can also identify lane lines in other ways, which can be adjusted according to actual needs and will not be repeated here.

[0061] Optionally, the control device may determine a curve function corresponding to the target lane line, and then determine the target extension line according to the curve function.

[0062] Figure 3 FIG. 1 is a flow chart of a method for determining a lateral distance deviation according to an embodiment of the present invention. Figure 3 As shown, the method for determining the lateral distance deviation may specifically include the following steps:

[0063] It should be understood that the control device can determine the lateral distance deviation between each lane line to be determined and the target extension line by using the lateral distance deviation determination method.

[0064] S110. Determine at least one position point in each of the lane lines to be determined.

[0065] Specifically, the control device may determine at least one position point in each lane line to be determined.

[0066] Optionally, for each lane line to be determined, the control device may select points on the lane line to be determined at intervals of a preset distance along the current vehicle's travel direction, thereby determining at least one position point in each lane line to be determined. The preset distance interval and the number of selected position points may be adjusted by relevant personnel according to actual needs.

[0067] like Figure 4 As shown, the control device can select points on the lane line 43 to be determined at every preset distance interval L along the current vehicle's travel direction to select at least one position point (as shown by points 431 and 432). It should be understood that in actual application, the control device can also select position points in other ways, which can be adjusted according to needs.

[0068] S120. For each lane line to be determined, determine a lateral distance deviation between the lane line to be determined and the target extension line according to a lateral distance between each position point in the lane line to be determined and the target extension line.

[0069] Specifically, after determining at least one position point in each lane line to be determined, for each lane line to be determined, the control device can determine the lateral distance deviation between the lane line to be determined and the target extension line based on the lateral distance between each position point in the lane line to be determined and the target extension line.

[0070] Optionally, the control device may determine an average value of the lateral distances between each position point in the lane line to be determined and the target extension line as the lateral distance deviation between the lane line to be determined and the target extension line.

[0071] Figure 4 FIG. 1 is a schematic diagram of a process for determining a lateral distance deviation according to an embodiment of the present invention. It should be understood that Figure 4 Only the process of determining the lateral distance deviation between the lane line to be determined on the right side of the lane and the target extension line is shown. Figure 4 As shown, for lane line 42 to be determined, the control device can determine the lateral distances d1' and d2' between each position point in lane line 42 to be determined and target extension line 44, and then determine the average value of the lateral distances d1' and d2' as the lateral distance deviation between lane line 42 to be determined and target extension line 44. For lane line 43 to be determined, the control device can determine the lateral distances d1 and d2 between each position point (such as points 431 and 432) in lane line 43 to be determined and target extension line 44, and then determine the average value of the lateral distances d1 and d2 as the lateral distance deviation between lane line 43 to be determined and target extension line 44.

[0072] S200: Determine a first angle deviation between each of the to-be-determined lane lines and the target extension line.

[0073] Specifically, the control device may also determine a first angle deviation between each lane line to be determined and the target extension line.

[0074] It should be understood that the first angle deviation can be used to reflect the positional relationship between each lane line to be determined and the target extension line, and the control device can determine the target lane line among the lane lines to be determined based on the first angle deviation in subsequent steps.

[0075] Figure 5 FIG. 1 is a flow chart of a method for determining a first angle deviation according to an embodiment of the present invention. Figure 5 As shown, the first angle deviation determination method may specifically include the following steps:

[0076] It should be understood that the control device can determine the first angle deviation between each lane line to be determined and the target extension line by using the first angle deviation determination method.

[0077] S210: Determine at least one position point in each of the lane lines to be determined.

[0078] Specifically, the control device may determine at least one position point in each lane line to be determined. It should be understood that the method for selecting the position point in step S210 is the same as that in step S110, and will not be described in detail here.

[0079] S210. For each lane line to be determined, determine a first angle deviation between the lane line to be determined and the target extension line according to an angle between a tangent line of the lane line to be determined at each corresponding position point and the target extension line.

[0080] Specifically, for each lane line to be determined, the control device may determine a first angle deviation between the lane line to be determined and the target extension line according to an angle between a tangent line of the lane line to be determined at each corresponding position point and the target extension line.

[0081] Optionally, the control device may determine an average value of angles between a tangent line of the lane line to be determined at each corresponding position point and the target extension line as the first angle deviation between the lane line to be determined and the target extension line.

[0082] Figure 6 FIG. 1 is a schematic diagram of a process for determining a first angle deviation according to an embodiment of the present invention. It should be understood that Figure 6 Only the process of determining the first angle deviation between the lane line to be determined on the right side of the lane and the target extension line is shown. Figure 6 As shown, for the lane line 62 to be determined, the control device can determine the angles a1 and a2 between the tangent of the lane line 62 to be determined at each corresponding position point and the target extension line 61, and then determine the average value of the angles a1 and a2 as the first angle deviation between the lane line 62 to be determined and the target extension line 61. For the lane line 63 to be determined, the control device can determine the angle between the tangent of the lane line 63 to be determined at each corresponding position point and the target extension line 61, and then determine the average value of the angles as the first angle deviation between the lane line 63 to be determined and the target extension line 61. It should be understood that since the tangent of the lane line 63 to be determined at each corresponding position point is almost or completely parallel to the target extension line, that is, the angle between the two is approximately equal to 0°, therefore, the angle between the tangent of the lane line 63 to be determined at each corresponding position point and the target extension line is not equal to 0°. Figure 6 Winning bid.

[0083] S300: Determine a second angle deviation between each of the to-be-determined lane lines and the target trajectory.

[0084] The target trajectory is the driving trajectory of a vehicle that is in front of the current vehicle and in the same lane as the current vehicle. The target trajectory may refer to the historical driving trajectory of the vehicle.

[0085] Specifically, the control device may also determine a second angle deviation between each lane line to be determined and the target trajectory.

[0086] Optionally, the process of determining the target trajectory can be implemented by a control device. Specifically, the control device can collect point cloud information and / or image information of a vehicle that is in front of the current vehicle and in the same lane as the current vehicle through a sensor system. After determining the point cloud information and / or image information, the control device can determine the position of the vehicle relative to the current vehicle in real time based on the point cloud information and / or image information, and then determine the target trajectory of the vehicle based on the position. It should be understood that the control device can also determine the target trajectory in other ways, which can be adjusted according to needs. For example, the control device can also determine the coordinate position of the vehicle in real time in a three-dimensional coordinate system based on the point cloud information and / or image information, and then determine the target trajectory of the vehicle based on the coordinate position.

[0087] It should be understood that the vehicle in front of the current vehicle and in the same lane as the current vehicle usually moves along the target lane line during driving, which makes the target trajectory of the vehicle remain parallel to the target lane line, and the second angle deviation can be used to reflect the positional relationship between each lane line to be determined and the target trajectory. The control device can determine the target lane line in each lane line to be determined based on the second angle deviation in the subsequent steps.

[0088] Figure 7 FIG. 4 is a flow chart of a second angle deviation determination method according to an embodiment of the present invention. Figure 7 As shown, the second angle deviation determination method may specifically include the following steps:

[0089] It should be understood that the control device can determine the second angle deviation between each lane line to be determined and the target trajectory by using the second angle deviation determination method.

[0090] S310: Determine at least one position point in each of the lane lines to be determined.

[0091] Specifically, the control device may determine at least one position point in each lane line to be determined. It should be understood that the method for selecting the position point in step S310 is the same as that in steps S110 and S210, and will not be described in detail here.

[0092] S320: For each lane line to be determined, determine a second angle deviation between the lane line to be determined and the target trajectory according to an angle between a tangent line of the lane line to be determined at each corresponding position point and the target trajectory.

[0093] Specifically, for each lane line to be determined, the control device may determine the second angle deviation between the lane line to be determined and the target trajectory based on the angle between the tangent of the lane line to be determined at each corresponding position point and the target trajectory.

[0094] Optionally, the control device may determine an average value of angles between a tangent line of the lane line to be determined at each corresponding position point and the target trajectory as the second angular deviation between the lane line to be determined and the target trajectory.

[0095] Figure 8 FIG. 1 is a schematic diagram of a process for determining a second angle deviation according to an embodiment of the present invention. It should be understood that Figure 8 Only the process of determining the second angle deviation between the lane line to be determined on the right side of the lane and the target trajectory is shown. Figure 8 As shown, for the lane line 82 to be determined, the control device can determine the angles b1 and b2 between the tangent of the lane line 82 to be determined at each corresponding position point and the target trajectory, and then determine the average value of the angles b1 and b2 as the first angle deviation between the lane line 82 to be determined and the target trajectory 81. For the lane line 83 to be determined, the control device can determine the angle between the tangent of the lane line 83 to be determined at each corresponding position point and the target trajectory, and then determine the average value of the angles as the first angle deviation between the lane line 83 to be determined and the target trajectory 81. It should be understood that since the tangent of the lane line 83 to be determined at each corresponding position point is almost parallel or completely parallel to the target trajectory, that is, the angle between the two is approximately equal to 0°, the angle between the tangent of the lane line 83 to be determined at each corresponding position point and the target trajectory is not equal to 0°. Figure 8 Winning bid.

[0096] It should be understood that the determination method of the second angle deviation given in the above embodiment is only for illustration. In actual application, the control device can also determine the second angle deviation in other ways, so as to reflect the positional relationship between the lane line to be determined and the target trajectory through the second angle deviation.

[0097] Fig. 9 FIG. 1 is another schematic diagram of a process for determining the second angle deviation according to an embodiment of the present invention. It should be understood that Fig. 9 Only the process of determining the second angle deviation between the lane line 92 to be determined on the right side of the lane and the target trajectory 911 is shown. Fig. 9As shown, when the adjusted lane is a curved lane, the vehicle's driving trajectory is also distorted. At this time, the control device can no longer determine the second angle deviation based on the angle between the tangent of the lane line to be determined at each corresponding position point and the target trajectory. In this regard, the control device can also select at least one position point on the target trajectory 911 (as shown by points 912 and 913). For the lane line 92 to be determined, the control device can determine the difference between the slope of the target trajectory 911 at each position point and the slope of the lane line 92 to be determined at the position corresponding to each position point to determine the second angle deviation. Among them, the position corresponding to each position point on the lane line 92 to be determined can specifically refer to the intersection of the vertical line of the target trajectory 911 at each position point (as shown by vertical lines 9131 and 9121) and the lane line 92 to be determined.

[0098] S400: Determine the target lane line in each of the lane lines to be determined according to the lateral distance deviation, the first angle deviation, and the second angle deviation.

[0099] Specifically, after determining the lateral distance deviation, the first angle deviation, and the second angle deviation, the control device may determine the target lane line in each lane line to be determined according to the lateral distance deviation, the first angle deviation, and the second angle deviation.

[0100] Optionally, for each lane line to be determined, the control device may perform a weighted sum of the corresponding lateral distance deviation, the first angle deviation and the second angle deviation based on a preset weight coefficient to determine the deviation degree of the lane line to be determined, and then determine the lane line to be determined with the smallest deviation degree as the target lane line. The preset weight coefficient may be specifically set and adjusted by relevant personnel according to actual needs.

[0101] It should be understood that the degree of deviation can be used to characterize the degree of deviation between the lane line to be determined and the target lane line. The greater the degree of deviation, the greater the deviation between the lane line to be determined and the target lane line, and the smaller the degree of deviation, the smaller the deviation between the lane line to be determined and the target lane line. Thus, the control device determines the lane line to be determined that has the smallest degree of deviation from the target lane line as the target lane line.

[0102] The target lane line determination method of the embodiment of the present invention will determine the lateral distance deviation and the first angle deviation between each lane line to be determined and the extension line of the determined target lane line when multiple lane lines to be determined that meet the target lane line conditions are detected in front of the determined target lane line, and determine the second angle deviation between each lane line to be determined and the target trajectory, and then determine the target lane line in each lane line to be determined based on the lateral distance deviation, the first angle deviation and the second angle deviation. Among them, the target lane line is the lane line of the lane where the current vehicle is located, and the target trajectory is the driving trajectory of the vehicle in front of the current vehicle and in the same lane as the current vehicle. Through the method, when new and old lane lines exist on the road at the same time, the target lane line can be determined from the new and old lane lines, so as to meet the vehicle's detection requirements for lane lines and thereby ensure driving safety.

[0103] Fig.10 Schematic diagram of a target lane line determination device according to an embodiment of the present invention. Fig.10 As shown, the target lane line determination device of the embodiment of the present invention includes a distance deviation determination unit 101, a first angle deviation determination unit 102, a second angle deviation determination unit 103 and a lane line determination unit 104.

[0104] Specifically, the distance deviation determination unit 101 is used to determine the lateral distance deviation between each of the to-be-determined lane lines and a target extension line in response to detecting a plurality of to-be-determined lane lines that meet the target lane line conditions in front of the determined target lane line, wherein the target extension line is an extension line of the determined target lane line, and the target lane line is the lane line of the lane where the current vehicle is located;

[0105] The first angle deviation determining unit 102 is used to determine a first angle deviation between each lane line to be determined and the target extension line;

[0106] The second angle deviation determining unit 103 is used to determine a second angle deviation between each of the lane lines to be determined and a target trajectory, where the target trajectory is a driving trajectory of a vehicle that is in front of the current vehicle and in the same lane as the current vehicle;

[0107] The lane line determination unit 104 is used to determine the target lane line in each of the lane lines to be determined according to the lateral distance deviation, the first angle deviation and the second angle deviation.

[0108] The target lane line determination device of the embodiment of the present invention will determine the lateral distance deviation and the first angle deviation between each lane line to be determined and the extension line of the determined target lane line, and determine the second angle deviation between each lane line to be determined and the target trajectory when multiple lane lines to be determined that meet the target lane line conditions are detected in front of the determined target lane line, and then determine the target lane line among the lane lines to be determined based on the lateral distance deviation, the first angle deviation and the second angle deviation. The target lane line is the lane line of the lane where the current vehicle is located, and the target trajectory is the driving trajectory of the vehicle in front of the current vehicle and in the same lane as the current vehicle. The device can determine the target lane line from the new and old lane lines when new and old lane lines exist on the road at the same time, so as to meet the vehicle's lane line detection requirements and thereby ensure driving safety.

[0109] Fig.11 Schematic diagram of an electronic device according to an embodiment of the present invention. Fig.11 As shown, Fig.11 The electronic device shown can be a control device in the above embodiment, which includes a general computer hardware structure, which at least includes a processor 111 and a memory 112. The processor 111 and the memory 112 are connected via a bus 113. The memory 112 is suitable for storing instructions or programs executable by the processor 111. The processor 111 can be an independent microprocessor or a collection of one or more microprocessors. Thus, the processor 111 executes the instructions stored in the memory 112, thereby executing the method flow of the embodiment of the present invention as described above to realize the processing of data and the control of other devices. The bus 113 connects the above multiple components together, and at the same time connects the above components to the display controller 114 and the display device and the input / output (I / O) device 115. The input / output (I / O) device 115 can be a mouse, a keyboard, a modem, a network interface, a touch input device, a somatosensory input device, a printer, and other devices known in the art. Typically, the input / output device 115 is connected to the system through an input / output (I / O) controller 116.

[0110] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, devices (equipment) or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present application may adopt a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0111] The present application is described with reference to flowcharts of methods, apparatuses (devices) and computer program products according to embodiments of the present application. It should be understood that each process in the flowchart can be implemented by computer program instructions.

[0112] These computer program instructions may be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device that implements the process Figure 1 A function specified in a process or multiple processes.

[0113] These computer program instructions may also be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce the instructions for implementing the process Figure 1 A device that specifies functions in a process or multiple processes.

[0114] Another embodiment of the present invention relates to a non-volatile storage medium for storing a computer-readable program, wherein the computer-readable program is used for a computer to execute part or all of the above method embodiments.

[0115] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by specifying relevant hardware through a program, and the program is stored in a storage medium, including several instructions for a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0116] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining a target lane line, characterized in that: The method comprises: In response to detecting a plurality of lane lines to be determined that meet the target lane line condition in front of the determined target lane line, determining a lateral distance deviation between each of the lane lines to be determined and a target extension line, the target extension line being an extension line of the determined target lane line, and the target lane line being the lane line of the lane in which the vehicle is currently located; Determining a first angle deviation between each of the to-be-determined lane lines and the target extension line; Determining a second angle deviation between each of the to-be-determined lane lines and a target trajectory, wherein the target trajectory is a driving trajectory of a vehicle that is in front of the current vehicle and in the same lane as the current vehicle; The target lane line is determined in each of the lane lines to be determined according to the lateral distance deviation, the first angle deviation and the second angle deviation.

2. The method according to claim 1, characterized in that Determining the lateral distance deviation between each of the to-be-determined lane lines and the target extension line includes: Determine at least one position point in each of the lane lines to be determined; For each of the lane lines to be determined, a lateral distance deviation between the lane line to be determined and the target extension line is determined according to the lateral distance between each of the position points in the lane line to be determined and the target extension line.

3. The method according to claim 2, characterized in that Determining the lateral distance deviation between the lane line to be determined and the target extension line according to the lateral distance between each position point in the lane line to be determined and the target extension line includes: An average value of the lateral distances between each of the position points in the lane line to be determined and the target extension line is determined as the lateral distance deviation between the lane line to be determined and the target extension line.

4. The method according to claim 1, characterized in that Determining a first angle deviation between each of the to-be-determined lane lines and the target extension line includes: Determine at least one position point in each of the lane lines to be determined; For each of the lane lines to be determined, a first angle deviation between the lane line to be determined and the target extension line is determined based on an angle between a tangent line of the lane line to be determined at each corresponding position point and the target extension line.

5. The method according to claim 4, characterized in that Determining a first angle deviation between the lane line to be determined and the target extension line according to an angle between a tangent line of the lane line to be determined at each corresponding position point and the target extension line includes: An average value of angles between a tangent line of the to-be-determined lane line at each corresponding position point and the target extension line is determined as a first angle deviation between the to-be-determined lane line and the target extension line.

6. The method according to claim 1, characterized in that Determining the second angle deviation between each of the to-be-determined lane lines and the target trajectory includes: Determine at least one position point in each of the lane lines to be determined; For each of the lane lines to be determined, a second angle deviation between the lane line to be determined and the target trajectory is determined according to an angle between a tangent line of the lane line to be determined at each corresponding position point and the target trajectory.

7. The method according to claim 6, characterized in that Determining a second angle deviation between the lane line to be determined and the target trajectory according to an angle between a tangent line of the lane line to be determined at each corresponding position point and the target trajectory includes: An average value of angles between a tangent line of the to-be-determined lane line at each of the corresponding position points and the target trajectory is determined as a second angle deviation between the to-be-determined lane line and the target trajectory.

8. The method according to any one of claims 1 to 7, characterized in that Determining the target lane line in each of the lane lines to be determined according to the lateral distance deviation, the first angle deviation and the second angle deviation comprises: For each lane line to be determined, performing a weighted sum of the corresponding lateral distance deviation, the first angle deviation, and the second angle deviation based on a preset weight coefficient to determine a deviation degree of the lane line to be determined; The to-be-determined lane line with the smallest deviation is determined as the target lane line.

9. The method according to any one of claims 1 to 7, characterized in that: Before determining the lateral distance deviation between each of the to-be-determined lane lines and the target extension line, the method further includes: Determine a curve function corresponding to the target lane line; The target extension line is determined according to the curve function.

10. The method according to any one of claims 2, 4 or 6, characterized in that Determining at least one position point in each of the to-be-determined lane lines comprises: For each lane line to be determined, points are taken on the lane line to be determined at intervals of a preset distance along the driving direction of the current vehicle to determine at least one position point.

11. A vehicle, characterized in that: The vehicle comprises: Vehicle body; a sensing system, disposed on the vehicle body, for determining a target trajectory, wherein the target trajectory is a driving trajectory of a vehicle that is in front of the current vehicle and in the same lane as the current vehicle; A control device, wherein the control device is configured to execute the method according to any one of claims 1 to 10.

12. A target lane line determination device, characterized in that: The device comprises: a distance deviation determination unit, configured to determine, in response to detecting a plurality of to-be-determined lane lines that meet the target lane line condition in front of the determined target lane line, a lateral distance deviation between each of the to-be-determined lane lines and a target extension line, wherein the target extension line is an extension line of the determined target lane line, and the target lane line is a lane line of a lane in which the current vehicle is located; A first angle deviation determining unit, used to determine a first angle deviation between each of the lane lines to be determined and the target extension line; A second angle deviation determination unit, used to determine a second angle deviation between each of the lane lines to be determined and a target trajectory, wherein the target trajectory is a driving trajectory of a vehicle that is in front of the current vehicle and in the same lane as the current vehicle; A lane line determination unit is used to determine the target lane line in each of the lane lines to be determined according to the lateral distance deviation, the first angle deviation and the second angle deviation.

13. A computer-readable storage medium storing computer program instructions, characterized in that: The computer program instructions implement the method according to any one of claims 1 to 10 when executed by a processor.

14. An electronic device, characterized in that: The device comprises: a memory for storing one or more computer program instructions; A processor, wherein the one or more computer program instructions are executed by the processor to implement the method according to any one of claims 1 to 10.

15. A computer program product, characterized in that When the computer program product is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 10.

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