Method for determining whether target object is in lane section

Abstract

The invention relates to a method for determining whether a target object is in a lane section. The method comprises the following steps: acquiring position information of the target object; acquiring position information of a lane line segment, wherein the lane line segment extends along the length direction of the lane section; determining a vertical line distance from the target object to the lane line segment according to the position information of the target object and the lane line segment; comparing the vertical distance with a predetermined vertical distance threshold value; and determining whether a foot of the vertical distance is located on the lane line segment. And determining that the target object is located in the lane section under the condition that the vertical distance is smaller than a preset vertical distance threshold value and the foot is located on the lane line segment.

Description

Technical Field

[0001] The present disclosure relates to a method for determining whether a target object is in a lane interval. Background Art

[0002] With the development of wireless communication technology, the advantages of low latency, high speed, reliability and safety of wireless communication technology make V2X (Vehicle-to-Everything) technology possible. V2X includes communication between vehicles, infrastructure, pedestrians, external networks, etc. Based on vehicle-to-vehicle communication technology, vehicle-to-vehicle communication can be realized, so that the position, speed and other information between vehicles can be exchanged, so as to realize forward collision warning, lane change assistance, cooperative adaptive cruise control, etc. Based on vehicle-to-infrastructure communication technology, applications such as speed suggestions, traffic priority prompts, road condition warnings, current weather impact warnings, and parking space suggestions can be realized. The application of V2X can reduce traffic accidents, reduce traffic congestion, improve traffic efficiency, and reduce automobile pollutant emissions. At the same time, V2X is also an important means to realize autonomous driving. It can make up for the shortcomings of insufficient line of sight of on-board sensors such as cameras and radars, and improve the perception ability of vehicles under special conditions such as intersections and severe weather environments. Summary of the invention

[0003] The embodiment of the present disclosure provides a method for determining whether a target object is in a lane interval. The method according to the embodiment of the present disclosure can determine whether a target object, such as a vehicle, is located in one of the lanes or lane intervals of a road. Since the method can be implemented in a simple manner and has a small amount of calculation, it can be run on a terminal device of the target object, rather than on a server like the traditional method.

[0004] An embodiment of the present disclosure provides a method for determining whether a target object is in a lane interval, the method comprising: acquiring position information of the target object; acquiring position information of a lane segment, wherein the lane segment extends along the length direction of the lane interval; determining a vertical distance from the target object to the lane segment based on the position information of the target object and the lane segment; comparing the vertical distance with a predetermined vertical distance threshold; and determining whether a foot of the vertical distance is located on the lane segment, wherein, when the vertical distance is less than a predetermined vertical distance threshold and the foot of the vertical is located on the lane segment, it is determined that the target object is located in the lane interval.

[0005] In an embodiment according to the present disclosure, obtaining the position information of a lane segment includes: obtaining the position information of lane endpoints around a target object, wherein two lane endpoints form a lane segment; determining a straight-line distance from the target object to the lane endpoint, and comparing the straight-line distance to the lane endpoint with a predetermined first straight-line distance threshold to determine a closer lane endpoint of the target object, wherein the position information of the lane segment is obtained through the position information of one of the closer lane endpoints and its corresponding upstream or downstream lane endpoint, or the position information of the lane segment is obtained through the position information of two closer lane endpoints.

[0006] In an embodiment according to the present disclosure, obtaining the position information of the target object and obtaining the position information of the lane segment includes: obtaining the position information of the target object and / or the position information of the lane segment from a MAP message of V2X, wherein the position information of the target object is the longitude coordinate and the latitude coordinate, and the position information of the lane segment is the longitude coordinate and the latitude coordinate of the lane endpoint.

[0007] In an embodiment according to the present disclosure, when a road includes multiple lanes, obtaining the position information of the lane segment includes: obtaining the position information of nodes around a target object, wherein two nodes form a section of road; determining the straight-line distance from the target object to the node; and comparing the straight-line distance to the node with a predetermined second straight-line distance threshold to determine a closer node of the target object; and obtaining the position information of the lane endpoint from the position information of the closer node, wherein the position information of the lane segment is obtained through the position information of one of the lane endpoints and its corresponding upstream or downstream lane endpoint, or the position information of the lane segment is obtained through the position information of the corresponding lane endpoints in two of the nodes.

[0008] In an embodiment according to the present disclosure, the lane line segment is a line segment of a center line of a corresponding lane, and the vertical line distance threshold is half of the width of the lane.

[0009] In an embodiment according to the present disclosure, determining the perpendicular distance from the target object to the lane segment based on the position information of the target object and the lane segment includes: in a rectangular coordinate system, constructing an auxiliary line parallel to the horizontal axis and the vertical axis starting from the coordinates of the target object, which intersects with the lane segment and its extension line to form a triangle; determining the lengths of two right-angled sides of the triangle, and determining the perpendicular distance from the target object to the lane segment based on the area formula of the triangle.

[0010] In an embodiment according to the present disclosure, determining the perpendicular distance from the target object to the lane segment based on the position information of the target object and the lane segment includes: determining the length of the lane segment; determining the distance from the target object to two lane endpoints of the lane segment; determining the area of ​​a triangle formed by the target object and the two lane endpoints based on the length and the distance, and dividing it by the length of the lane segment to determine the perpendicular distance from the target object to the lane segment.

[0011] In an embodiment according to the present disclosure, determining whether the foot of the perpendicular distance is located on the lane segment includes: in a rectangular coordinate system, determining the coordinates of the foot of the perpendicular based on the fact that the perpendicular is orthogonal to the lane segment and the foot of the perpendicular is located on the lane segment and its extension line; comparing the horizontal or vertical coordinates of the foot of the perpendicular with the horizontal or vertical coordinates of the two lane endpoints of the lane segment to determine whether the foot of the perpendicular is located on the lane segment.

[0012] In an embodiment according to the present disclosure, determining whether the foot of the perpendicular distance is located on the lane segment includes: in a rectangular coordinate system, comparing the horizontal coordinate and the vertical coordinate of the target object with the horizontal coordinate and the vertical coordinate of the two endpoints of the lane segment respectively to determine whether the foot of the perpendicular is located on the lane segment.

[0013] An embodiment of the present disclosure further provides a storage medium, wherein the storage medium includes a stored computer program, wherein the computer program executes the aforementioned method.

[0014] An embodiment of the present disclosure also provides a motor vehicle, which includes the storage medium described above.

[0015] The method according to the present disclosure can determine in a simple manner whether a target object, especially traffic participants such as vehicles, motorcycles, pedestrians, etc., is located in a lane or a section of a lane interval. The method according to the present disclosure can be implemented in particular based on V2X (Vehicle-to-Everything) technology. After obtaining the location information of the road and lane from the MAP message of V2X, the target object can then determine whether it is located in the corresponding road or lane or a section of a lane interval based on its own positioning. Due to the simple implementation method and low amount of calculation, the method can be performed in the calculation unit of the target object, especially the vehicle itself, without having to be performed on the server side and transmitted to the target object. Therefore, the method according to the present disclosure is simpler and more accurate and faster than the existing map matching positioning method (G01C21 / 16). BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some exemplary embodiments of the present disclosure, and a person of ordinary skill in the art can obtain other drawings based on these drawings without creative work.

[0017] Figure 1 A flowchart of a method for determining whether a target object is in a lane interval according to an embodiment of the present disclosure is shown.

[0018] Figure 2 A flowchart of a method for determining whether a target object is in a lane interval according to another embodiment of the present disclosure is shown.

[0019] Figure 3 The main structure of part of the V2X MAP message is schematically shown.

[0020] Figure 4 A schematic diagram of a method for determining a perpendicular distance from a target object to a lane segment according to an embodiment of the present disclosure is shown.

[0021] Figure 5 A schematic diagram of a method for determining a perpendicular distance from a target object to a lane segment according to another embodiment of the present disclosure is shown, and

[0022] Figure 6 A schematic diagram of a method for determining whether a foot of a perpendicular distance is located on a lane segment according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present disclosure more obvious, the exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the exemplary embodiments described here.

[0024] In this specification and the accompanying drawings, substantially the same or similar method steps and elements are represented by the same or similar reference numerals, and repeated descriptions of these method steps and elements will be omitted. At the same time, in the description of the present disclosure, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance or ranking.

[0025] Figure 1A flowchart of a method 100 for determining whether a target object is in a lane interval according to an embodiment of the present disclosure is shown. The method 100 includes the following steps: obtaining the position information of the target object (step S110); obtaining the position information of a lane segment (step S120), wherein the lane segment extends along the length direction of the lane interval, that is, the lane interval is a section of a lane, the lane and the lane interval have a width, and the length direction of the lane and the lane interval is the normal driving direction of the target object; determining the vertical distance from the target object to the lane segment according to the position information of the target object and the lane segment (step S130); comparing the vertical distance with a predetermined vertical distance threshold, for example, determining whether the vertical distance is less than the vertical distance threshold (step S140) and determining whether the foot of the vertical distance is located on the lane segment (step S150). When the vertical distance does not meet the requirements of the vertical distance threshold, for example, when the vertical distance is greater than the vertical distance threshold, it is determined that the target object is not in the lane interval (step S141). In addition, if the vertical distance meets the requirement of the vertical distance threshold, but the foot of the vertical distance is not on the lane segment, it is also determined that the target object is not in the lane interval (step S151). Only when the vertical distance is less than the predetermined vertical distance threshold and the foot of the vertical is on the lane segment, it is determined that the target object is in the lane interval (step S160).

[0026] Figure 2 A flowchart of a method for determining whether a target object is in a lane interval according to another embodiment of the present disclosure is shown. In this embodiment, obtaining the position information of a lane segment (step S110) includes: obtaining the position information of lane endpoints around the target object (step S111), wherein two lane endpoints form a lane segment; determining the straight-line distance from the target object to the lane endpoint (step S112), and comparing the straight-line distance to the lane endpoint with a predetermined first straight-line distance threshold (step S113), for example, determining whether the straight-line distance is less than the first straight-line distance threshold; when the straight-line distance is greater than the first straight-line distance threshold, it is considered that the lane endpoint is too far from the target object, that is, the target object cannot be located on the corresponding lane (step S114). When the straight-line distance is less than the first straight-line distance threshold, it is considered that the lane endpoint is closer to the target object, and the target object is likely to be located on the corresponding lane, and therefore the corresponding lane endpoint is determined as the closer lane endpoint (step S115); finally, in step S116, the position information of the lane segment is obtained through the position information of one of the closer lane endpoints and its corresponding upstream or downstream lane endpoint, or the position information of the lane segment is obtained through the position information of the two closer lane endpoints.

[0027] In an embodiment according to the present disclosure, the aforementioned method can be implemented based on V2X (Vehicle-to-Everything) technology. In V2X technology, the roadside unit ESU can broadcast MAP messages, i.e., map messages, to target objects on the road. MAP messages include local area intersection messages, road segment messages, lane messages, connection relationships between roads, and the like. Therefore, in an embodiment according to the present disclosure, obtaining the position information of the target object and obtaining the position information of the lane segment include: obtaining the position information of the target object and / or the position information of the lane segment from the MAP message of V2X, and in particular obtaining the position information of the lane segment from the MAP message of V2X. The position information of the target object can be obtained, for example, from the MAP message of V2X, or can be obtained from the positioning device of the target object itself. The position information of the target object is the longitude coordinate and the latitude coordinate, and the position information of the lane segment is the longitude coordinate and the latitude coordinate of the lane endpoint.

[0028] Figure 3 The main structure 300 of a portion of a V2X MAP message is schematically shown. The MAP message is a nested message that contains a lot of information. Figure 3 Only the message parts related to the implementation of the method according to the present disclosure are shown. Figure 3 As shown, starting from the MAP message, the timeStamp and nodes information can be found in the next layer. Nodes represent nodes that constitute a road, such as intersections or road turning points or other landmark nodes, so two nodes can constitute a section of road. In Seq.of Node, you can find the name, refPos, and inLinks (a list of road section information formed by the node's association with upstream nodes) of each node. The node coordinates in refPos are usually provided in the form of longitude and latitude. In an embodiment according to the present disclosure, for example, the location information of the nodes around the target object, that is, the longitude and latitude coordinates, can be obtained from the refPos of the MAP message, and the straight-line distance from the target object to each node can be calculated and determined. For example, the distance d between two points expressed in longitude and longitude can be calculated using the following formula:

[0029]

[0030] Wherein, (Lat1, Long1) is the latitude and longitude coordinates of the first point, (Lat2, Long2) is the latitude and longitude coordinates of the second point, and R is the radius of the earth's equator (6378.137 km). Subsequently, the straight-line distance from the target object to each node can be compared with a predetermined second straight-line distance threshold to determine which nodes are closer to the target object, that is, the target object may be located on the roads associated with these nodes.

[0031] The name, LaneWidth, and Lanes of each road segment can be found in the subsequent Seq.of Link (road segment information sequence). The laneID and points (coordinates of the lane center point) can be found in the subsequent Seq.of Lane (lane information sequence). There may be two or more coordinates of lane center points in points to describe a lane section. In an embodiment according to the present disclosure, for example, the position information of the lane endpoints in the previously determined closer nodes can be obtained. For example, the position information of the lane endpoint of the node and its corresponding upstream or downstream lane endpoint can be obtained in points, thereby obtaining the position information of the lane segment. Alternatively, the position information of the lane segment can also be obtained directly through the position information of the corresponding lane endpoints in the two nodes, which is applicable, for example, when the inLinks message does not exist in the MAP message.

[0032] In an embodiment of the present disclosure, the lane line segment may be, for example, a line segment of the center line of the lane section, and the vertical distance threshold may be, for example, one-half of the width of the lane section. Figure 3 In the MAP message shown, the coordinates of one or two lane center points can be obtained from points, and the line segment of the center line of the lane section can be formed from this. In addition, the width of the lane or lane section can be obtained from LaneWidth, and the vertical distance threshold is set to half of the width of the lane section. In this case, the vertical distance from the target object to the center line of the lane section can be determined, and the vertical distance is compared with half of the lane width. If the threshold is exceeded, it is determined that the target object, such as a vehicle, is not in the lane section.

[0033] Figure 4 A schematic diagram of a method for determining a perpendicular distance from a target object to a lane segment according to an embodiment of the present disclosure is shown. Figure 4 As can be seen in the figure, the coordinates of the target object are known to be (x ob ,y ob), the coordinates of the two lane endpoints of the lane are known as (x1, y1) and (x2, y2), and the location information of the lane can be provided through these two lane endpoints. The perpendicular distance from the target object to the lane is l, and the perpendicular coordinate (x f ,y f In an embodiment of the present disclosure, for example, in a rectangular coordinate system, the coordinates (x ob ,y ob ) to construct auxiliary lines parallel to the horizontal axis x and the vertical axis y, which are at an angle to the lane segment or intersect with the extension of the lane and form a triangle. Then determine the lengths of the two right-angled sides a and b of the triangle. In order to determine the lengths of a and b, first determine the coordinates of the intersection of the auxiliary line and the lane segment (x3, y ob ) and (x ob ,y4), where x ob and ob is known, x3 and y4 can be calculated according to the similarity of the triangles by the following equation,

[0034]

[0035]

[0036] Then we can get the length of a and b, where a = |x ob -x3| and b=|y ob -y4|. Determine the perpendicular distance l from the target object to the lane segment according to the area formula of the triangle.

[0037]

[0038] In an embodiment according to the present disclosure, the coordinates of the target object and the lane endpoints can be provided in the form of latitude and longitude coordinates, for example, the horizontal coordinate x represents the latitude and the vertical coordinate y represents the longitude. In this case, it is considered that the target object is still on the plane and is not affected by the curvature of the earth. First, the coordinates of the intersection of the auxiliary line and the lane segment can still be calculated according to the equation listed above. Then the lengths of a and b can be calculated, where a = |x ob -x3|·R and b=|y ob -y4|·cos(x ob ·π / 180)·R, where the earth is assumed to be a perfect sphere, R is the radius of the earth, and cos(x ob ·π / 180)·R is the latitude x of the target object ob Finally, the perpendicular distance l from the target object to the lane segment is determined according to the area formula of the triangle.

[0039]

[0040] Figure 5 A schematic diagram of a method for determining a perpendicular distance from a target object to a lane segment according to another embodiment of the present disclosure is shown. Figure 4 Same as in Figure 5 In the example, the coordinates of the target object are known as (x ob ,y ob ), the coordinates of the two lane endpoints of the lane are known as (x1, y1) and (x2, y2), and the location information of the lane can be provided through these two lane endpoints. The perpendicular distance from the target object to the lane is l, and the perpendicular coordinates (xf, y f ). In an embodiment according to the present disclosure, the target object and the two lane endpoints may form a triangle, wherein the target object to the first lane endpoint (x1, y1) forms a first side a', the target object to the second lane endpoint (x2, y2) forms a second side b', and the lane segment forms a third side c'. The lengths of the three sides a', b', and c' may be calculated based on the coordinates of their endpoints, respectively. In an embodiment according to the present disclosure, when the coordinates of the target object and the lane endpoints are longitude and latitude coordinates, the lengths of a', b', and c' may be calculated based on longitude and latitude using known distance formulas, such as the following formula:

[0041]

[0042] Where (Lat1, Long1) is the latitude and longitude of the first point, (Lat2, Long2) is the latitude and longitude of the second point, and R is the radius of the Earth's equator (6378.137 km). If the lengths of a', b', and c' are known, the area S of the triangle can be calculated, for example, using Heron's formula:

[0043]

[0044] Wherein, p = (a'+b'+c') / 2. When the area of ​​the triangle is known, dividing it by the length of the third side c' as the base can determine the perpendicular distance l from the target object to the lane segment, that is, l = S / c'.

[0045] The vertical distance l can then be compared with a predetermined vertical distance threshold l th When the lane segment is the center line segment of the lane section, l th Preferably, it can be half the width of the lane section. thIn this case, although the target object is most likely located within the lane section, it cannot be ensured that the target object is definitely located within the lane section because the foot of the perpendicular of the target object may fall on the extension line of the lane line segment rather than on the lane line segment.

[0046] To determine whether the target object is definitely located within the lane section, it is further determined whether the foot of the perpendicular of the perpendicular distance is located on the lane line segment. Figure 6 shows a schematic diagram of a method for determining whether the foot of the perpendicular (x f , y f ) of the perpendicular distance is located on the lane line segment according to an embodiment of the present disclosure. In an embodiment according to the present disclosure, for example, the coordinates of the foot of the perpendicular can be determined based on the perpendicular being orthogonal to the lane line segment and the foot of the perpendicular being located on the lane line segment and its extension line. The vector of the lane line segment is V lane =(x1 - x2, y1 - y2), and the vector of the perpendicular is V per =(x ob -x f , y ob -y f ). Since the vectors V lane and V per are orthogonal, so V lane ·V per = 0, from which the following can be obtained:

[0047] V lane ·V per =(x1 - x2)(x ob -x f )+(y1 - y2)(y ob -y f ) = 0

[0048] In addition, since the foot of the perpendicular is on the lane line segment, the following proportional relationship can be obtained:

[0049]

[0050] Based on these two formulas, x f and y f can be solved. For example, x f is,

[0051]

[0052] Subsequently, x f can be compared with the corresponding coordinates x1 and x2 of the two endpoints of the lane line segment to determine whether x f is between x1 and x2. For example, it is determined whether x f satisfies x1 < x f < x2 or x1 > x f> x2. Alternatively, y can also be determined f and its corresponding coordinates y1 and y2 are compared to determine y f whether it is between y1 and y2.

[0053] If the coordinates of the foot of the perpendicular are between the corresponding coordinates of the two endpoints of the lane segment, it is determined that the target object is located in the lane section.

[0054] In an embodiment according to the present disclosure, for example, the abscissa x ob and the ordinate y ob of the target object can be respectively compared with the abscissas x1, x2 and the ordinates y1, y2 of the two endpoints of the lane segment, and it is determined whether x ob is between x1 and x2 and whether y ob is between y1 and y2. For example, it is determined whether x1 < x ob < x2 and y1 < y ob < y2 are satisfied. When x ob is between x1 and x2 and y ob is between y1 and y2, it can be determined that the foot of the perpendicular from the target object to the lane segment is located on the lane segment.

[0055] The method according to the present disclosure can determine in a simple manner whether a target object, especially a traffic participant such as a vehicle, a motorcycle, a pedestrian, etc., is located in a lane or a section of a lane. The method according to the present disclosure can be particularly implemented based on V2X (Vehicle-to-Everything) technology. After obtaining the position information of the road and the lane from the MAP message of V2X, the target object can then determine whether it is located in the corresponding road, lane or a section of a lane according to its own positioning. Due to the simple implementation method and less computational complexity, this method can be performed in the computing unit of the target object, especially the vehicle itself, without the need to be performed on the server side and transmitted to the target object. Therefore, the method according to the present disclosure is simpler, more accurate and faster than the existing map matching positioning method (G01C21 / 16).

[0056] In this specification and the drawings, according to the embodiments, the elements are described in singular or plural forms. However, the singular and plural forms are appropriately selected for the presented cases only for convenience of explanation and are not intended to limit the present disclosure thereto. Therefore, the singular form may include the plural form, and the plural form may also include the singular form, unless the context clearly states otherwise.

[0057] The block diagrams of the circuits, units, devices, apparatuses, equipment, and systems involved in the present disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these circuits, units, devices, apparatuses, equipment, and systems may be connected, arranged, and configured in any manner as long as the desired purpose can be achieved. The circuits, units, devices, and apparatuses involved in the present disclosure may be implemented in any suitable manner, such as by using a dedicated integrated circuit, a field programmable gate array (FPGA), etc., or may be implemented by using a general processing unit in combination with a program.

[0058] Those skilled in the art should understand that the above-mentioned specific embodiments are merely examples and not limitations, and various modifications, combinations, partial combinations and replacements may be made to the embodiments of the present disclosure according to design requirements and other factors. As long as they are within the scope of the attached claims or their equivalents, they belong to the scope of rights to be protected by the present disclosure.

Claims

1. A method for determining whether a target object is in a lane interval, comprising: Obtaining the location information of the target object, Acquire position information of a lane segment, wherein the lane segment extends along the length direction of the lane section, Determine the vertical distance from the target object to the lane segment according to the position information of the target object and the lane segment, The vertical distance is compared with a predetermined vertical distance threshold, and Determine whether the foot of the perpendicular distance is located on the lane segment, Wherein, when the vertical line distance is less than a predetermined vertical line distance threshold and the foot of the vertical line is located on the lane segment, it is determined that the target object is located in the lane section.

2. The method according to claim 1, wherein: Obtaining the location information of lane segments includes: Acquire the position information of lane endpoints around the target object, where two lane endpoints form a lane segment, Determine the straight-line distance from the target object to the lane endpoint, and Compare the straight-line distance to the lane endpoint with a predetermined first straight-line distance threshold to determine the closer lane endpoint of the target object, The position information of the lane segment is obtained by using the position information of one of the closer lane endpoints and its corresponding upstream or downstream lane endpoint, or the position information of the lane segment is obtained by using the position information of two closer lane endpoints.

3. The method according to claim 2, wherein: Acquiring the position information of the target object and acquiring the position information of the lane segment include: Acquire the location information of the target object and / or the location information of the lane segment from the MAP message of the V2X, The location information of the target object is the longitude coordinate and the latitude coordinate, and the location information of the lane segment is the longitude coordinate and the latitude coordinate of the lane endpoint.

4. The method according to claim 3, wherein: When the road includes multiple lanes, obtaining the position information of the lane segment includes: Get the location information of the nodes around the target object, where two nodes form a section of road. Determine the straight-line distance from the target object to the node, and The straight-line distance to the node is compared with a predetermined second straight-line distance threshold to determine a closer node of the target object, and Obtaining the location information of the lane endpoint from the location information of the closer node, The position information of the lane segment is obtained through the position information of one of the lane endpoints and its corresponding upstream or downstream lane endpoint, or the position information of the lane segment is obtained through the position information of the corresponding lane endpoints in the two nodes.

5. The method according to claim 1, wherein: The lane line segment is a line segment of a center line of a corresponding lane section, and the vertical line distance threshold is half of a width of the lane section.

6. The method according to claim 1, wherein: Determining the perpendicular distance from the target object to the lane segment according to the position information of the target object and the lane segment includes: In a rectangular coordinate system, an auxiliary line parallel to the horizontal axis and the vertical axis is constructed from the coordinates of the target object, which intersects with the lane line segment and its extension line to form a triangle. Determine the lengths of the two sides of the triangle, and The perpendicular distance from the target object to the lane segment is determined according to the area formula of the triangle.

7. The method according to claim 1, wherein: Determining the perpendicular distance from the target object to the lane segment according to the position information of the target object and the lane segment includes: Determine the length of the lane segment, Determine the distance between the target object and the two lane endpoints of the lane segment, The area of ​​a triangle formed by the target object and the two lane endpoints is determined according to the length and the distance, and the area of ​​the triangle is divided by the length of the lane segment to determine a perpendicular distance from the target object to the lane segment.

8. The method according to claim 1, wherein: Determining whether the foot of the perpendicular distance is located on the lane segment includes: In a rectangular coordinate system, the coordinates of the foot of the perpendicular are determined based on the perpendicularity between the perpendicular line and the lane segment and the foot of the perpendicular being located on the lane segment and its extension line. The abscissa or ordinate coordinate of the foot of the perpendicular is compared with the abscissa or ordinate coordinate of two lane end points of the lane segment to determine whether the foot of the perpendicular is located on the lane segment.

9. The method according to claim 1, wherein: Determining whether the foot of the perpendicular distance is located on the lane segment includes: In a rectangular coordinate system, the abscissa and ordinate of the target object are respectively compared with the abscissa and ordinate of two end points of the lane segment to determine whether the foot of the perpendicular is located on the lane segment.

10. A storage medium comprising a stored computer program, wherein the computer program executes the method according to any one of claims 1 to 9.

11. A motor vehicle comprising a storage medium according to claim 10.

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