Virtual lane line generation method and device, electronic equipment and vehicle

Abstract

The invention relates to a virtual lane line generation method and device, electronic equipment and a vehicle, and the method comprises the steps: obtaining a first lane line of a current driving lane under the condition that a lane line of an adjacent lane of the current driving lane of the vehicle is abnormal; acquiring a first track point sequence of the first lane line; and translating the first track point sequence according to a course angle between any two adjacent track points in the first track point sequence to generate a virtual second lane line of the adjacent lanes. According to the embodiment of the invention, reasoning calculation can be carried out through the automatic driving system according to the existing lane information, the virtual lane line is dynamically generated, and the problem of lack of lane changing lane lines under the automatic driving condition is solved, so that the safety of vehicle driving is guaranteed.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to a method, device, electronic device and vehicle for generating virtual lane lines. Background Art

[0002] A mature autonomous driving system needs to meet the requirements of safety, comfort, stability, etc. When obstacles blocking the road appear in the operation scene, it can usually avoid them by changing lanes. There are many ways to obtain lane lines for lane changes. They can be obtained in real time through the front camera or from high-precision maps. However, due to the influence of external environment, weather and other factors, the obtained lane lines may be incomplete. In extreme cases, the lane lines may even be completely missing, which is not conducive to the safe driving of the vehicle. Summary of the invention

[0003] The purpose of the present disclosure is to provide a virtual lane line generation method, device, electronic device and vehicle, aiming to solve the problem of missing lane lines for lane changes in the above-mentioned scenarios under the condition of automatic driving, and ensure the safety of vehicle driving.

[0004] In order to achieve the above objective, according to a first aspect of an embodiment of the present disclosure, a method for generating a virtual lane line is provided, comprising:

[0005] When a lane line of an adjacent lane to a lane in which the vehicle is currently traveling is abnormal, obtaining a first lane line of the currently traveling lane;

[0006] Acquire a first trajectory point sequence of the first lane line;

[0007] The first trajectory point sequence is translated according to a heading angle between any two adjacent trajectory points in the first trajectory point sequence to generate a virtual second lane line of the adjacent lane.

[0008] Optionally, acquiring a first trajectory point sequence of the first lane line includes:

[0009] Obtaining the curvature of the first lane line;

[0010] Determining the trajectory point sampling interval according to the curvature of the first lane line, wherein the trajectory point sampling interval is inversely proportional to the curvature of the lane line;

[0011] The first lane line is sampled according to the trajectory point sampling interval to obtain a first trajectory point sequence of the first lane line.

[0012] Optionally, translating the first trajectory point sequence according to the heading angle between any two adjacent trajectory points in the first trajectory point sequence to generate a virtual second lane line of the adjacent lane includes:

[0013] Obtaining coordinates of each trajectory point in the first trajectory point sequence;

[0014] Obtaining the heading angle between any two adjacent trajectory points in the trajectory points;

[0015] Determining the translation distance of each trajectory point according to the lane width or the set width of the current driving lane;

[0016] Determine the coordinates of the target trajectory point after the translation of each trajectory point according to the coordinates of each trajectory point, the heading angle between any two adjacent trajectory points and the translation distance;

[0017] The second lane line is generated according to the coordinates of each of the target trajectory points.

[0018] Optionally, generating the second lane line according to the coordinates of each of the target trajectory points includes:

[0019] Determine a translation line segment according to the coordinates of each trajectory point in the first target trajectory point sequence and the coordinates of each target trajectory point, wherein the translation line segment is a line segment formed by any trajectory point and the corresponding target trajectory point;

[0020] Determining intersecting translation line segments, and determining corresponding redundant target trajectory points in each of the target trajectory points according to the intersecting translation line segments;

[0021] Deleting the redundant target trajectory points to obtain a second target trajectory point sequence;

[0022] The second lane line is generated by performing curve fitting on the second target trajectory point sequence.

[0023] Optionally, performing curve fitting on the second target trajectory point sequence to generate the second lane line includes:

[0024] At least one of polynomial fitting, spline curve fitting, least squares fitting and Bezier curve fitting is used to perform curve fitting on the second target trajectory point sequence to generate the second lane line.

[0025] Optionally, the formula for obtaining the heading angle between any two adjacent trajectory points in the trajectory points includes:

[0026]

[0027] Wherein, θ represents the heading angle between trajectory point i and trajectory point i+1, and trajectory point i and trajectory point i+1 are any two adjacent trajectory points in the first trajectory point sequence, and x i ,y iare the horizontal and vertical coordinates of trajectory point i, respectively, x i+1 ,y i+1 are the horizontal and vertical coordinates of trajectory point i+1 respectively.

[0028] Optionally, the formula for determining the coordinates of the target trajectory point after the translation of each trajectory point includes:

[0029]

[0030] or,

[0031]

[0032] Wherein, θ represents the heading angle between trajectory point i and trajectory point i+1, and trajectory point i and trajectory point i+1 are any two adjacent trajectory points in the first trajectory point sequence, and x i ,y i are the horizontal and vertical coordinates of trajectory point i, d is the translation distance, x i ',y i ' are the horizontal and vertical coordinates of the target trajectory point i' respectively, and the target trajectory point i' is the target trajectory point after the trajectory point i is translated.

[0033] According to a second aspect of an embodiment of the present disclosure, a virtual lane line generating device is provided, the device comprising:

[0034] A first acquisition module, configured to acquire a first lane line of a current driving lane when a lane line of an adjacent lane to a current driving lane of the vehicle is abnormal;

[0035] A second acquisition module, used to acquire a first trajectory point sequence of the first lane line;

[0036] A translation module is used to translate the first trajectory point sequence according to a heading angle between any two adjacent trajectory points in the first trajectory point sequence to generate a virtual second lane line of the adjacent lane.

[0037] According to a third aspect of an embodiment of the present disclosure, there is provided a non-temporary computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0038] According to a fourth aspect of an embodiment of the present disclosure, there is provided an electronic device, including:

[0039] a memory having a computer program stored thereon;

[0040] A processor is used to execute the computer program in the memory to implement the steps of any one of the methods in the first aspect.

[0041] According to a fifth aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: the electronic device described in the fourth aspect.

[0042] In summary, the disclosed embodiment provides a method for generating a virtual lane line, including: when the lane line of an adjacent lane to the current lane of the vehicle is abnormal, obtaining the first lane line of the current lane; obtaining the first trajectory point sequence of the first lane line; according to the heading angle between any two adjacent trajectory points in the first trajectory point sequence, translating the first trajectory point sequence to generate a virtual second lane line of the adjacent lane. The disclosed embodiment can dynamically generate virtual lane lines through inference calculations based on existing lane information by the automatic driving system, solve the problem of missing lane lines for lane changes in the automatic driving situation, and thus ensure the safety of vehicle driving.

[0043] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0045] Figure 1 The figure is a flowchart of a method for generating a virtual lane line according to an exemplary embodiment.

[0046] Figure 2 The figure is a flowchart of a method for generating a virtual lane line according to an exemplary embodiment.

[0047] Figure 3a The figure is a flowchart of a method for generating a virtual lane line according to an exemplary embodiment.

[0048] Figure 3b The figure is a schematic diagram showing a lane line translation according to an exemplary embodiment.

[0049] Figure 3c is a schematic diagram of another lane line translation according to an exemplary embodiment.

[0050] Figure 4a The figure is a flowchart of a method for generating a virtual lane line according to an exemplary embodiment.

[0051] Figure 4b The figure is a schematic diagram showing redundant target trajectory points appearing in a virtual lane line according to an exemplary embodiment.

[0052] Figure 5 The figure is a flowchart of a method for generating a virtual lane line according to an exemplary embodiment.

[0053] Figure 6 It is a block diagram of a virtual lane line generating device 600 according to an exemplary embodiment.

[0054] Figure 7 is a block diagram of an electronic device 700 according to an exemplary embodiment.

[0055] Figure 8 is a block diagram of a vehicle 800 according to an exemplary embodiment. DETAILED DESCRIPTION

[0056] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0057] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0058] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0059] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0060] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0061] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise clearly indicated in the context, they should be understood as "one or more". In the description of the present disclosure, unless otherwise specified, "multiple" refers to two or more than two, and other quantifiers are similar; "at least one item", "one or more items" or similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one item a can represent any number of a; for another example, one or more items of a, b and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple; "and / or" is a kind of association relationship that describes the associated objects, indicating that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.

[0062] Although operations or steps are described in a specific order in the drawings in the embodiments of the present disclosure, it should not be understood that it is required to perform these operations or steps in the specific order shown or in a serial order, or to perform all the operations or steps shown to obtain the desired results. In the embodiments of the present disclosure, these operations or steps can be performed in series; these operations or steps can also be performed in parallel; or some of these operations or steps can be performed.

[0063] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet the relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0064] At the same time, it is understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) should comply with the requirements of the corresponding laws and regulations and relevant provisions. The present disclosure is described below in conjunction with specific embodiments.

[0065] First, the application scenario of the present disclosure is explained. The autonomous driving system mainly includes high-precision maps, perception, positioning, regulation and control systems. The regulation and control system integrates road information obtained from high-precision maps, obstacles, lane lines, speed limit sign information obtained from the perception system, and vehicle posture information obtained from the positioning system, etc., and determines the behavior of the vehicle through a certain regulation and control algorithm. Obstacle avoidance is a very important part and plays an important role in ensuring the safety and efficiency of vehicle driving. In the process of lane change and obstacle avoidance, the lane line of the current driving lane and the lane line of the target lane constrain the result of trajectory planning. Therefore, it is very important to obtain the lane line of the target lane. For scenes with missing lane lines, the autonomous driving system needs to perform inference calculations based on existing information to dynamically generate virtual lane lines.

[0066] The existing technology focuses on the scenario where the lane line of the current lane is missing, but lacks consideration for the scenario of obstacle avoidance and lane change. In addition, the algorithm complexity for generating lane lines is relatively high. The present disclosure provides a method for generating virtual lane lines, which solves the problem of missing lane lines for vehicle obstacle avoidance and lane change. The method has low algorithm complexity and high computational efficiency, and can effectively ensure the real-time performance of the autonomous driving system and the safety of vehicle driving.

[0067] Figure 1 FIG. 1 is a flow chart of a method for generating a virtual lane line according to an exemplary embodiment. Figure 1 As shown, the embodiment of the present disclosure provides a method for generating a virtual lane line, which may include the following steps:

[0068] In step S10, when the lane line of the adjacent lane to the current driving lane of the vehicle is abnormal, the first lane line of the current driving lane is acquired.

[0069] In this step, when the lane line of the adjacent lane of the vehicle's current driving lane is abnormal, the first lane line of the current driving lane is obtained. Exemplarily, when the lane line of the adjacent lane of the vehicle's current driving lane is abnormal, for example, the adjacent lane line is missing due to environmental reasons, the autonomous driving system can obtain the first lane line of the current driving lane through high-precision maps, real-time image acquisition, or based on the positioning system trajectory recording.

[0070] It is worth mentioning that the first lane line mentioned above can be the center line of the current lane, or any side line of the current lane, or a similar parallel line.

[0071] In step S20, a first trajectory point sequence of the first lane line is obtained.

[0072] In this step, a first trajectory point sequence of a first lane line is obtained. Exemplarily, the automatic driving system may obtain the first trajectory point sequence of the first lane line by sampling the first lane line of the current driving lane.

[0073] In step S30, the first trajectory point sequence is translated according to the heading angle between any two adjacent trajectory points in the first trajectory point sequence to generate a virtual second lane line of the adjacent lane.

[0074] In this step, the first trajectory point sequence is translated according to the heading angle between any two adjacent trajectory points in the first trajectory point sequence to generate a virtual second lane line of the adjacent lane. Exemplarily, the automatic driving system can translate the first trajectory point sequence according to the heading angle between any two adjacent trajectory points in the first trajectory point sequence through a predetermined algorithm to generate a virtual second lane line of the adjacent lane, so that the vehicle can safely implement possible lane change operations or avoid obstacles in the adjacent lane.

[0075] In summary, the disclosed embodiment provides a method for generating a virtual lane line, including: when the lane line of an adjacent lane to the current lane of the vehicle is abnormal, obtaining the first lane line of the current lane; obtaining the first trajectory point sequence of the first lane line; according to the heading angle between any two adjacent trajectory points in the first trajectory point sequence, translating the first trajectory point sequence to generate a virtual second lane line of the adjacent lane. The disclosed embodiment can dynamically generate a virtual adjacent lane line through inference calculation by the automatic driving system based on the existing lane information, solve the problem of missing lane lines for lane changes in the automatic driving situation, and thus ensure the safety of vehicle driving.

[0076] Figure 2 FIG. 1 is a flow chart of a method for generating a virtual lane line according to an exemplary embodiment. Figure 2 As shown, the step of obtaining the first trajectory point sequence of the first lane line may include the following steps:

[0077] In step S201, the curvature of the first lane line is obtained.

[0078] In this step, the curvature of the first lane line is obtained. Exemplarily, the autonomous driving system first obtains the curvature of the first lane line.

[0079] In step S202, the trajectory point sampling interval is determined according to the curvature of the first lane line, and the trajectory point sampling interval is inversely proportional to the curvature of the lane line.

[0080] In this step, the trajectory point sampling interval is determined according to the curvature of the first lane line, and the trajectory point sampling interval is inversely proportional to the curvature of the lane line. Exemplarily, the autonomous driving system can segment the first lane line so that the curvature of the lane line in each segment is close to the same. The sampling interval is determined according to the size of the curvature. The larger the curvature, the smaller the sampling interval, and the smaller the curvature, the larger the sampling interval. In this way, the sampling accuracy and the amount of sampling data can be taken into account, and the calculation efficiency of the virtual lane line in the later stage can be improved, and the real-time performance can be improved.

[0081] In step S203, the first lane line is sampled according to the trajectory point sampling interval to obtain a first trajectory point sequence of the first lane line.

[0082] In this step, the first lane line is sampled according to the trajectory point sampling interval to obtain the first trajectory point sequence of the first lane line. Exemplarily, the autonomous driving system can sample the first lane line at a sampling interval of once every 0.5 meters to obtain the first trajectory point sequence of the first lane line. Obviously, the smaller the value of the sampling interval, the higher the sampling accuracy, and the closer the obtained first trajectory point sequence is to the original first lane line, but it will also bring more sampling data, resulting in slower computing speed. Therefore, it is necessary to make a comprehensive consideration between the sampling interval and the sampling accuracy, while meeting the necessary sampling accuracy, and not too large a sampling data volume, which will cause the calculation amount of the virtual lane line to be too large in the later stage, reducing the calculation efficiency and real-time performance.

[0083] Figure 3a FIG. 1 is a flow chart of a method for generating a virtual lane line according to an exemplary embodiment. Figure 3a As shown, the step of translating the first trajectory point sequence according to the heading angle between any two adjacent trajectory points in the first trajectory point sequence to generate a virtual second lane line of the adjacent lane may include the following steps:

[0084] In step S301, the coordinates of each trajectory point in the first trajectory point sequence are obtained.

[0085] In this step, the coordinates of each trajectory point in the first trajectory point sequence are obtained. Figure 3b The figure is a schematic diagram showing a lane line translation according to an exemplary embodiment. Figure 3c FIG. 1 is a schematic diagram showing another lane line translation according to an exemplary embodiment. Figure 3b , P i-1 , P i , P i+1 They are three trajectory points in the first trajectory point sequence respectively. By establishing a rectangular coordinate system, the coordinates of these three points can be determined.

[0086] In step S302, the heading angle between any two adjacent track points in the track points is obtained.

[0087] In this step, the heading angle between any two adjacent track points in each track point is obtained. For example, see Figure 3b , P i With P i+1 The heading angle between two adjacent track points is θ. The formula for obtaining the heading angle between any two adjacent track points in the track points may include the following formula:

[0088]

[0089] Wherein, θ represents the heading angle between trajectory point i and trajectory point i+1, and trajectory point i and trajectory point i+1 are any two adjacent trajectory points in the first trajectory point sequence, and x i ,y i are the horizontal and vertical coordinates of trajectory point i, respectively, x i+1 ,y i+1 are the horizontal and vertical coordinates of trajectory point i+1 respectively.

[0090] In step S303, the translation distance of each trajectory point is determined according to the lane width or the set width of the current driving lane.

[0091] In this step, the translation distance of each track point is determined according to the lane width or the set width of the current driving lane. Figure 3b , connect P i With P i+1 Two adjacent trajectory points get line segment P i P i+1 , with P i As the foot of the perpendicular, draw a line segment P to the lower right. i P i+1 The perpendicular line of the vertical line is d, and the distance between the perpendicular lines is d, so we get P i Point Q after translation i The distance d of the vertical line is the translation distance, which may be the lane width of the current driving lane, or slightly larger than the lane width of the current driving lane. The value may also be a set width, such as a standard set width of 3.7M.

[0092] In step S304, the coordinates of the target trajectory point after the translation of each trajectory point are determined according to the coordinates of each trajectory point, the heading angle between any two adjacent trajectory points and the translation distance.

[0093] In this step, the coordinates of the target trajectory point after each trajectory point is translated are determined according to the coordinates of each trajectory point, the heading angle and the translation distance between any two adjacent trajectory points. Exemplarily, determining the coordinates of the target trajectory point after each trajectory point is translated may include the following formula:

[0094]

[0095] or,

[0096]

[0097] Wherein, θ represents the heading angle between trajectory point i and trajectory point i+1, and trajectory point i and trajectory point i+1 are any two adjacent trajectory points in the first trajectory point sequence, and x i ,y i are the horizontal and vertical coordinates of trajectory point i, d is the translation distance, x i ',y i ' are the horizontal and vertical coordinates of the target trajectory point i' respectively, and the target trajectory point i' is the target trajectory point after the trajectory point i is translated.

[0098] Wherein, Formula 2 applies to Figure 3b , the first trajectory point sequence is shifted to the right. Formula 3 is applicable to Figure 3c , the first trajectory point sequence is shifted to the left.

[0099] In step S305, the second lane line is generated according to the coordinates of each of the target trajectory points.

[0100] In this step, the second lane line is generated according to the coordinates of each target trajectory point. Exemplarily, the autonomous driving system can use some mature algorithms to smooth the target trajectory point sequence, thereby obtaining the translated second lane line.

[0101] Figure 4a FIG. 1 is a flow chart of a method for generating a virtual lane line according to an exemplary embodiment. Figure 4a As shown, generating the second lane line according to the coordinates of each of the target trajectory points may include the following steps:

[0102] In step S3051, a translation line segment is determined according to the coordinates of each trajectory point in the first target trajectory point sequence and the coordinates of each target trajectory point, wherein the translation line segment is a line segment formed by any trajectory point and the corresponding target trajectory point.

[0103] In this step, according to the coordinates of each track point in the first target track point sequence and the coordinates of each target track point, a translation line segment is determined, and the translation line segment is a line segment formed by any track point and the corresponding target track point. Figure 3b or Figure 3c , the dotted line segment with an arrow in the figure is the translation line segment.

[0104] In step S3052, intersecting translation line segments are determined, and corresponding redundant target trajectory points are determined in each of the target trajectory points according to the intersecting translation line segments.

[0105] In this step, the intersecting translation line segments are determined, and corresponding redundant target trajectory points are determined in each target trajectory point according to the intersecting translation line segments. Figure 3b , translate line segment P i-1 Q i-1 and the translation segment P i Q i If a crossover occurs, then Q i are redundant target trajectory points.

[0106] In step S3053, the redundant target trajectory points are deleted to obtain a second target trajectory point sequence.

[0107] In this step, the redundant target trajectory points are deleted to obtain a second target trajectory point sequence. Figure 3b , the autonomous driving system can convert the redundant target trajectory point Q i Delete to obtain the final second target trajectory point sequence.

[0108] Figure 4b FIG. 1 is a schematic diagram showing a virtual lane line having redundant target trajectory points according to an exemplary embodiment. Figure 4b As shown, the solid line on the right is the original lane line trajectory, and the dotted line on the left is the virtual lane line trajectory. In some cases, there will be a lot of redundant target trajectory points after translation (see the circle on the left), which may cause the generated virtual lane line to be unable to be used for normal vehicle driving. Therefore, it is necessary to delete such redundant target trajectory points to obtain a reasonable virtual lane line suitable for vehicle driving.

[0109] In step S3054, the second lane line is generated by performing curve fitting on the second target trajectory point sequence.

[0110] In this step, the second lane line is generated by curve fitting the second target trajectory point sequence. Exemplarily, the autonomous driving system may use some mature algorithms to smooth the second target trajectory point sequence, thereby obtaining the translated second lane line.

[0111] Figure 5 FIG. 1 is a flow chart of a method for generating a virtual lane line according to an exemplary embodiment. Figure 5 As shown, performing curve fitting on the second target trajectory point sequence to generate the second lane line may include the following steps:

[0112] In step S30541, curve fitting is performed on the second target trajectory point sequence using at least one of polynomial fitting, spline curve fitting, least squares fitting and Bezier curve fitting to generate the second lane line.

[0113] In this step, exemplarily, the autonomous driving system may use at least one of polynomial fitting, spline curve fitting, least squares fitting and Bezier curve fitting to perform curve fitting on the second target trajectory point sequence to generate a second lane line.

[0114] In summary, the disclosed embodiment provides a method for generating a virtual lane line, including: when the lane line of an adjacent lane to the current lane of the vehicle is abnormal, obtaining the first lane line of the current lane; obtaining the first trajectory point sequence of the first lane line; according to the heading angle between any two adjacent trajectory points in the first trajectory point sequence, translating the first trajectory point sequence to generate a virtual second lane line of the adjacent lane. The disclosed embodiment can dynamically generate a virtual adjacent lane line through inference calculation by the automatic driving system based on the existing lane information, solve the problem of missing lane lines for lane changes in the automatic driving situation, and thus ensure the safety of vehicle driving.

[0115] Figure 6 FIG. 6 is a block diagram of a virtual lane line generating device 600 according to an exemplary embodiment. Figure 6 As shown, the embodiment of the present disclosure provides a virtual lane line generation device, which may include the following modules:

[0116] The first acquisition module 610 is used to acquire a first lane line of the current driving lane when a lane line of an adjacent lane to the current driving lane of the vehicle is abnormal.

[0117] The second acquisition module 620 is used to acquire a first trajectory point sequence of the first lane line.

[0118] The translation module 630 is used to translate the first trajectory point sequence according to the heading angle between any two adjacent trajectory points in the first trajectory point sequence to generate a virtual second lane line of the adjacent lane.

[0119] Optionally, the second acquisition module 620 includes a curvature acquisition module, configured to acquire the curvature of the first lane line;

[0120] The second acquisition module 620 includes a sampling interval determination submodule, which is used to determine the trajectory point sampling interval according to the curvature of the first lane line, and the trajectory point sampling interval is inversely proportional to the curvature of the lane line;

[0121] The second acquisition module 620 includes a sampling module, which is used to sample the first lane line according to the trajectory point sampling interval to obtain a first trajectory point sequence of the first lane line.

[0122] Optionally, the translation module 630 includes a first trajectory point coordinate acquisition module, configured to acquire the coordinates of each trajectory point in the first trajectory point sequence;

[0123] The translation module 630 includes a heading angle acquisition module, which is used to acquire the heading angle between any two adjacent trajectory points in each trajectory point;

[0124] Optionally, the formula for obtaining the heading angle between any two adjacent trajectory points in the trajectory points includes:

[0125]

[0126] Wherein, θ represents the heading angle between trajectory point i and trajectory point i+1, and trajectory point i and trajectory point i+1 are any two adjacent trajectory points in the first trajectory point sequence, and x i ,y i are the horizontal and vertical coordinates of trajectory point i, respectively, x i+1 ,y i+1 are the horizontal and vertical coordinates of trajectory point i+1 respectively.

[0127] The translation module 630 includes a translation distance determination module, which is used to determine the translation distance of each track point according to the lane width or the set width of the current driving lane;

[0128] The translation module 630 includes a target track point coordinate acquisition module, which is used to determine the coordinates of the target track point after the translation of each track point according to the coordinates of each track point, the heading angle between any two adjacent track points and the translation distance;

[0129] Optionally, the formula for determining the coordinates of the target trajectory point after the translation of each trajectory point includes:

[0130]

[0131] or,

[0132]

[0133] Wherein, θ represents the heading angle between trajectory point i and trajectory point i+1, and trajectory point i and trajectory point i+1 are any two adjacent trajectory points in the first trajectory point sequence, and x i ,y i are the horizontal and vertical coordinates of trajectory point i, d is the translation distance, x i ',y i ' are the horizontal and vertical coordinates of the target trajectory point i' respectively, and the target trajectory point i' is the target trajectory point after the trajectory point i is translated.

[0134] The translation module 630 includes a second lane line generation module, which is used to generate the second lane line according to the coordinates of each of the target trajectory points.

[0135] Optionally, the second lane line generation module includes a translation line segment determination module, which is used to determine a translation line segment according to the coordinates of each trajectory point in the first target trajectory point sequence and the coordinates of each target trajectory point, wherein the translation line segment is a line segment formed by any trajectory point and a corresponding target trajectory point;

[0136] The second lane line generation module includes a redundant target trajectory point determination module, which is used to determine intersecting translation line segments, and determine corresponding redundant target trajectory points in each of the target trajectory points according to the intersecting translation line segments;

[0137] The second lane line generation module includes a redundant target trajectory point deletion module, which is used to delete the redundant target trajectory points to obtain a second target trajectory point sequence;

[0138] The second lane line generating module includes a curve fitting module, which is used to generate the second lane line by performing curve fitting on the second target trajectory point sequence.

[0139] Optionally, the curve fitting module includes a curve fitting submodule, which is used to perform curve fitting on the second target trajectory point sequence using at least one of polynomial fitting, spline curve fitting, least squares fitting and Bezier curve fitting to generate the second lane line.

[0140] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0141] In summary, the disclosed embodiment provides a virtual lane line generating device, the device comprising: a first acquisition module, used to acquire the first lane line of the current driving lane when the lane line of the adjacent lane of the current driving lane of the vehicle is abnormal; a second acquisition module, used to acquire the first trajectory point sequence of the first lane line; a translation module, used to translate the first trajectory point sequence according to the heading angle between any two adjacent trajectory points in the first trajectory point sequence, to generate a virtual second lane line of the adjacent lane. The disclosed embodiment can dynamically generate virtual adjacent lane lines through inference calculation by the automatic driving system based on the existing lane information, solve the problem of missing lane lines for lane changes in the automatic driving situation, and thus ensure the safety of vehicle driving.

[0142] Figure 7 FIG. 7 is a block diagram of an electronic device 700 according to an exemplary embodiment. Figure 7 As shown, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0143] The processor 701 is used to control the overall operation of the electronic device 700 to complete all or part of the steps in the above-mentioned virtual lane line generation method. The memory 702 is used to store various types of data to support the operation of the electronic device 700, and these data may include, for example, instructions for any application or method used to operate on the electronic device 700, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, disk or optical disk. The multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 702 or sent through the communication component 705. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules, and the other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 705 may include: Wi-Fi module, Bluetooth module, NFC module, etc.

[0144] In an exemplary embodiment, the electronic device 700 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned virtual lane line generation method.

[0145] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned virtual lane line generation method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 702 including program instructions, and the above-mentioned program instructions can be executed by the processor 701 of the electronic device 700 to complete the above-mentioned virtual lane line generation method.

[0146] Figure 8 FIG. 8 is a block diagram of a vehicle 800 according to an exemplary embodiment. Figure 8 As shown, an embodiment of the present disclosure provides a vehicle, wherein the vehicle 800 includes an electronic device 700 .

[0147] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0148] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0149] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A method for generating a virtual lane line, characterized in that: include: When a lane line of an adjacent lane to a lane in which the vehicle is currently traveling is abnormal, obtaining a first lane line of the current lane; Acquire a first trajectory point sequence of the first lane line; The first trajectory point sequence is translated according to a heading angle between any two adjacent trajectory points in the first trajectory point sequence to generate a virtual second lane line of the adjacent lane.

2. The method for generating virtual lane lines according to claim 1, characterized in that: The step of acquiring a first trajectory point sequence of the first lane line includes: Obtaining the curvature of the first lane line; Determining the trajectory point sampling interval according to the curvature of the first lane line, wherein the trajectory point sampling interval is inversely proportional to the curvature of the lane line; The first lane line is sampled according to the trajectory point sampling interval to obtain a first trajectory point sequence of the first lane line.

3. The method for generating virtual lane lines according to claim 1, characterized in that: The step of translating the first trajectory point sequence according to the heading angle between any two adjacent trajectory points in the first trajectory point sequence to generate a virtual second lane line of the adjacent lane includes: Obtaining coordinates of each trajectory point in the first trajectory point sequence; Obtaining the heading angle between any two adjacent trajectory points in the trajectory points; Determining the translation distance of each trajectory point according to the lane width or the set width of the current driving lane; Determine the coordinates of the target track point after the translation of each track point according to the coordinates of each track point, the heading angle between any two adjacent track points and the translation distance; The second lane line is generated according to the coordinates of each of the target trajectory points.

4. The method for generating virtual lane lines according to claim 3, characterized in that: Generating the second lane line according to the coordinates of each of the target trajectory points includes: Determine a translation line segment according to the coordinates of each trajectory point in the first target trajectory point sequence and the coordinates of each target trajectory point, wherein the translation line segment is a line segment formed by any trajectory point and the corresponding target trajectory point; Determining intersecting translation line segments, and determining corresponding redundant target trajectory points in each of the target trajectory points according to the intersecting translation line segments; Deleting the redundant target trajectory points to obtain a second target trajectory point sequence; The second lane line is generated by performing curve fitting on the second target trajectory point sequence.

5. The method for generating virtual lane lines according to claim 4, characterized in that: The performing curve fitting on the second target trajectory point sequence to generate the second lane line includes: At least one of polynomial fitting, spline curve fitting, least squares fitting and Bezier curve fitting is used to perform curve fitting on the second target trajectory point sequence to generate the second lane line.

6. The method for generating virtual lane lines according to claim 3, characterized in that: The formula for obtaining the heading angle between any two adjacent trajectory points in the trajectory points includes: Wherein, θ represents the heading angle between trajectory point i and trajectory point i+1, and trajectory point i and trajectory point i+1 are any two adjacent trajectory points in the first trajectory point sequence, and x i ,y i are the horizontal and vertical coordinates of trajectory point i, respectively, x i+1 ,y i+1 are the horizontal and vertical coordinates of trajectory point i+1 respectively.

7. The method for generating virtual lane lines according to claim 3, characterized in that: The formula for determining the coordinates of the target trajectory point after the translation of each trajectory point includes: or, Wherein, θ represents the heading angle between trajectory point i and trajectory point i+1, and trajectory point i and trajectory point i+1 are any two adjacent trajectory points in the first trajectory point sequence, and x i ,y i are the horizontal and vertical coordinates of trajectory point i, d is the translation distance, x i ',y i ' are the horizontal and vertical coordinates of the target trajectory point i' respectively, and the target trajectory point i' is the target trajectory point after the trajectory point i is translated.

8. A virtual lane line generating device, characterized in that: The device comprises: A first acquisition module, configured to acquire a first lane line of a current driving lane when a lane line of an adjacent lane to a current driving lane of the vehicle is abnormal; A second acquisition module, used to acquire a first trajectory point sequence of the first lane line; A translation module is used to translate the first trajectory point sequence according to a heading angle between any two adjacent trajectory points in the first trajectory point sequence to generate a virtual second lane line of the adjacent lane.

9. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: include: The electronic device as claimed in claim 9.

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