Lane marking data updating method and updating system

Abstract

The invention provides a lane marking data updating method and updating system. The method comprises the following steps: receiving new lane marking data and old lane marking data; judging whether the new lane marking data and the old lane marking data are valid or not, and if the new lane marking data and the old lane marking data are valid, calculating the transverse offset of the new lane and the old lane according to the new lane marking data and the old lane marking data; adjusting and smoothing the new lane marking data according to the size relationship between the transverse offset of the new and old lanes and the maximum offset allowable value of the lane; and updating the old lane marking data based on the adjusted and smoothed new lane marking data. According to the method, whether the lane marking data is abnormal or not is judged according to the offset of the new and old lane marking data, smoothing is carried out, errors can be reduced through smoothing processing when the lane marking changes, and the accuracy of the lane marking is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of lane detection and tracking, and more specifically, to a lane marking data updating method and updating system. Background Art

[0002] In autonomous driving systems, accurate detection and processing of lane markings is crucial to ensure vehicle driving safety. However, in actual applications, lane markings may change due to various factors. In existing technologies, lane marking change detection and processing may result in inaccurate lane deviation information, thus affecting system reliability. Summary of the invention

[0003] In view of the technical problems existing in the prior art, the present invention provides a lane marking data updating method and updating system, which solves the problem that lane marking change detection and processing in the prior art may cause inaccurate lane deviation information, and improves detection accuracy and system stability by smoothing lane marking changes.

[0004] According to a first aspect of the present invention, a method for updating lane marking data is provided, comprising:

[0005] receiving new lane marking data and old lane marking data;

[0006] Determine whether the new lane marking data and the old lane marking data are valid, and if both the new lane marking data and the old lane marking data are valid, calculate the lateral offset between the new and old lanes according to the new lane marking data and the old lane marking data;

[0007] According to the relationship between the lateral offset of the new and old lanes and the maximum allowable lane offset, the new lane marking data is adjusted and smoothed;

[0008] The old lane marking data is updated based on the new lane marking data after adjustment and smoothing.

[0009] Based on the above technical solution, the present invention can also make the following improvements.

[0010] Optionally, the determining whether the new lane marking data and the old lane marking data are valid includes:

[0011] If the received new lane marking data has data, the new lane marking data is valid, otherwise, the new lane marking data is invalid;

[0012] And if the old lane marking data has data, the old lane marking data is valid, otherwise, the old lane marking data is invalid.

[0013] Optionally, the calculating the lateral offset between the new and old lanes according to the new lane marking data and the old lane marking data includes:

[0014] The lateral offset between the new and old lanes = the new lane parameter coefficient C0 - the old lane parameter coefficient C0;

[0015] The new lane marking data includes a new lane parameter coefficient C0, and the old lane marking data includes an old lane parameter coefficient C0.

[0016] Optionally, adjusting and smoothing the new lane marking data according to the magnitude relationship between the lateral offset of the new and old lanes and the maximum allowable lane offset includes:

[0017] If the lateral offset of the new and old lanes is greater than the maximum allowable lane offset, the new lane parameter coefficient C0 is adjusted to C0' = new lane parameter coefficient C0 - lateral offset of the new and old lanes + maximum allowable lane offset;

[0018] If the lateral offset between the new and old lanes is less than the maximum allowable lane offset, the new lane parameter coefficient C0 is adjusted to C0'=new lane parameter coefficient C0-the lateral offset between the new and old lanes+the maximum allowable lane offset.

[0019] Optionally, if the new lane marking data is invalid, the old lane marking data is marked as invalid and cleared.

[0020] Optionally, if the new lane marking data is valid and the old lane marking data is invalid, the old lane marking data is updated based on the new lane marking data.

[0021] According to a second aspect of the present invention, there is provided a lane marking data updating system, comprising:

[0022] A receiving module, used for receiving new lane marking data and old lane marking data;

[0023] a calculation module, used for determining whether the new lane marking data and the old lane marking data are valid, and if both the new lane marking data and the old lane marking data are valid, calculating the lateral offset between the new and old lanes according to the new lane marking data and the old lane marking data;

[0024] An adjustment and smoothing module is used to adjust and smooth the new lane marking data according to the size relationship between the lateral offset of the new and old lanes and the maximum allowable lane offset;

[0025] The updating module is used to update the old lane marking data based on the new lane marking data after adjustment and smoothing.

[0026] According to a third aspect of the present invention, there is provided an electronic device, comprising a memory and a processor, wherein the processor is configured to implement the steps of a lane marking data updating method when executing a computer management program stored in the memory.

[0027] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer management program stored thereon, wherein the computer management program implements the steps of the lane marking data updating method when executed by a processor.

[0028] The present invention provides a lane marking data updating method and updating system, which determines whether the new lane marking data and the old lane marking data are valid. If both are valid, the lateral offset of the new and old lanes is calculated based on the new lane marking data and the old lane marking data; the new lane marking data is adjusted and smoothed based on the size relationship between the lateral offset of the new and old lanes and the maximum allowable lane offset; and the old lane marking data is updated based on the adjusted and smoothed new lane marking data. The present invention determines whether the offset of the new and old lane marking data is abnormal and smoothes it. When the lane marking changes, the error can be reduced by smoothing to improve the accuracy of the lane marking. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A flow chart of a lane marking data updating method provided by the present invention;

[0030] Figure 2 A schematic diagram of the overall process of the lane marking data updating method;

[0031] Figure 3 A schematic diagram of the structure of a lane marking data updating system provided by the present invention;

[0032] Figure 4 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0033] Figure 5 A schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In addition, the technical features in the various embodiments or single embodiments provided by the present invention can be arbitrarily combined with each other to form a feasible technical solution. This combination is not subject to the constraints of the sequence of steps and / or the structural composition mode, but must be based on the ability of ordinary technicians in this field to achieve. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0035] Figure 1 A flow chart of a lane marking data updating method provided by the present invention is as follows: Figure 1 and Figure 2 As shown, the method includes:

[0036] Step 1: Receive new lane marking data and old lane marking data.

[0037] It is understandable that the new lane marking data received by the system is recorded as new_lane_mark, and the old lane marking data is recorded as old_lane_mark.

[0038] Step 2: determine whether the new lane marking data and the old lane marking data are valid. If both the new lane marking data and the old lane marking data are valid, calculate the lateral offset between the new and old lanes based on the new lane marking data and the old lane marking data.

[0039] It is understandable that after receiving the new lane marking data new_lane_mark and the old lane marking data old_lane_mark, it is determined whether the new lane marking data new_lane_mark and the old lane marking data old_lane_mark are valid.

[0040] Specifically, if the received new lane marking data has data, the new lane marking data is valid, otherwise, the new lane marking data is invalid; and if the old lane marking data has data, the old lane marking data is valid, otherwise, the old lane marking data is invalid.

[0041] When both the new lane marking data and the old lane marking data are valid, the new lane marking data is adjusted and smoothed. If the new lane marking data is invalid, the old lane marking data is marked as invalid and the old lane marking data is cleared. If the new lane marking data is valid and the old lane marking data is invalid, the old lane marking data is directly updated based on the new lane marking data, and there is no need to adjust and smooth the new lane marking data.

[0042] When the new lane marking data needs to be adjusted and smoothed, the lateral offset of the new and old lanes is calculated according to the new lane marking data and the old lane marking data: lane_mark_offset = new lane parameter coefficient C0 - old lane parameter coefficient C0. The new lane marking data includes the new lane parameter coefficient C0, and the old lane marking data includes the old lane parameter coefficient C0.

[0043] Step 3: according to the relationship between the lateral offset of the new and old lanes and the maximum allowable lane offset, the new lane marking data is adjusted and smoothed.

[0044] The maximum allowable lane offset kMaxDeltaLatOffset is set to 0.1 m, because when the two vehicles are driving in the center of the lane, the lateral offset of the lane line recognition twice will not exceed 0.1 m.

[0045] When the lateral offset of the new and old lanes lane_mark_offset>the maximum allowable lane offset kMaxDeltaLatOffset, it is necessary to adjust c0' of the new lane marking data new_lane_mark=c0 of the new lane marking data new_lane_mark-the lateral offset of the new and old lanes lane_mark_offset+the maximum allowable lane offset kMaxDeltaLatOffset.

[0046] When the lateral offset of the new and old lanes lane_mark_offset is less than the maximum allowable lane offset kMaxDeltaLatOffset, it is necessary to adjust c0' of the new lane marking data new_lane_mark=c0 of the new lane marking data new_lane_mark-the lateral offset of the new and old lanes lane_mark_offset-the maximum allowable lane offset kMaxDeltaLatOffset.

[0047] Step 4: Update the old lane marking data based on the adjusted and smoothed new lane marking data.

[0048] It can be understood that according to step 3, the lane parameter number C0 of the new lane marking data is updated to smooth the new lane marking data, and the smoothed new lane marking data is used to update the new lane marking data.

[0049] See also Figure 3 , a lane marking data updating system of the present invention is provided, the system comprising:

[0050] A receiving module 301, configured to receive new lane marking data and old lane marking data;

[0051] A calculation module 302 is used to determine whether the new lane marking data and the old lane marking data are valid, and if both the new lane marking data and the old lane marking data are valid, calculate the lateral offset between the new and old lanes according to the new lane marking data and the old lane marking data;

[0052] An adjustment and smoothing module 303 is used to adjust and smooth the new lane marking data according to the magnitude relationship between the lateral offset of the new and old lanes and the maximum allowable lane offset;

[0053] The updating module 304 is configured to update the old lane marking data based on the adjusted and smoothed new lane marking data.

[0054] It can be understood that the lane marking data updating system provided by the present invention corresponds to the lane marking data updating method provided by the aforementioned embodiments. The relevant technical features of the lane marking data updating system can refer to the relevant technical features of the lane marking data updating method, which will not be repeated here.

[0055] See also Figure 4 , Figure 4 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 4 As shown, an embodiment of the present invention provides an electronic device 400, including a memory 410, a processor 420, and a computer program 411 stored in the memory 410 and executable on the processor 420. When the processor 420 executes the computer program 411, the following steps are implemented: receiving new lane marking data and old lane marking data; determining whether the new lane marking data and the old lane marking data are valid, and if both the new lane marking data and the old lane marking data are valid, calculating the lateral offset between the new and old lanes according to the new lane marking data and the old lane marking data; adjusting and smoothing the new lane marking data according to the relationship between the lateral offset between the new and old lanes and the maximum allowable lane offset; and updating the old lane marking data based on the adjusted and smoothed new lane marking data.

[0056] See also Figure 5 , Figure 5 Schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. Figure 5As shown, this embodiment provides a computer-readable storage medium 500, on which a computer program 511 is stored. When the computer program 511 is executed by a processor, the following steps are implemented: receiving new lane marking data and old lane marking data; determining whether the new lane marking data and the old lane marking data are valid, and if both the new lane marking data and the old lane marking data are valid, calculating the lateral offset between the new and old lanes according to the new lane marking data and the old lane marking data; adjusting and smoothing the new lane marking data according to the relationship between the lateral offset between the new and old lanes and the maximum allowable lane offset; and updating the old lane marking data based on the adjusted and smoothed new lane marking data.

[0057] A lane marking data updating method and updating system provided by an embodiment of the present invention determines whether the new lane marking data and the old lane marking data are valid. If both are valid, the lateral offsets of the new and old lanes are calculated based on the new lane marking data and the old lane marking data; the new lane marking data is adjusted and smoothed based on the size relationship between the lateral offsets of the new and old lanes and the maximum allowable lane offset; and the old lane marking data is updated based on the adjusted and smoothed new lane marking data. By accurately detecting changes in lane markings and performing smoothing, errors caused by lane marking changes are reduced, and the accuracy of lane marking data is improved; the smoothing algorithm effectively reduces the impact of lane marking changes on the system, so that the autonomous driving system can maintain stable performance and behavior when encountering lane marking fluctuations; by smoothing lane marking changes, the system can more accurately identify lane boundaries and reduce potential safety risks caused by lane marking errors, thereby improving the safety of autonomous driving vehicles.

[0058] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0059] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0060] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0061] These computer program instructions may also 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 comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0062] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0063] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0064] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for updating lane marking data, characterized in that: include: receiving new lane marking data and old lane marking data; Determine whether the new lane marking data and the old lane marking data are valid, and if both the new lane marking data and the old lane marking data are valid, calculate the lateral offset between the new and old lanes according to the new lane marking data and the old lane marking data; According to the relationship between the lateral offset of the new and old lanes and the maximum allowable lane offset, the new lane marking data is adjusted and smoothed; The old lane marking data is updated based on the new lane marking data after adjustment and smoothing.

2. The lane marking data updating method according to claim 1, characterized in that: The determining whether the new lane marking data and the old lane marking data are valid includes: If the received new lane marking data has data, the new lane marking data is valid, otherwise, the new lane marking data is invalid; And if the old lane marking data has data, the old lane marking data is valid, otherwise, the old lane marking data is invalid.

3. The lane marking data updating method according to claim 1, characterized in that: The calculating the lateral offset between the new lane and the old lane according to the new lane marking data and the old lane marking data comprises: The lateral offset between the new and old lanes = the new lane parameter coefficient C0 - the old lane parameter coefficient C0; The new lane marking data includes a new lane parameter coefficient C0, and the old lane marking data includes an old lane parameter coefficient C0.

4. The lane marking data updating method according to claim 3, characterized in that: The adjusting and smoothing of the new lane marking data according to the magnitude relationship between the lateral offset of the new and old lanes and the maximum allowable lane offset includes: If the lateral offset of the new and old lanes is greater than the maximum allowable lane offset, the new lane parameter coefficient C0 is adjusted to C0' = new lane parameter coefficient C0 - lateral offset of the new and old lanes + maximum allowable lane offset; If the lateral offset between the new and old lanes is less than the maximum allowable lane offset, the new lane parameter coefficient C0 is adjusted to C0'=new lane parameter coefficient C0-the lateral offset between the new and old lanes+the maximum allowable lane offset.

5. The lane marking data updating method according to claim 2, characterized in that: If the new lane marking data is invalid, the old lane marking data is marked as invalid and the old lane marking data is cleared.

6. The lane marking data updating method according to claim 2, characterized in that: If the new lane marking data is valid and the old lane marking data is invalid, updating the old lane marking data based on the new lane marking data.

7. A lane marking data updating system, characterized in that: include: A receiving module, used for receiving new lane marking data and old lane marking data; a calculation module, used for judging whether the new lane marking data and the old lane marking data are valid, and if both the new lane marking data and the old lane marking data are valid, calculating the lateral offset between the new and old lanes according to the new lane marking data and the old lane marking data; An adjustment and smoothing module is used to adjust and smooth the new lane marking data according to the size relationship between the lateral offset of the new and old lanes and the maximum allowable lane offset; The updating module is used to update the old lane marking data based on the new lane marking data after adjustment and smoothing.

8. An electronic device, characterized in that: It comprises a memory and a processor, wherein the processor is used to implement the steps of the lane marking data updating method as described in any one of claims 1 to 6 when executing a computer management program stored in the memory.

9. A computer-readable storage medium, characterized in that: A computer management program is stored thereon, and when the computer management program is executed by the processor, the steps of the lane marking data updating method as described in any one of claims 1 to 6 are implemented.

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