Ground mark processing method and device, electronic equipment and computer storage medium

Abstract

Embodiments of the present application provide a ground mark processing method and device, electronic equipment and computer storage medium. The method comprises: identifying the received image information, determining the number of first ground marks in the first lane; when the first lane includes a plurality of first ground marks, determining a target first ground mark in the plurality of first ground marks according to the first distance of each first ground mark and the vehicle in the first direction; determining the second distance of each non-target first ground mark and the target first ground mark in the first direction according to the position difference between the non-target first ground mark and the target first ground mark; determining the non-target first ground mark and the target first ground mark corresponding to the second distance less than the preset threshold as the ground mark of the current road section. The present application can accurately determine the ground mark belonging to the current road section from multiple first ground marks, improving the accuracy of ground identification.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a ground marking processing method, apparatus, electronic device, and computer storage medium. Background Technology

[0002] During autonomous driving, lane markings (text, arrows) are generally identified and output by the vehicle's visual perception module. However, due to the complexity of autonomous driving scenarios, the visual perception module may sometimes identify markings that are not actually located in the lane. Specifically, for example... Figure 1 As shown, this can lead to the problem of misidentifying road markings on different road sections as markings on the same road section. Summary of the Invention

[0003] In view of the above, embodiments of this application provide a ground marking processing method, apparatus, electronic device, and computer storage medium to at least partially solve the above problems.

[0004] According to a first aspect of the embodiments of this application, a ground marking processing method is provided, applied to a vehicle control unit, the method comprising:

[0005] The received image information is identified to determine the number of first ground markings in the first lane, wherein the image information includes ground markings, the first lane is the lane where the vehicle is currently located on the road surface, and the first ground markings are the ground markings in the first lane;

[0006] When the first lane includes multiple first ground markings, a target first ground marking is determined among the multiple first ground markings based on the first distance between each first ground marking and the vehicle in a first direction, wherein the first distance between the target ground marking and the vehicle is less than the first distance between a non-target first ground marking and the vehicle, and the first direction is the direction of travel of the vehicle;

[0007] Based on the positional difference between the non-target first ground marker and the target first ground marker, determine the second distance between each non-target first ground marker and the target first ground marker in the first direction;

[0008] The non-target first ground marker and the target first ground marker corresponding to the second distance being less than a preset threshold are determined as the ground markers of the current road segment.

[0009] In some embodiments, the image information further includes a second lane and a second ground marking, wherein the second lane is another lane on the current road surface, and the second ground marking is the ground marking in the second lane;

[0010] The step of identifying the received image information and determining the number of first ground markings in the first lane includes:

[0011] The position of the ground markings in the image information in the second direction and the position range of the first lane in the second direction are obtained, wherein the ground markings include the first ground marking and the second ground marking, the second direction is a direction perpendicular to the vehicle's direction of travel, and the lanes include the first lane and the second lane;

[0012] When the position of the ground marking in the second direction is within the position range of the first lane in the second direction, the ground marking is determined to be the first ground marking.

[0013] In some embodiments, determining the second distance in the first direction between each of the non-target first ground markers and the target first ground marker based on the positional difference between the non-target first ground markers and the target first ground marker includes:

[0014] Obtain the location of the target first ground marker, the locations of each of the non-target first ground markers, and the location of the vehicle;

[0015] Based on the position of the target first ground marker and the position of the vehicle, determine the second distance between the target first ground marker and the vehicle in the first direction;

[0016] Based on the positions of each of the non-target first ground markers and the position of the vehicle, determine the second distance between each of the non-target first ground markers and the vehicle in the first direction;

[0017] Based on the distance between the target first ground marker and the vehicle, and the difference between the distances of each non-target first ground marker and the vehicle, a second distance in the first direction is determined between each non-target first ground marker and the target first ground marker.

[0018] In some embodiments, the method comprises:

[0019] Obtain the non-target first ground marker and the target first ground marker of the current road segment;

[0020] According to a preset splicing algorithm, the non-target first ground identifier is spliced ​​onto the target first ground identifier to obtain a third ground identifier;

[0021] The third ground marking is displayed on the vehicle's display interface.

[0022] In some embodiments, before displaying the third ground marker on the vehicle's display interface, the method further includes:

[0023] The position of the third ground marking in the second direction and the position of the lane centerline of the first lane in the second direction are obtained, wherein the second direction is a direction perpendicular to the vehicle's direction of travel;

[0024] When the position of the third ground marker in the second direction is different from the position of the lane centerline of the first lane in the second direction, the third ground marker in the second direction is moved to the position of the lane centerline of the first lane in the second direction, so that the third ground marker is located on the centerline of the first lane.

[0025] In some embodiments, the method further includes:

[0026] The location of the third ground marker and the location of the fourth ground marker in the second lane are obtained, wherein the fourth ground marker is obtained by splicing the ground markers in the current road segment in the second lane;

[0027] Based on the position of the third ground marker and the position of the vehicle, determine the distance between the third ground marker and the vehicle in the first direction;

[0028] Based on the position of the fourth ground marker and the position of the vehicle, determine the distance between the fourth ground marker and the vehicle in the first direction;

[0029] Based on the distance between the third ground marker and the vehicle in the first direction, and the distance between the fourth ground marker and the vehicle in the first direction, determine the average distance;

[0030] Move the third ground marker in the first direction such that the distance between the third ground marker and the vehicle in the first direction is the average distance; and

[0031] The third ground marker is moved in the first direction so that the distance between the fourth ground marker and the vehicle in the first direction is the average distance.

[0032] The step of displaying the third ground marking on the vehicle's display interface includes:

[0033] The third and fourth ground markers, after their positions have been adjusted, are displayed on the vehicle's display interface.

[0034] According to a second aspect of the embodiments of this application, a ground marking processing device is provided, applied to a vehicle control unit, the device comprising:

[0035] The identification module is used to identify the received image information and determine the number of first ground markings in the first lane, wherein the image information includes ground markings, the first lane is the lane where the vehicle is located on the current road surface, and the first ground markings are the ground markings in the first lane.

[0036] A first determining module is configured to, when the first lane includes multiple first ground markings, determine a target first ground marking among the multiple first ground markings based on a first distance between each first ground marking and the vehicle in a first direction, wherein the first distance between the target ground marking and the vehicle is less than the first distance between a non-target first ground marking and the vehicle, and the first direction is the direction of travel of the vehicle;

[0037] The second determining module is used to determine a second distance in the first direction between each of the non-target first ground markers and the target first ground marker based on the positional difference between the non-target first ground markers and the target first ground markers;

[0038] The third determining module is used to determine the non-target first ground marker and the target first ground marker corresponding to the second distance being less than a preset threshold as the ground marker of the current road segment.

[0039] According to a third aspect of the present application, an electronic device is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, wherein the executable instruction causes the processor to perform an operation corresponding to the ground marking processing method described in the first aspect.

[0040] According to a fourth aspect of the embodiments of this application, a computer storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the ground marking processing method as described in the first aspect.

[0041] According to the ground marking processing method provided in this application embodiment, the vehicle control unit first identifies the received image information and determines the number of first ground markings in the first lane where the vehicle is located. When it is determined that the first lane includes first ground markings, the control unit determines the target first ground marking closest to the vehicle among the multiple first ground markings based on the first distance between each first ground marking and the vehicle in a first direction. Further, based on the positional difference between the non-target first ground markings and the target first ground markings, a second distance between each non-target first ground marking and the target first ground marking in the first direction is determined. Non-target first ground markings and target first ground markings with a second distance less than a preset threshold are identified as ground markings of the current road segment. By determining the distance between the target first ground marking and the non-target first ground marking in the first direction, this application embodiment can accurately determine the ground markings belonging to the current road segment from multiple first ground markings, improving the accuracy of ground marking identification and avoiding the problem in the prior art of identifying ground markings of different road segments as ground markings of the same road segment. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0043] Figure 1 This is a schematic diagram of the ground marking recognition results in the background technology of the embodiments of this application;

[0044] Figure 2 This is a flowchart illustrating the steps of a ground marking processing method according to an embodiment of this application;

[0045] Figure 3 A schematic diagram of a ground marking recognition result in the embodiment shown;

[0046] Figure 4 A schematic diagram of another ground marking recognition result in the illustrated embodiment;

[0047] Figure 5 A schematic diagram of another ground marking recognition result in the illustrated embodiment;

[0048] Figure 6 This is a structural block diagram of a ground marking processing device according to an embodiment of this application;

[0049] Figure 7 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0050] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0051] The specific implementation of the embodiments of this application will be further described below with reference to the accompanying drawings.

[0052] With the development of autonomous driving, during the process of vehicle autonomous driving, the vehicle's visual perception module captures images of the road surface. The vehicle's control unit then identifies these images to determine the ground markings on the lanes for autonomous driving. However, due to the complexity of autonomous driving scenarios and the inherent errors in the visual perception module's imaging, the identified ground markings may differ from their actual locations, or the identified markings may appear fragmented. This can lead to the problem of misidentifying ground markings from different road sections as markings from the same section. Specifically, for example... Figure 1 As shown, the straight-ahead and left-turn signs in the left-hand straight lane are split into straight-ahead and left-turn signs, while the right-turn signs in the right-turn lane have changed position.

[0053] In view of this, this application provides a ground marking processing method applied to a vehicle control unit, the specific steps of which are as follows: Figure 2 As shown, the method includes:

[0054] S201, the received image information is identified to determine the number of first ground markings in the first lane.

[0055] In this embodiment, during the process of the control unit controlling the vehicle to perform autonomous driving, the vehicle's visual perception module (e.g., a camera) captures image information of the road surface including ground markings and sends the image information to the control unit. After receiving the image information, the control unit identifies the ground markings of each lane on the current road carried in the image information, and thus determines the number of first ground markings in the first lane where the vehicle is located based on the identification results. Specifically, in this embodiment, the first lane is the lane where the vehicle is currently located on the road surface, and the first ground markings are the ground markings in the first lane.

[0056] In one example, see Figure 3As shown in the schematic diagram of the ground marking recognition result provided in this application embodiment, the road surface where the vehicle is located includes lane A, lane B, and lane C, with lane B being the first lane. The image information is recognized by the control unit to obtain... Figure 3 When the identification results are shown, the control unit counts the first ground markings in lane B to determine the number of first ground markings in lane B.

[0057] S202, when the first lane includes multiple first ground markings, the target first ground marking is determined among the multiple first ground markings based on the first distance between each first ground marking and the vehicle.

[0058] In this embodiment, when the control unit determines that the first lane includes multiple first ground markers, it determines the distance between each first ground marker and the vehicle in a first direction based on the position of the first ground marker and the vehicle's position. Upon completion of the calculation, it selects the minimum value from the multiple first distances and then determines the first ground marker closest to the vehicle as the target first ground marker. Specifically, in this embodiment, the first distance between the target ground marker and the vehicle is less than the first distance between a non-target first ground marker and the vehicle, and the first direction is the vehicle's direction of travel.

[0059] In one example, please refer to [link / reference]. Figure 3 As shown, when the control unit determines that lane B includes three ground markings, namely, straight marking 1, straight marking 2, and left-turn marking 3, the control unit calculates the first distance between straight marking 1, straight marking 2, and left-turn marking 3 and the vehicle in the direction of travel. Thus, it can determine that straight marking 2 is the target first ground marking, while straight marking 1 and left-turn marking 3 are non-target first ground markings.

[0060] In one example, the position of an embodiment of this application can be represented using coordinates (X, Y), where the Y coordinate represents the first direction.

[0061] S203, based on the positional difference between the non-target first ground marker and the target first ground marker, determine the second distance between each non-target first ground marker and the target first ground marker in the first direction.

[0062] In this embodiment of the application, after determining the target first ground marker, the control unit obtains the position of the non-target first ground marker and the position of the target first ground marker, and determines the second distance between each non-target first ground marker and the target first ground marker in the first direction based on the position difference between the non-target first ground marker and the target first ground marker.

[0063] In one example, please refer to [link / reference]. Figure 3As shown, when straight sign 2 is identified as the target first ground sign, and straight sign 1 and left turn sign 3 are identified as non-target first ground signs, the control unit calculates the second distance between straight sign 2 and straight sign 1, and calculates the second distance between straight sign 1 and left turn sign 3.

[0064] S204, the non-target first ground marker and the target first ground marker corresponding to the second distance being less than the preset threshold are determined as the ground markers of the current road segment.

[0065] In this embodiment, after the control unit obtains multiple second distances, it compares each of the multiple second distances with a preset threshold, determines the second distance that is less than the preset threshold, and then determines the non-target first ground marker and the target first ground marker corresponding to the second distance being less than the preset threshold as the ground markers of the current road segment.

[0066] In one example, after the control unit obtains the second distance between straight sign 2 and straight sign 1, and the second distance between straight sign 1 and left turn sign 3, it compares the second distances between straight sign 2 and straight sign 1, and between straight sign 1 and left turn sign 3, with preset thresholds respectively. This allows it to determine that the second distance between left turn sign 3 and the vehicle is less than the preset threshold, and thus left turn sign 3 and straight sign 2 are identified as ground markings for the current road segment. Specifically, the preset threshold in this embodiment can be determined based on the shooting distance of the visual perception module; for example, the preset threshold can be set to 10% of the shooting distance of the visual perception module.

[0067] The ground marking processing method provided in this application embodiment firstly involves the vehicle's control unit recognizing received image information to determine the number of first ground markings in the first lane where the vehicle is located. Upon determining that the first lane includes first ground markings, the control unit, based on a first distance between each first ground marking and the vehicle in a first direction, identifies the target first ground marking closest to the vehicle from among the multiple first ground markings. Further, based on the positional difference between non-target first ground markings and the target first ground marking, a second distance in the first direction is determined between each non-target first ground marking and the target first ground marking. Non-target first ground markings and target first ground markings with a second distance less than a preset threshold are identified as ground markings for the current road segment. This application embodiment, by determining the distance between target and non-target first ground markings in the first direction, can accurately identify ground markings belonging to the current road segment from among multiple first ground markings, improving the accuracy of ground marking recognition and avoiding the problem in existing technologies of misidentifying ground markings from different road segments as ground markings for the same road segment.

[0068] Furthermore, the ground marking processing method of this application embodiment can also be applied to any lane on the road surface. The control unit can identify whether the ground markings in other lanes belong to the same road segment based on the method of the above embodiment. For example, please continue to refer to Figure 3 As shown, the control unit can calculate the second distance between each ground marker in lane C and the target first ground marker in lane B in the first direction, so as to determine whether the markers in lane C and the target first ground marker in lane B belong to the same road segment by using the second distance between each ground marker in lane C and the target first ground marker in lane B in the first direction and a preset threshold.

[0069] Furthermore, the image information in this embodiment of the application also includes a second lane and a second ground marking, wherein the second lane is a lane on the road surface other than the first lane, and the second ground marking is the ground marking in the second lane; identifying the received image information and determining the number of first ground markings in the first lane may include the following steps;

[0070] S2011, Obtain the position of the ground markings in the second direction and the position range of the first lane in the second direction from the image information.

[0071] In this embodiment, when determining the number of first ground markings in the first lane, the control unit first acquires the position of each ground marking in the image information in a second direction, and the position range of the first lane in the second direction. Specifically, the second direction is the direction perpendicular to the vehicle's direction of travel, which is the X-axis direction.

[0072] In one example, please refer to [link / reference]. Figure 3 As shown, the control unit obtains the upper coordinate X1 of each ground mark in the second direction, specifically the X-axis coordinate, and at the same time obtains the coordinate range X2 and X3 of the lane line of the first lane in the X-axis.

[0073] S2012, when the position of the ground marking in the second direction is within the position range of the first lane in the second direction, the ground marking is determined to be the first ground marking.

[0074] In this embodiment, after obtaining the position of each ground sign in the second direction and the position range of the first lane in the second direction, the control unit compares the position of the ground sign in the second direction with the position range of the first lane in the second direction. If the position of the ground sign in the second direction is within the position range of the first lane in the second direction, the ground sign is determined to be a first ground sign. If the position of the ground sign in the second direction is not within the position range of the first lane in the second direction, the ground sign is determined to be a second ground sign.

[0075] In one example, please refer to [link / reference]. Figure 3As shown, after the control unit obtains the coordinates X1 of the ground marking and the coordinate ranges X2 and X3 of the lane line of the first lane on the X-axis, it compares X1 with (X2, X3) to determine whether X1 belongs to (X2, X3), and then determines whether the ground marking is the first ground marking.

[0076] This application embodiment obtains the position range of the first lane in the second direction and the position of the ground markings in the second direction, which can accurately determine whether each ground marking is a first ground marking. Then, the first ground markings can be used to accurately determine whether the ground markings in the first lane belong to the current road segment, thus improving the accuracy of ground marking recognition.

[0077] Furthermore, determining the second distance between each non-target first ground marker and the target first ground marker in a first direction based on the positional difference between the non-target first ground marker and the target first ground marker in this embodiment may include the following steps:

[0078] S2031, obtain the position of the target first ground marker, the position of each non-target first ground marker, and the position of the vehicle.

[0079] In this embodiment of the application, when calculating the second distance, the control unit first obtains the position of the target first ground marker, the positions of each non-target first ground marker, and the position of the vehicle. Specifically, the control unit can obtain the Y-axis coordinate of the target first ground marker, the Y-axis coordinate of each non-target first ground marker, and the Y-axis coordinate of the vehicle.

[0080] S2032, Based on the position of the target first ground marker and the position of the vehicle, determine the distance between the target first ground marker and the vehicle in the first direction.

[0081] In this embodiment, the control unit determines a second distance between the target first ground marker and the vehicle in a first direction based on the position of the target first ground marker and the position of the vehicle. Specifically, please refer to... Figure 3 As shown, determine the distance between the straight-ahead sign 2 and the vehicle in the Y-axis direction.

[0082] S2033, Based on the positions of each non-target first ground marker and the vehicle, determine the distance between each non-target first ground marker and the vehicle in the first direction.

[0083] In this embodiment, the control unit determines a second distance between each non-target first ground marker and the vehicle in a first direction based on the positions of each non-target first ground marker and the vehicle's position. Specifically, please refer to... Figure 3 As shown, the second distance between the left-turn sign 3 and the vehicle in the Y-axis direction is determined, and the distance between the straight sign 1 and the vehicle in the Y-axis direction is also determined.

[0084] S2034, based on the difference between the distance between the target first ground marker and the vehicle in the first direction and the distance between each non-target first ground marker and the vehicle in the first direction, determine the second distance between each non-target first ground marker and the target first ground marker in the first direction.

[0085] In this embodiment, the control unit determines the second distance between each non-target first ground marker and the target first ground marker in the first direction based on the second distance between the target first ground marker and the vehicle in the first direction, and the difference between the second distances between each non-target first ground marker and the vehicle in the first direction. Specifically, please refer to... Figure 3 As shown, after determining the distance between the straight sign 2 and the vehicle in the Y-axis direction, the second distance between the left turn sign 3 and the vehicle in the Y-axis direction, and the second distance between the straight sign 1 and the vehicle in the Y-axis direction, the control unit can determine the second distance between the left sign 3 and the straight sign 2 in the Y-axis direction by the difference between the distance between the straight sign 2 and the vehicle in the Y-axis direction and the second distance between the left turn sign 3 and the vehicle in the Y-axis direction. Similarly, the second distance between the straight sign 1 and the straight sign 2 in the Y-axis direction can be obtained.

[0086] This application embodiment can accurately determine the second distance between the target first ground marker and the non-target first ground markers in the first direction by using the position of the target first ground marker, the position of each non-target first ground marker, and the position of the vehicle. In turn, the second distance can be used to accurately determine whether the ground marker in the first lane belongs to the current road segment, thereby improving the accuracy of ground marker recognition.

[0087] Furthermore, the ground marking recognition method in this application embodiment may also include the following steps:

[0088] S205, obtain the non-target first ground marker and the target first ground marker of the current road segment.

[0089] In this embodiment, the control unit acquires the non-target first ground marker and the target first ground marker of the current road segment. Please refer to... Figure 3 As shown, the control unit acquires the left turn sign 3 and the straight sign 2.

[0090] S206, according to the preset splicing algorithm, the non-target first ground identifier is spliced ​​onto the target first ground identifier to obtain the third ground identifier.

[0091] In this embodiment, the control unit uses a pre-stored preset stitching algorithm to stitch a non-target first ground marker onto the target first ground marker to obtain a third ground marker. For details, please refer to... Figure 3As shown, the control unit uses a preset splicing algorithm to splice the left turn sign 3 onto the straight sign 2. That is, during splicing, the position of the straight sign 2 remains unchanged, and the position of the left turn sign 3 is adjusted to the position of the straight sign 2, so as to splice the left turn sign 3 and the straight sign 2 to obtain the straight left turn sign.

[0092] S207 displays the third ground markings on the vehicle's display interface.

[0093] In this embodiment, after obtaining the third ground marker, the control unit displays the third ground marker on the vehicle's display interface. Specifically, when displaying the third ground marker, the control unit displays the current road surface identified based on image information on the display interface and displays the third ground marker in the corresponding lane.

[0094] This application embodiment splices together the ground markings of the current road segment and displays the spliced ​​images on the display interface. This can prompt the driver with the marking information of the current road segment in non-autonomous driving scenarios, thereby improving driving safety.

[0095] Furthermore, in this embodiment of the application, before displaying the third ground marking on the vehicle's display interface, the following steps may be included:

[0096] S208, obtain the position of the third ground marking in the second direction and the position of the lane centerline of the first lane in the second direction.

[0097] In this embodiment, after the third ground marker, the control unit obtains the position of the third ground marker in a second direction and the position of the lane centerline of the first lane in a second direction. The second direction is perpendicular to the vehicle's direction of travel. Specifically, after the third ground marker, the control unit obtains the coordinates of the third ground marker in the X-axis direction, and simultaneously obtains the coordinates of the first lane centerline in the X-axis direction.

[0098] S209, when the position of the third ground marking in the second direction is not the same as the position of the lane center line of the first lane in the second direction, the third ground marking in the second direction is moved to the position of the lane center line of the first lane in the second direction, so that the third ground marking is located on the center line of the first lane.

[0099] In this embodiment, after the control unit obtains the position of the third ground marker in the second direction and the position of the lane center line of the first lane in the second direction, it compares the position of the third ground marker in the second direction with the position of the lane center line of the first lane in the second direction. If the position of the third ground marker in the second direction is different from the position of the lane center line of the first lane in the second direction, the third ground marker is moved in the second direction to the position of the lane center line of the first lane in the second direction, so that the third ground marker is located on the center line of the first lane. If the position of the third ground marker in the second direction is the same as the position of the lane center line of the first lane in the second direction, the position of the third ground marker is not adjusted.

[0100] Specifically, the control unit compares the X-axis coordinates of the third ground marker with the X-axis coordinates of the first lane centerline to determine whether the X-axis coordinates of the third ground marker and the first lane centerline are the same. If the X-axis coordinates of the third ground marker and the first lane centerline are not the same, the control unit moves past the third ground marker on the X-axis to make the X-axis coordinates of the third ground marker the same as the X-axis coordinates of the first lane centerline.

[0101] This application embodiment obtains the position of the third ground marking in the second direction and the position of the lane center line of the first lane in the second direction, and can accurately adjust the position of the third ground marking so that the position of the third ground marking is the same as that of the actual ground marking, thereby improving the self-consistency between the ground marking and the lane line.

[0102] Furthermore, embodiments of this application may also include the following steps:

[0103] S210, obtain the location of the third ground marker and the location of the fourth ground marker in the second lane.

[0104] In this embodiment, after adjusting the position of the third control sign in the second direction, the control unit obtains the position of the third ground sign and the position of the fourth ground sign in the second lane. Specifically, in this embodiment, while processing the target first ground sign in the first lane, the control unit also uses the target first ground sign in the first lane to identify the ground signs in the second lane, so as to determine the ground signs in the second lane that belong to the same road segment as those in the first lane.

[0105] In one example, please refer to [link / reference]. Figure 3As shown, while processing the ground markings using the straight-ahead sign 2 in lane B, the control unit also uses the straight-ahead sign 2 in lane B to identify the ground markings in lane C, determining that the right-turn sign adjacent to the straight-ahead sign 2 in lane C belongs to the same road segment as the straight-ahead sign 2 and the left-turn sign 3 in lane B. After completing the identification of lane C, the control unit identifies the right-turn sign adjacent to the straight-ahead sign 2 in lane C as the fourth ground marking. If there are multiple ground markings adjacent to the straight-ahead sign 2 in lane C, the control unit splices these multiple ground markings together to form the fourth ground marking, and adjusts the position of the fourth ground marking in the second direction to the center line of lane C.

[0106] S211, Based on the position of the third ground marker and the position of the vehicle, determine the distance between the third ground marker and the vehicle in the first direction.

[0107] In this embodiment, the control unit determines the distance between the third ground marker and the vehicle in the first direction based on the position of the third ground marker and the position of the vehicle. Specifically, the control unit determines the distance between the third ground marker and the vehicle in the Y-axis direction based on the Y-axis coordinate of the third ground marker and the Y-axis coordinate of the vehicle.

[0108] S212, Based on the position of the fourth ground marker and the position of the vehicle, determine the distance between the fourth ground marker and the vehicle in the first direction.

[0109] In this embodiment, the control unit determines the distance between the fourth ground marker and the vehicle in the first direction based on the position of the fourth ground marker and the position of the vehicle. Specifically, the control unit determines the distance between the fourth ground marker and the vehicle in the Y-axis direction based on the Y-axis coordinate of the fourth ground marker and the Y-axis coordinate of the vehicle.

[0110] S213, determine the average distance based on the distance between the third ground marker and the vehicle in the first direction and the distance between the fourth ground marker and the vehicle in the first direction.

[0111] In this embodiment, the control unit determines the average distance based on the distance between the third ground marker and the vehicle in the first direction, and the distance between the fourth ground marker and the vehicle in the first direction. Specifically, the control unit determines the average distance based on the distance between the third ground marker and the vehicle in the Y-axis direction, and the distance between the fourth ground marker and the vehicle in the Y-axis direction.

[0112] S214, move the third ground marker in the first direction so that the distance between the third ground marker and the vehicle in the first direction is the average distance.

[0113] In this embodiment of the application, after determining the average distance, the control unit controls the third ground marker to move in the first direction so that the distance between the third ground marker and the vehicle in the first direction is the average distance.

[0114] S215, move the third ground marker in the first direction so that the distance between the fourth ground marker in the first direction and the vehicle is the average distance.

[0115] In this embodiment, after determining the average distance, the control unit controls the fourth ground marker to move in the first direction so that the distance between the fourth ground marker and the vehicle in the first direction is the average distance. Further, the control unit displays the adjusted third ground marker and the adjusted fourth ground marker on the vehicle's display interface.

[0116] Specifically, please refer to Figure 4 As shown in the schematic diagram of another ground marking recognition result provided in this application embodiment, after the control unit moves the third ground marking (straight and left turn marking) to the middle position of the lane center line, it is on the same horizontal line as the fourth ground marking (right turn marking). By adjusting the positions of the third and fourth ground markings, this application embodiment can make the positions of the third and fourth ground markings the same as the actual ground markings, thereby improving the self-consistency between the ground markings and the lane lines.

[0117] Furthermore, this application embodiment provides another ground marking processing method, which will be combined with... Figure 5 The method for processing ground markings is explained, where the middle lane is the lane where the vehicle is located, specifically including:

[0118] The control unit acquires the image sent by the vision perception module, recognizes the image information, and obtains... Figure 5 The ground marking recognition result is shown on the left. Further, the control unit acquires the position of each ground marking in the second direction and the position range of each lane in the second direction from the acquired image information, compares the position of the ground marking in the second direction with the position range of each lane in the second direction to determine the lane to which the ground marking belongs, and further, the control unit can determine the number of first ground markings in the first lane.

[0119] Based on the positions of the first ground markers and the vehicle, the control unit determines the distance between each first ground marker and the vehicle in a first direction. Upon completion of the calculation, it selects the minimum value from multiple first distances and then identifies the first ground marker closest to the vehicle as the target first ground marker. Figure 5 The straight-ahead marker below the middle lane shown is the target first ground marker. When calculating the second distance, the control unit first obtains the position of the target first ground marker and each non-target first ground marker (…). Figure 5The control unit determines the second distance between the target first ground marker and the vehicle in the first direction based on the positions of the left-turn sign in the middle lane and the straight-ahead sign above, as well as the positions of the target first ground marker and the vehicle. Further, based on the positions of each non-target first ground marker and the vehicle, the control unit determines the second distance between each non-target first ground marker and the vehicle in the first direction. The control unit compares each of the multiple second distances with a preset threshold, determines the second distances less than the preset threshold, and then identifies the non-target first ground markers and the target first ground markers corresponding to second distances less than the preset threshold as the ground markers for the current road segment. Figure 5 The left-turn sign in the middle lane and the straight-ahead sign below it are the ground markings for the current road segment.

[0120] Simultaneously, the control unit acquires the positions of various ground markers in the right lane and, based on these positions and the position of the target first ground marker, determines the third distance between the ground markers in the right lane and the target first ground marker in the first direction. Multiple third distances are compared with preset thresholds, and those less than the preset thresholds are identified. Ground markers in the right lane with third distances less than the preset thresholds are then identified as belonging to the same road segment as the target first ground marker. Figure 5 The right-turn sign on the lower right side, the left-turn sign in the middle lane, and the straight sign below all belong to the current road segment, which is the first-level cluster 2 shown in the figure. Based on the above method, a first-level cluster 1 can also be completed.

[0121] The control unit acquires the non-target first ground marker and the target first ground marker of the current road segment in the first lane, and uses a pre-stored preset splicing algorithm to splice the non-target first ground marker onto the target first ground marker to obtain the third ground marker. Figure 5 In the image on the right, the ground markings below the middle lane are the third type of ground markings. Figure 5 Secondary clustering 1). Simultaneously, the control unit clusters the right-turn markers in the right lane to obtain the fourth ground marker (for...). Figure 5 Two-dimensional clustering in 2).

[0122] After the stitching is completed, the control unit acquires the position of the third ground marker in the second direction and the position of the lane centerline of the first lane in the second direction. It compares the position of the third ground marker in the second direction with the position of the lane centerline of the first lane in the second direction. If the positions of the third ground marker and the lane centerline are not the same, the control unit moves the third ground marker to the position of the lane centerline of the first lane in the second direction, so that the third ground marker is located on the centerline of the first lane. Simultaneously, the control unit also compares the position of the fourth ground marker in the second direction with the position of the lane centerline of the second lane in the second direction. If the positions of the fourth ground marker and the lane centerline are not the same, the control unit moves the fourth ground marker to the position of the lane centerline of the second lane in the second direction.

[0123] Furthermore, the control unit acquires the position of the third ground marker and the position of the fourth ground marker in the second lane. Using the positions of the third ground marker and the vehicle, the control unit determines the distance between the third ground marker and the vehicle in the first direction. Based on the positions of the fourth ground marker and the vehicle, it determines the distance between the fourth ground marker and the vehicle in the first direction. Further, the control unit determines an average distance based on the distances between the third and fourth ground markers in the first direction and the vehicle, and controls the third ground marker to move in the first direction so that the distance between the third ground marker and the vehicle in the first direction is the average distance. Similarly, the control unit controls the fourth ground marker to move in the first direction so that the distance between the fourth ground marker and the vehicle in the first direction is the average distance. Through these movements, the final distance is obtained... Figure 5 The location of the ground markings shown on the right.

[0124] Furthermore, the control unit displays the adjusted third and fourth ground markers on the vehicle's display interface, that is... Figure 5 The location of the ground markings shown on the right is displayed on the vehicle's display screen, so that the driver can obtain ground marking information for different sections of the current road surface on the vehicle's display screen.

[0125] Furthermore, embodiments of this application provide a ground marking processing device applied to a vehicle control unit, specifically as follows: Figure 6 As shown, the device includes:

[0126] The identification module 601 is used to identify the received image information and determine the number of first ground markings in the first lane. The image information includes ground markings, the first lane is the lane where the vehicle is located on the current road surface, and the first ground markings are the ground markings in the first lane.

[0127] The first determining module 602 is used to determine a target first ground mark among the multiple first ground marks when the first lane includes multiple first ground marks, based on a first distance between each first ground mark and the vehicle in a first direction, wherein the first distance between the target ground mark and the vehicle is less than the first distance between a non-target first ground mark and the vehicle, and the first direction is the vehicle's direction of travel.

[0128] The second determining module 603 is used to determine the second distance between each non-target first ground marker and the target first ground marker in the first direction based on the positional difference between the non-target first ground marker and the target first ground marker.

[0129] The third determining module 604 is used to determine the non-target first ground marker and the target first ground marker corresponding to the second distance being less than a preset threshold as the ground markers of the current road segment.

[0130] The ground marking processing device of this embodiment is used to implement the corresponding ground marking processing methods in the foregoing multiple method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here. In addition, the functional implementation of each module in the deadlock processing device of this embodiment can refer to the description of the corresponding part in the foregoing method embodiments, which will also not be repeated here.

[0131] Reference Figure 7 This document illustrates a schematic diagram of an electronic device according to an embodiment of this application. The specific embodiments of this application do not limit the specific implementation of the electronic device.

[0132] like Figure 7 As shown, the electronic device may include: a processor 702, a communication interface 704, a memory 706, and a communication bus 708.

[0133] in:

[0134] The processor 702, communication interface 704, and memory 706 communicate with each other via communication bus 708.

[0135] Communication interface 704 is used to communicate with other electronic devices or servers.

[0136] The processor 702 is used to execute program 710, which can specifically execute the relevant steps in the above-described embodiment of the ground marking processing method.

[0137] Specifically, program 710 may include program code that includes computer operation instructions.

[0138] The processor 702 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0139] Memory 706 is used to store program 710. Memory 706 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0140] Specifically, program 710 can be used to cause processor 502 to perform the following operations:

[0141] In an optional implementation, program 710 is further configured to ensure that the specific implementation of each step in program 710 by processor 702 can be found in the corresponding steps and units described in the above-described embodiments of the ground marking processing method, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the devices and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.

[0142] This application also provides a computer program product, including computer instructions that instruct a computing device to perform an operation corresponding to any of the ground marking processing methods in the above-described multiple method embodiments.

[0143] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0144] The methods described above according to the embodiments of this application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code originally stored on a remote recording medium or a non-transitory machine-readable medium and subsequently stored on a local recording medium, downloaded over a network. Thus, the methods described herein can be stored as software processing on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code that, when accessed and executed by the computer, processor, or hardware, implements the ground marking processing method described herein. Furthermore, when a general-purpose computer accesses code used to implement the ground marking processing method shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the ground marking processing method shown herein.

[0145] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0146] The above embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. A method for processing ground markings, characterized in that, A control unit applied to a vehicle, the method comprising: The received image information is identified to determine the number of first ground markings in the first lane, wherein the image information includes ground markings, the first lane is the lane where the vehicle is currently located on the road surface, and the first ground markings are the ground markings in the first lane; When the first lane includes multiple first ground markings, a target first ground marking is determined among the multiple first ground markings based on a first distance between each first ground marking and the vehicle in a first direction, wherein the first distance between the target first ground marking and the vehicle is less than the first distance between a non-target first ground marking and the vehicle, and the first direction is the direction of travel of the vehicle; Based on the positional difference between the non-target first ground marker and the target first ground marker, determine the second distance between each non-target first ground marker and the target first ground marker in the first direction; The non-target first ground marker and the target first ground marker corresponding to the second distance being less than a preset threshold are determined as the ground markers of the current road segment.

2. The method according to claim 1, characterized in that, The image information also includes a second lane and a second ground marking, wherein the second lane is another lane on the current road surface, and the second ground marking is the ground marking in the second lane; The step of identifying the received image information and determining the number of first ground markings in the first lane includes: The position of the ground markings in the image information in the second direction and the position range of the first lane in the second direction are obtained, wherein the ground markings include the first ground marking and the second ground marking, the second direction is a direction perpendicular to the vehicle's direction of travel, and the lanes include the first lane and the second lane; When the position of the ground marking in the second direction is within the position range of the first lane in the second direction, the ground marking is determined to be the first ground marking.

3. The method according to claim 1, characterized in that, The step of determining the second distance in the first direction between each non-target first ground marker and the target first ground marker based on the positional difference between the non-target first ground marker and the target first ground marker includes: Obtain the location of the target first ground marker, the locations of each of the non-target first ground markers, and the location of the vehicle; Based on the position of the target first ground marker and the position of the vehicle, determine the distance between the target first ground marker and the vehicle in a first direction; Based on the positions of each of the non-target first ground markers and the position of the vehicle, determine the distance between each of the non-target first ground markers and the vehicle in a first direction; Based on the distance between the target first ground marker and the vehicle in the first direction, and the difference between the distances between each non-target first ground marker and the vehicle in the first direction, a second distance in the first direction is determined between each non-target first ground marker and the target first ground marker.

4. The method according to claim 1, characterized in that, The method includes: Obtain the non-target first ground marker and the target first ground marker of the current road segment; According to a preset splicing algorithm, the non-target first ground identifier is spliced ​​onto the target first ground identifier to obtain a third ground identifier; The third ground marking is displayed on the vehicle's display interface.

5. The method according to claim 4, characterized in that, Before displaying the third ground marking on the vehicle's display interface, the method further includes: The position of the third ground marking in the second direction and the position of the lane centerline of the first lane in the second direction are obtained, wherein the second direction is a direction perpendicular to the vehicle's direction of travel; When the position of the third ground marker in the second direction is different from the position of the lane centerline of the first lane in the second direction, the third ground marker in the second direction is moved to the position of the lane centerline of the first lane in the second direction, so that the third ground marker is located on the centerline of the first lane.

6. The method according to claim 5, characterized in that, The method further includes: The location of the third ground marker and the location of the fourth ground marker in the second lane are obtained, wherein the fourth ground marker is obtained by splicing the ground markers in the current road segment in the second lane; Based on the position of the third ground marker and the position of the vehicle, determine the distance between the third ground marker and the vehicle in the first direction; Based on the position of the fourth ground marker and the position of the vehicle, determine the distance between the fourth ground marker and the vehicle in the first direction; Based on the distance between the third ground marker and the vehicle in the first direction, and the distance between the fourth ground marker and the vehicle in the first direction, determine the average distance; Move the third ground marker in the first direction such that the distance between the third ground marker and the vehicle in the first direction is the average distance; and The third ground marker is moved in the first direction so that the distance between the fourth ground marker and the vehicle in the first direction is the average distance. Displaying the third ground marking on the vehicle's display interface includes: The third and fourth ground markers, after their positions have been adjusted, are displayed on the vehicle's display interface.

7. A ground marking processing device, characterized in that, A control unit applied to a vehicle, the device comprising: The recognition module is used to recognize the received image information and determine the number of first ground markings in the first lane, wherein the image information includes ground markings, the first lane is the lane where the vehicle is located on the current road surface, and the first ground markings are the ground markings in the first lane; A first determining module is configured to, when the first lane includes multiple first ground markings, determine a target first ground marking among the multiple first ground markings based on a first distance between each first ground marking and the vehicle in a first direction, wherein the first distance between the target first ground marking and the vehicle is less than the first distance between a non-target first ground marking and the vehicle, and the first direction is the direction of travel of the vehicle; The second determining module is used to determine a second distance in the first direction between each of the non-target first ground markers and the target first ground marker based on the positional difference between the non-target first ground markers and the target first ground markers; The third determining module is used to determine the non-target first ground marker and the target first ground marker corresponding to the second distance being less than a preset threshold as the ground marker of the current road segment.

8. An electronic device, comprising: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction, which causes the processor to perform the operation corresponding to the ground marking processing method as described in any one of claims 1-6.

9. A computer storage medium having a computer program stored thereon, which, when executed by a processor, implements the ground marking processing method as described in any one of claims 1-6.

10. A computer program product comprising computer instructions that instruct a computing device to perform an operation corresponding to the ground marking processing method as described in any one of claims 1-6.

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