Lane identification method, electronic equipment and storage medium

Abstract

The invention provides a lane recognition method, electronic equipment and a storage medium, the method is used for a lane recognition system, the system comprises a first positioning module and a vehicle controller, and the method comprises the following steps: the vehicle controller obtains communication information sent by the first positioning module; obtaining lane occupation information of the first positioning module and target coordinate information of the first positioning module according to the communication information; and determining lane identification information according to the lane occupation information and the target coordinate information. The road condition information sources are increased by acquiring the communication information, so that the vehicle can accurately and stably identify the road condition under some extreme conditions, and accurate identification and positioning of the lane level are realized by acquiring the lane occupation information and the target coordinate information; obstacles on a road, traffic control, accident information and the like are obtained by determining the lane recognition information, so that the vehicle using experience and driving safety of a user are improved, the lane recognition method is used for the lane recognition system, and the system is easy to implement, low in implementation cost and wide in application range.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a lane recognition method, an electronic device and a computer-readable storage medium. Background Art

[0002] As people pay more and more attention to environmental protection and low carbon, the pace of development of new energy vehicles has also accelerated significantly. The integration of automobiles with related technologies in the fields of energy, transportation, information and communications has accelerated, and electrification, networking and intelligence have become the development trend of the automobile industry. New technologies for new energy vehicles have sprung up, for example: The application number is CN202410658157.7, the publication number is CN118238797B, and the invention name is New energy vehicle energy intelligent management system, control method and related equipment; the application number is CN202410672579.X, the publication number is CN118597091A, and the invention name is New energy vehicle energy intelligent management method, system and related equipment; both describe electric-based hybrid technology, which has multiple advantages such as fast, economical, quiet, smooth and green.

[0003] The application number is CN202211678720.4, the publication number is CN117382629B, and the name of the invention is vehicle power control method, device, medium, vehicle controller and vehicle; the application number is CN202311164098.X, the publication number is CN116890770B, and the name of the invention is vehicle control system, method and vehicle; the application number is CN202311170393.6, the publication number is CN117533292B, and the name of the invention is vehicle control system, control method, controller and vehicle; all describe a new energy power system with four wheel-side motors independently driven as the core, which greatly improves the safety and power of new energy vehicles.

[0004] Identifying road conditions on the lane is very important for the user's car experience and driving safety. In related technologies, the vehicle's built-in perception system, such as on-board cameras, radars, satellite positioning, V2X (Vehicle to Everything), etc., can sense external information, identify road conditions on the lane, adjust the driving route according to the road conditions, avoid obstacles on the road, etc.

[0005] However, the above-mentioned method of identifying the road conditions on the lane has the problems of high implementation cost, high construction difficulty, inaccurate identification and unstable identification, which reduces the user's car experience and driving safety. For example, V2X is a huge system, and its construction involves the establishment of vehicle-side equipment, road-side equipment, cloud and protocol standards, etc. It is difficult to quickly establish a wide-ranging and complete V2X system; general satellite positioning has an error of several meters. If accurate positioning is to be achieved, an enhanced positioning solution is required, which is relatively expensive; various sensors in the perception system cannot accurately and stably identify obstacles on the road in some extreme cases. Summary of the invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0007] To this end, an object of the present invention is to propose a lane recognition method, which improves the accuracy and stability of road condition recognition on the lane, thereby improving the user's car experience and driving safety, and is relatively simple to implement, has low implementation cost, and has a wide range of applications.

[0008] To this end, a second objective of the present invention is to provide an electronic device.

[0009] To this end, a third object of the present invention is to provide a computer-readable storage medium.

[0010] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a lane recognition method for a lane recognition system, wherein the lane recognition system includes a first positioning module and a vehicle controller for communication, and the lane recognition method includes: the vehicle controller obtains communication information sent by the first positioning module; obtains lane occupation information of the first positioning module and target coordinate information of the first positioning module according to the communication information, and determines lane recognition information according to the lane occupation information and the target coordinate information.

[0011] According to the lane recognition method of the embodiment of the present invention, the vehicle controller obtains the communication information sent by the first positioning module to increase the information source for perceiving the road condition, so that the vehicle can accurately and stably identify obstacles on the road and other information in some extreme cases. The lane occupation information of the first positioning module and the target coordinate information of the first positioning module are obtained according to the communication information to realize accurate identification and positioning at the lane level. The lane recognition information is determined according to the lane occupation information and the target coordinate information to realize the acquisition of obstacles on the road, traffic control and accident information, etc., thereby improving the user's car experience and driving safety. The lane recognition method is used for the lane recognition system, the system is relatively simple to implement, the implementation cost is low, and the scope of application is wide.

[0012] In some embodiments, obtaining the road occupation information of the first positioning module according to the communication information includes: parsing the communication information to obtain the indication information of the first positioning module; when the indication information and preset indication information meet the set requirements, obtaining the road occupation information of the first positioning module.

[0013] In some embodiments, obtaining the target coordinate information of the first positioning module according to the communication information includes: obtaining the current position of the vehicle on the driving path and the distance between the current position and the first positioning module; and determining the target coordinate information of the first positioning module according to the current position and the distance.

[0014] In some embodiments, before obtaining the current position of the vehicle on the driving path and the distance between the current position and the first positioning module, it also includes: determining that the distance is within a set distance range.

[0015] In some embodiments, obtaining the current position of the vehicle on the driving path includes: obtaining the vehicle's positioning coordinate information and / or the vehicle's driving parameter information; and obtaining the vehicle's current position on the driving path based on the positioning coordinate information and / or the vehicle's driving parameter information.

[0016] In some embodiments, obtaining the distance between the current position of the vehicle on the driving path and the first positioning module includes: obtaining the interaction phase information and the communication information transmission time between the vehicle controller and the first positioning module; and determining the distance based on the interaction phase information and the communication information transmission time.

[0017] In some embodiments, after determining the lane identification information according to the lane occupation information and the target coordinate information, it also includes: determining a driving guide curve of the vehicle according to the target coordinate information and the lane identification information.

[0018] In some embodiments, the first positioning module includes a main positioning module and a slave positioning module communicating with the main positioning module, and the main positioning module includes at least one of a ranging module, a direction indication module, an image acquisition module and an image recognition module.

[0019] In some embodiments, the first positioning module is provided with a display interface for receiving lane control setting information or initial setting information of a user.

[0020] In some embodiments, the vehicle controller includes a second positioning module.

[0021] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a lane recognition program that can be executed by the at least one processor, and when the lane recognition program is executed by the at least one processor, the at least one processor executes the lane recognition method as described in the above-mentioned embodiment.

[0022] According to the electronic device of the embodiment of the present invention, the communication information sent by the first positioning module is obtained through the vehicle controller to increase the information source for perceiving the road condition, so that the vehicle can accurately and stably identify obstacles on the road and other information in some extreme cases. The lane occupation information of the first positioning module and the target coordinate information of the first positioning module are obtained according to the communication information to realize accurate identification and positioning at the lane level. The lane identification information is determined according to the lane occupation information and the target coordinate information to realize the acquisition of obstacles on the road, traffic control and accident information, etc., thereby improving the user's car experience and driving safety. The lane identification method is used in the lane identification system, the system is relatively simple to implement, the implementation cost is low, and the scope of application is wide.

[0023] In order to achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a computer-readable storage medium, on which a lane recognition program is stored. When the lane recognition program is executed by a processor, a device installed with the lane recognition program implements the lane recognition method as described in the above-mentioned embodiment.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a flow chart of a lane recognition method according to an embodiment of the present invention; Figure 2 is a schematic diagram of a Bluetooth broadcast field data structure according to an embodiment of the present invention; Figure 3 is a schematic diagram of a positioning method of a lane recognition system according to an embodiment of the present invention; Figure 4 is a block diagram of a lane recognition system according to an embodiment of the present invention; Figure 5 is a flow chart of a lane recognition method according to another embodiment of the present invention; Figure 6is a block diagram of an electronic device according to an embodiment of the present invention.

[0026] Reference numerals: First field 24; Data length 20; data type 21; data content 22; UUID field 23; C circle 60; B circle 61; A circle 62; Lane recognition system 58; First positioning module 55; vehicle controller 59; Main positioning module 54; Slave positioning module 57; Display interface 56; Distance measurement module 50; direction indication module 51; image acquisition module 52; image recognition module 53; Processor 101; Memory 102; Electronic device 100. DETAILED DESCRIPTION

[0027] The embodiments described with reference to the drawings are exemplary, and embodiments of the present invention are described in detail below.

[0028] Regarding the recognition of road conditions on the lane, in related technologies, for example, the vehicle's own on-board camera, radar, satellite positioning, V2X and other perception systems are used to perceive external information and recognize the road conditions on the lane.

[0029] However, the various sensors used in the perception system in the above method cannot identify obstacles on the road in some extreme cases, resulting in inaccurate and unstable road condition identification. V2X is a huge system, and its construction involves the establishment of vehicle-side equipment, road-side equipment, cloud and protocol standards, etc., which requires a lot of basic work. It is difficult to quickly establish a wide-ranging and complete V2X system, and the implementation cost is high and the construction difficulty is relatively large.

[0030] For example, for some smaller-scale lane recognition application scenarios, a vehicle-road collaboration solution can be established based on cellular networks and a certain software service platform. It is relatively easy to implement and can provide vehicles with road information one step earlier. For example, if temporary traffic control and unexpected situations such as construction and traffic accidents occur on the road, the cones or tripods placed on the corresponding lanes should be upgraded to smart cones or tripods. Add GPS positioning system and communication function to the cones to obtain their own location information and send it to the background server of the map software platform through the network. Then the software platform server sends the information to the map software on the vehicle side for display. When the vehicle drives to the approaching end of the road, if the on-board camera and radar have not detected objects such as cones or tripods on the road, for example, in extreme conditions such as dark light, heavy rain and fog, the cones or tripods cannot be identified, and the vehicle computer will know in advance that there is a temporary control or accident on the road.

[0031] However, the above-mentioned cellular network communication method of sending positioning information to the platform server of the map software only limits the data to the platform's own map software. The underlying perception part of the domain controller of the intelligent driving on the vehicle cannot obtain this information. If the user on the vehicle does not open the map software, the road condition information cannot be received, which is not conducive to the vehicle adjusting the driving route according to the road conditions and avoiding obstacles on the road. The scope of application is narrow, which reduces the user's car experience and driving safety. In addition, general satellite positioning has an error of several meters. If you want to achieve accurate positioning, you need to use an enhanced positioning solution, which is relatively costly.

[0032] Therefore, by adopting the lane recognition method of the embodiment of the present invention, the communication information sent by the first positioning module is obtained by the vehicle controller to increase the information source for perceiving the road condition, so that the vehicle can accurately and stably identify information such as obstacles on the road in some extreme cases. The lane occupation information of the first positioning module and the target coordinate information of the first positioning module are obtained according to the communication information to realize accurate identification and positioning at the lane level. The lane recognition information is determined according to the lane occupation information and the target coordinate information to realize the acquisition of obstacles, traffic control and accident information on the road, thereby improving the user's car experience and driving safety. The lane recognition method is used for the lane recognition system, the system is relatively simple to implement, the implementation cost is low, and the scope of application is wide.

[0033] Combine the following Figure 1-Figure 5 A lane recognition method according to an embodiment of the present invention is described.

[0034] like Figure 1FIG. 1 is a flow chart of a lane recognition method according to an embodiment of the present invention. The lane recognition method is used in a lane recognition system, wherein the lane recognition system includes a first positioning module and a vehicle controller for communication. The lane recognition method according to the embodiment of the present invention includes at least steps S1 to S3.

[0035] Step S1: The vehicle controller obtains communication information sent by the first positioning module.

[0036] In an embodiment, the vehicle controller is, for example, an intelligent driving domain controller of the vehicle; the first positioning module is a pre-designed short-distance communication module; the channel information includes flags, header information, and other contents in the broadcast message, for example, format definition fields (Flags), UUID (Universally Unique Identifier) ​​fields, device name fields, custom fields, and the like.

[0037] The first positioning module is the short-distance communication module. Its design is not limited to a specific communication protocol. As long as the communication module can communicate directly with the corresponding communication module on the vehicle, the communication distance and accuracy and other parameters can meet the requirements of ranging and positioning, that is, meet the designed system framework. For example, based on the existing short-distance communication protocol, a short-distance communication module is developed and customized to be embedded in a cone barrel, tripod, water barrier or a faulty vehicle parked on the road. When working, it can automatically and periodically send broadcast messages to the surrounding area. Vehicles on the road can scan the broadcast messages sent by this communication module, interact with the communication module in a simple way and perform real-time ranging. According to the measured distance values ​​of a group of points greater than three, combined with the positioning of the vehicle itself, the coordinates of the communication module are obtained.

[0038] The positioning coordinates can be combined with the interface of the map software development kit to obtain information such as the lanes of the road section, and can further determine the lane where the obstacle is located to achieve precise positioning at the lane level.

[0039] Adding a short-distance communication module to the vehicle's intelligent driving domain controller can add a source of information for perceiving road conditions. For on-board cameras and radar systems, these sensor devices have certain performance limitations, and the detection range is limited to their FOV (field of view) and maximum detection distance. If the object is outside the sensor's field of view, or the line of sight is blocked, or the sensor is in some extreme conditions, it will be difficult to detect objects such as cones, tripods, and water barriers on the road. The short-distance communication method is not limited by the visible range. Because radio waves are transmitted in all directions, they have better penetration capabilities than visible light, millimeter waves, etc., which are mainly used by sensors. The defects of sensors such as cameras, millimeter-wave radars, and lidars can be supplemented under some extreme conditions.

[0040] For a group of multiple cones (or water barriers), a main short-distance communication module and one or more backup short-distance communication modules are set. The main short-distance communication module and / or the backup short-distance communication module can be configured with a high-precision compass, a camera, and an image recognition function module. When the lane recognition system is powered, the main short-distance communication module first obtains its own orientation according to the compass, and then connects and measures the distance with the devices in other cones or water barriers in the group to obtain the position of each device relative to the main short-distance communication module. After entering the working state, only the main short-distance communication module needs to send a broadcast outward. When a vehicle communicates with the main short-distance communication module to send scanning information, the main short-distance communication module sends its own data plus the data of other devices in the group to the vehicle end. The vehicle can obtain the coordinates and lanes of each device in this group, fit these points into a line on the map, and more conveniently indicate vehicle driving and lane changes.

[0041] Compared with the smart cone bucket that obtains its own location and then displays it to the client through the cloud server, the above-mentioned short-distance communication module (i.e., the first positioning module) has a wider range of applications, is simpler to implement, does not require cloud services, has fewer hardware functional modules, and has a lower implementation cost. The data packet content based on the communication protocol can customize user content and directly transmit more information. The information transmitted by multiple smart cone buckets can be realized with only one module customized message, which can more conveniently enhance personalized services and thus enhance the user's car experience. As a unit of the intelligent driving domain controller, this communication module allows the perception system to directly obtain messages, which makes more supplements to the vehicle's perception capabilities and increases the information source for perceiving road conditions. The obtained messages can also be transmitted to the upper-level application to notify the user, which is beneficial for the vehicle to adjust the driving route according to the road conditions and avoid obstacles on the road.

[0042] In order to facilitate the understanding of the lane recognition method of the embodiment of the present invention, the short-distance communication module is explained with low-power Bluetooth (Bluetooth for short) with high-precision ranging and channel detection functions. At present, the Bluetooth transmission distance can reach 300 meters, and the new version of the standard will be expanded to a farther range. The connection method can also support one-to-many interaction. In addition, low-power Bluetooth and channel detection functions will be introduced, and distance estimation and mutual correction can be performed through phase measurement and RTT (round-trip time) measurement at the same time, with higher accuracy and safety protection mechanism. The short-distance communication module includes a module that supports Bluetooth high-precision ranging technology and channel detection functions, which is used to work in a scannable and discoverable mode, and continuously send periodic broadcast messages to the surroundings.

[0043] For data in a broadcast message, such as Figure 2As shown, it is a schematic diagram of the Bluetooth broadcast field data structure of an embodiment of the present invention. The first field 24 is one of the fields in the broadcast data structure sent by a Bluetooth device. In addition to some standard flags, header information and other contents, the data portion of the Bluetooth broadcast data packet contains multiple fields such as the first field 24, each of which is defined as a different type, such as a format definition field, a UUID field, a device name field, a manufacturer-defined field, etc. The UUID can indicate the services supported by the device. A Bluetooth device can have multiple different functions, corresponding to different services, and corresponding to their own UUIDs. The custom data part can be written with customized information according to the actual situation.

[0044] First, the UUID and the vehicle end make an industry agreement to apply for a specific UUID for the customized high-precision road ranging function, which is distinguished from other commonly used UUIDs to indicate that this device is an indicator used for temporary road control or unexpected conditions, such as cones, water barriers, and tripods. Secondly, the pre-agreed 16-bit UUID is filled in the UUID field 23 of the data content 22, and the field type is the UUID type.

[0045] Similarly, the custom field should also be customized accordingly. Two adjacent bytes at a specific position can be used to indicate the lane to be occupied for this control or accident. Referring to the format of the first field 24, the type of the custom field is a custom type, and the data segment may have multiple bytes of data according to the requirements of the application characteristics to be implemented. For example, the last two bytes of the specified data segment are used to indicate the lane to be occupied. Of course, bytes at other positions of the data can also be used to indicate the lane to be occupied, which is not specifically limited here.

[0046] The value to be set can be filled in UUID field 23. Two bytes have a total of 16 bits. The highest bit (the 15th bit starting from 0) is defined as the left / right flag bit. In actual applications, if there are multiple lanes on the road, it is inconvenient for users to count how many lanes there are in total. It is more convenient to look from their own side (the left or right side of the road). The 14th bit starting from 0 is defined as the emergency lane indication. If the emergency lane is occupied on the highway, this position is set to 1. The lowest byte (0~7 bits) is defined as the lane indication. In actual use, the user sets the occupied lane (i.e. lane occupation information) on the human-computer interaction interface. The set value is finally written to the corresponding data bit of UUID field 23, and the occupied position is set to 1.

[0047] Finally, if the user does not set it, the default value of the UUID field 23 is 0. The remaining 8th to 13th bits are reserved starting from 0. In actual situations, the number of lanes on a road is generally no more than 8. The lanes are mapped to this byte in order from low to high 0 to 7 bits. If there are less than 8 bits, the remaining bits are ignored. If there are more than 8 lanes, 8 to 13 bits can be added as lane markers.

[0048] Correspondingly, the vehicle controller also integrates a first positioning module (i.e., short-range communication module), a low-power Bluetooth with high-precision ranging and channel detection functions, or the vehicle controller may not integrate the first positioning module, and use the vehicle's own Bluetooth positioning module to realize ranging and channel detection functions. A local service is customized and developed on the software to perform data parsing and high-precision ranging on the received broadcast message. The communication process between the vehicle-side Bluetooth ranging module and the detection target is consistent with the content of the standard Bluetooth protocol. For example, the first positioning module (i.e., short-range communication module) on the road cone barrel, tripod, water horse or faulty vehicle parked on the road sends a Bluetooth broadcast message; after searching for the broadcast message, the vehicle equipped with the first positioning module sends a scan request to the device where the message source is located (i.e., the detection target); after receiving the scan request, the device where the message source is located sends a scan reply; after receiving the scan reply, the device where the message source is located and the vehicle establish a connection with each other, configure the CS (central device and slave device, Central Slave) roles of both parties; both parties perform CS ranging; exchange phases of both parties and calculate the distance.

[0049] When the vehicle is driving, the on-board Bluetooth is in continuous discovery mode, periodically scanning Bluetooth broadcast messages. When searching for Bluetooth broadcast messages sent by cones, tripods, water barriers on the road or the first positioning module (i.e., short-range communication module) on a faulty vehicle parked on the road, the vehicle controller obtains the communication information in the sent broadcast message to increase the information source for perceiving road conditions, so that the vehicle can accurately and stably identify obstacles on the road and other information in some extreme situations.

[0050] Step S2: acquiring the road occupation information of the first positioning module and the target coordinate information of the first positioning module according to the communication information.

[0051] In an embodiment, the communication information in the acquired broadcast message is parsed to obtain the corresponding field. If the value of the data type in the field is the UUID type, the data content of the field is read, and the UUID value in the UUID field is found to obtain the indication information. The indication information includes indication information such as emergency lane indication and lane indication, and the correctness of the UUID value in the indication information is determined. If the indication information is correct, the lane occupation information in the broadcast message is parsed and cached to determine the detection target and the lane occupation information, in preparation for determining the distance to the detection target; the distance between the current position and the first positioning module is obtained, for example, when the vehicle is located at multiple positions, the distance between the first positioning module on the detection target is measured, and the broadcast message is parsed multiple times continuously, Establish a connection with the detection target, configure CS of both parties and set the Bluetooth role on this vehicle as the sending device, perform CS ranging on both sides, exchange phases of both parties and calculate the distance, determine that the distance is within the coverage of the channel detection function, cache the distance result, obtain the current position and speed of the vehicle on the driving path and other information, the number of consecutive executions can be set according to the actual configuration and needs, the more position points obtained on the vehicle's driving path, the more conducive to the calculation of the target coordinates, and record multiple positioning coordinate points of the current vehicle's driving route. The coordinate points of the reflective device of the first positioning module on the detection target can be calculated according to the triangulation positioning principle, so as to realize the recognition of road conditions on the road according to the target coordinate information, and realize lane-level accurate recognition and positioning.

[0052] Step S3, determining lane identification information according to the lane occupation information and the target coordinate information.

[0053] In an embodiment, lane recognition information is operating condition information on the road, including: obstacles on the road, traffic control and accident information, etc.; the lane occupation information and the target coordinate information are respectively transmitted to the vehicle controller for combination to obtain lane recognition information, so as to obtain obstacles on the road, traffic control and accident information, etc., thereby improving the user's car experience and driving safety. The lane recognition method is used in the lane recognition system, the system is relatively simple to implement, the implementation cost is low, and the scope of application is wide.

[0054] According to the lane recognition method of the embodiment of the present invention, the vehicle controller obtains the communication information sent by the first positioning module to increase the information source for perceiving the road condition, so that the vehicle can accurately and stably identify obstacles on the road and other information in some extreme cases. The lane occupation information of the first positioning module and the target coordinate information of the first positioning module are obtained according to the communication information to realize accurate identification and positioning at the lane level. The lane recognition information is determined according to the lane occupation information and the target coordinate information to realize the acquisition of obstacles on the road, traffic control and accident information, etc., thereby improving the user's car experience and driving safety. The lane recognition method is used for the lane recognition system, the system is relatively simple to implement, the implementation cost is low, and the scope of application is wide.

[0055] In some embodiments, obtaining the road occupation information of the first positioning module according to the communication information includes: parsing the communication information to obtain the indication information of the first positioning module; when the indication information and preset indication information meet the set requirements, obtaining the road occupation information of the first positioning module.

[0056] In the embodiment, the indication information is the indication information used for temporary road control or unexpected conditions, for example, the emergency lane indication and lane indication contained in the UUID field; the preset indication information is the UUID of the indication sign agreed in advance on the first positioning module to indicate that this device is a temporary road control or unexpected condition; the setting requirement is that the UUID satisfies the preset indication information; the communication information in the acquired broadcast message is parsed to obtain the following information: Figure 2 In the field shown, if the value of the data type 21 in the field is the UUID type, the data content 22 of the field is read, and the UUID value in the UUID field 23 is found to obtain the indication information, which includes indication information such as emergency lane indication and lane indication, so as to prepare data for obtaining the road occupation information; since a unique UUID has been defined for the first positioning module installed on the cone barrel, water horse, and tripod, and this UUID is also specially searched and discovered by the first positioning module carried by the vehicle on the road, the preset indication information is compared with the UUID value in the parsed indication information. If it is not the UUID in the preset indication information, the Bluetooth module on the vehicle considers that it is not the target to be detected, and will continue to search and detect. If it is the UUID in the preset indication information, the road occupation information in the broadcast message is parsed and cached, and then a scan request packet is sent according to the Bluetooth protocol, and the packet replied by the other party is received to determine the detection target and the road occupation information, and establish a connection with the detection target, so as to prepare for determining the distance between the detection target and the detection target.

[0057] In some embodiments, obtaining the target coordinate information of the first positioning module according to the communication information includes: obtaining the current position of the vehicle on the driving path and the distance between the current position and the first positioning module; and determining the target coordinate information of the first positioning module according to the current position and the distance.

[0058] In the embodiment, because the vehicle is traveling on the road, the vehicle itself has a positioning system, which can obtain the current position of the vehicle on the driving path. The vehicle can be equipped with a high-precision positioning module or a short-distance communication module to improve the accuracy of the vehicle body positioning. Obtain the distance between the current position and the first positioning module, for example, when the vehicle is located at multiple position points, the distance between the first positioning module on the distance detection target is measured, and the broadcast message is parsed repeatedly, a connection is established with the detection target, the CS of both parties is configured and the Bluetooth role on the vehicle is set as a sending device, the two parties perform CS ranging, the phases of both parties are exchanged and the distance is calculated, and the distance is determined to be within the coverage range of the channel detection function detection, and the distance result is cached, and the current position and speed of the vehicle on the driving path are obtained to prepare for determining the target coordinate information of the first positioning module, wherein the number of continuous executions can be set according to the actual configuration and needs, and the more position points obtained on the vehicle driving path, the more conducive to the calculation of the target coordinates.

[0059] like Figure 3 As shown, it is a schematic diagram of the positioning method of the lane recognition system of an embodiment of the present invention. The target coordinate information of the first positioning module is determined according to the current position and the distance. For example, by recording multiple positioning coordinate points of the current vehicle driving route, the coordinate points of the reflective device of the first positioning module on the detection target can be inferred according to the triangulation positioning principle. When the vehicle is driving on the road, the distance between the vehicle and the detection target is measured when it is located at three positioning coordinate points A, B, and C respectively. Circles are drawn with points A, B, and C as the center of the circle, corresponding to circle A 62, circle B 61, and circle C 60. The three circles intersect at one point at the target point P. Assuming that the detection target is always stationary on the road, and the result of the high-precision positioning of the vehicle and the accuracy of the channel detection ranging are high, the high-precision ranging Bluetooth module carried by the vehicle calculates the coordinates of point P according to the specific coordinates of points A, B, and C and the distance relative to the target point P. The coordinates of point P obtained correspond to the driving route of the navigation of the vehicle, and it can be predicted whether the road condition ahead is temporarily controlled or an unexpected situation, etc. The coordinates of point P are the target coordinates, so as to realize the recognition of the road condition on the road according to the target coordinate information.

[0060] On this basis, the vehicle system software can be combined with the map software development kit to obtain the lane position information of the road section based on the coordinates of the obtained point P. With this vehicle as a reference point, it can be known in which lane the situation occurred on the road ahead, which greatly enhances the vehicle's perception ability. Lane information can be set through the above human-computer interaction interface. In actual use, if the operator does not set it, the corresponding content in the software is empty, and the operation of calculating the lane is automatically executed to improve driving safety and user experience.

[0061] In some embodiments, before obtaining the current position of the vehicle on the driving path and the distance between the current position and the first positioning module, it also includes: determining that the distance is within a set distance range.

[0062] In the embodiment, the distance range is set to the coverage range detected by the channel detection function; before obtaining the current position of the vehicle on the driving path and the distance between the current position and the first positioning module, the vehicle establishes a connection with the detection target and enters the frequency hopping phase measurement mode. When executing this mode, the Bluetooth role on the vehicle side is first set to a sending device, and the Bluetooth role on the detection target is a reflection device; in multiple different channels, the sending device sends ranging events and sub-events to the reflection device according to the channel detection protocol; the sending device / reflection device exchanges phase information and calculates the distance; after measuring the distance, it is determined whether the measured distance is within the set distance range. Because it is limited by the principle of channel detection and ranging and the characteristics of its underlying transmission protocol, the distance of the detected target is also limited to a range, that is, limited to the coverage range detected by the channel detection function. For example, if the maximum detection distance is 150 meters, if the detected result exceeds the range of 0~150m, it can be determined that the result is caused by calculation abnormality and exceeds the range. In the process of multiple channel detection phases and calculations, there are also some detections of intermediate calculated values. If there are abnormal values ​​in the middle of the process, they are finally reflected through the code return value. Determine whether the distance between the vehicle and the detection target is within the coverage of the channel detection function, and cache the distance result to ensure the accuracy of the acquired data.

[0063] In some embodiments, obtaining the current position of the vehicle on the driving path includes: obtaining the vehicle's positioning coordinate information and / or the vehicle's driving parameter information; and obtaining the vehicle's current position on the driving path based on the positioning coordinate information and / or the vehicle's driving parameter information.

[0064] In the embodiment, the positioning coordinate information of the vehicle is the positioning coordinate of the current position of the vehicle; the driving parameter information of the vehicle includes the speed of the vehicle, etc.; because the vehicle is driving on the road, the vehicle itself has a positioning system and can obtain the current position. The high-precision positioning module carried by the vehicle makes the positioning accuracy of the vehicle body very high, and the positioning coordinate information of the vehicle is obtained, such as Figure 3 The three positioning coordinate points A, B, and C shown are used to obtain the vehicle's speed and other driving parameters to prepare data for determining the vehicle's current position; the vehicle's current position on the driving path is obtained based on the vehicle's positioning coordinate information and / or the vehicle's speed and other driving parameters to prepare data for determining the target coordinate information.

[0065] In some embodiments, obtaining the distance between the current position of the vehicle on the driving path and the first positioning module includes: obtaining the interaction phase information and the communication information transmission time between the vehicle controller and the first positioning module; and determining the distance based on the interaction phase information and the communication information transmission time.

[0066] In an embodiment, the interactive phase information is the phase information in the radio frequency information interacting between two or more devices on multiple channels in a tightly interlocked manner. This information is exchanged through specific protocols and processes (such as the channel detection process in Bluetooth) to achieve high-precision ranging, positioning or other communication purposes; the interactive phase information of the vehicle controller and the first positioning module on the detection target is obtained, for example, the mutual position information between the sending device / reflection device, and the transmission time between the vehicle controller and the first positioning module on the detection target is obtained to prepare for determining the distance between the vehicle and the detection target; the distance is determined based on the interactive phase information and the communication information transmission time, and a judgment basis is provided for determining whether the distance is within a set distance range.

[0067] In some embodiments, after determining the lane identification information according to the lane occupation information and the target coordinate information, it also includes: determining a driving guide curve of the vehicle according to the target coordinate information and the lane identification information.

[0068] In an embodiment, after determining the lane identification information according to the lane occupation information and the target coordinate information, the perception system of the controller and the user interaction interface of the cockpit can obtain the target coordinate information and the lane identification information, and the controller plans the vehicle's driving guidance curve according to the target coordinate information and the lane identification information. For example, on the vehicle's original driving guidance curve, the operating condition of the subsequent driving lane being occupied is obtained according to the target coordinate information and the lane identification information. For example, if traffic control or an accident occurs, the driving guidance curve will be re-planned for the vehicle to avoid the occupied lane, and the driver will be reminded to achieve more accurate automatic lane change requirements and improve user experience and driving safety.

[0069] In some embodiments, Figure 4FIG. 2 is a block diagram of a lane recognition system according to an embodiment of the present invention. The first positioning module 55 includes a main positioning module 54 and a slave positioning module 57 communicating with the main positioning module 54 . The main positioning module 54 includes at least one of a distance measurement module 50 , a direction indication module 51 , an image acquisition module 52 and an image recognition module 53 .

[0070] In an embodiment, Figure 4 As shown, the lane recognition system 58 includes a first positioning module 55 and a vehicle controller 59; the first positioning module 55 is for example the short-distance communication module of the above-mentioned embodiment; the vehicle controller 59 is for example the intelligent driving domain controller of the vehicle; the main positioning module 54 is for example the main short-distance communication module; the slave positioning module 57 is for example the backup short-distance communication module; the ranging module 50 is for example a Bluetooth module with high-precision ranging; the direction indication module 51 is for example a module with high-precision compass function; the image acquisition module 52 is for example a module with a camera imaging system; the image recognition module 53 is for example a module with image recognition function.

[0071] In practical applications, cone barrels (or water barriers) are used as detection targets for illustration. It is likely that a group of multiple cone barrels (or water barriers) will be needed on the road, so a main short-distance communication module, i.e., the main positioning module 54, and one or more spare short-distance communication modules, i.e., the slave positioning module 57, are set up. The main positioning module 54 is used to communicate with vehicles on the road, instead of multiple devices communicating with the incoming vehicles at the same time. In addition to the Bluetooth module for high-precision ranging, the main positioning module 54 is also equipped with a high-precision compass module, a camera imaging system, and an image recognition function module. In terms of hardware, the installation direction of the compass sensor on the main positioning module 54 and the installation direction of the main positioning module 54 on the cone barrel (or water barrier) are pre-designed, so that the direction obtained by the compass sensor has a fixed mapping relationship with the placement direction of the detection target (cone barrel or water barrier). In engineering applications, a group of equipment is powered on to enter the preparation stage and start configuration. First, the main device obtains its own orientation according to the compass sensor, and then connects, identifies, and measures the distance with the devices in other cone barrels (or water horses) in the group to obtain the position of each device relative to the main positioning module 54. The Bluetooth modules in the group are connected to the Bluetooth module of the main positioning module 54 in turn, and high-precision distance measurement is completed according to the channel detection protocol. The main positioning module 54 obtains the number and relative distance of the devices in the group. The imaging system of the main positioning module 54 also identifies the surrounding devices in the group. The imaging system can be composed of 2 fisheye cameras to form a 360° panoramic view, or it can be composed of 3~4 cameras with smaller field of view to form 360°. After the imaging system collects the surrounding images, it identifies the angle and distance of the device target in the group relative to the main positioning module 54 itself. Combined with the information obtained by the Bluetooth module, the main positioning module 54 can obtain the position of each device in the group. After completing the configuration and entering the working state, this main positioning module 54 sends a broadcast to the outside, and other devices in the group do not need to send a broadcast. When a vehicle communicates with the main positioning module 54 and sends scanning information, the main positioning module 54 sends its own data plus the data of other devices in the group to the vehicle end. The vehicle can obtain the coordinates of each device in the group and the lane it is in. These points are fitted into a line on the map, which is more convenient for indicating vehicle driving and lane changing.

[0072] In some embodiments, Figure 4 As shown, the first positioning module 55 is provided with a display interface 56 for receiving lane control setting information or initial setting information from a user.

[0073] In an embodiment, Figure 4As shown, the initial setting information includes information on actual road conditions; lane control information includes lane information such as emergency lane occupation, lane occupation, road traffic control, traffic accidents, etc.; display interface 56 is a human-computer interaction interface; display interface 56 is used to receive the user's set lane control information or initial setting information. For example, on the human-computer interaction interface, the user can manually set the actual road condition information when using it, saving the recognition and calculation work in the system; if there is no manual setting, the initial setting information defaults to 0, and the system algorithm recognizes the actual road condition information; after the emergency lane, lane occupation, road traffic control, traffic accidents, etc. occur, the user can also set the number of occupied lanes on the human-computer interaction interface, and the set value is finally written into Figure 2 In the UUID field 23 of the lane, the occupied position is 1; if the user does not set which lane is occupied, the default value in the UUID field 23 is 0. The display interface 56 receives the lane control information or initial setting information set by the user, and serves as a data basis for identifying the working conditions on the road.

[0074] In some embodiments, Figure 4 As shown, the vehicle controller 59 includes a second positioning module.

[0075] In an embodiment, the vehicle controller includes a second positioning module. For the second positioning module, for example, the vehicle itself has a Bluetooth positioning system with ranging and channel detection functions, or a first positioning module (i.e., a short-range communication module) to obtain the current position and positioning coordinates of the vehicle.

[0076] Reference below Figure 5 The lane recognition method according to the embodiment of the present invention is described in detail.

[0077] like Figure 5 FIG. 2 is a flow chart of a lane recognition method according to another embodiment of the present invention. The lane recognition method according to the embodiment of the present invention at least includes steps S10-S20.

[0078] Step S10: The vehicle controller obtains the communication information sent by the first positioning module.

[0079] Step S11, parsing the communication information to obtain instruction information of the first positioning module.

[0080] Step S12, determining whether the indication information and the preset indication information meet the setting requirements. If yes, executing step S13; otherwise, executing step S10.

[0081] Step S13, obtaining the road occupation information of the first positioning module.

[0082] Step S14, determining whether the distance of the first positioning module is within a set distance range. If so, executing step S15; otherwise, executing step S10.

[0083] Step S15, obtaining the vehicle's positioning coordinate information and / or the vehicle's driving parameter information.

[0084] Step S16, obtaining the current position of the vehicle on the driving path according to the positioning coordinate information and / or the driving parameter information of the vehicle.

[0085] Step S17, obtaining the interaction phase information and communication information transmission time between the vehicle controller and the first positioning module.

[0086] Step S18, determining the distance of the first positioning module according to the interaction phase information and the communication information transmission time.

[0087] Step S19, determining target coordinate information of the first positioning module according to the current position and distance.

[0088] Step S20, determining lane identification information according to the lane occupation information and the target coordinate information.

[0089] According to the lane recognition method of the embodiment of the present invention, the vehicle controller obtains the communication information sent by the first positioning module to increase the information source for perceiving the road condition, so that the vehicle can accurately and stably identify obstacles on the road and other information in some extreme cases. The lane occupation information of the first positioning module and the target coordinate information of the first positioning module are obtained according to the communication information to realize accurate identification and positioning at the lane level. The lane recognition information is determined according to the lane occupation information and the target coordinate information to realize the acquisition of obstacles on the road, traffic control and accident information, etc., thereby improving the user's car experience and driving safety. The lane recognition method is used for the lane recognition system, the system is relatively simple to implement, the implementation cost is low, and the scope of application is wide.

[0090] Reference below Figure 6 An electronic device according to an embodiment of the present invention is described.

[0091] like Figure 6 , which is a block diagram of an electronic device according to an embodiment of the present invention. The electronic device 100 according to the embodiment of the present invention comprises: at least one processor 101; and a memory 102 in communication with the at least one processor 101; wherein the memory 102 stores a lane recognition program executable by the at least one processor 101, and when the lane recognition program is executed by the at least one processor 101, the at least one processor 101 executes the lane recognition method as described in the above embodiment.

[0092] According to the electronic device 100 of the embodiment of the present invention, the communication information sent by the first positioning module is obtained through the vehicle controller to increase the information source for perceiving the road condition, so that the vehicle can accurately and stably identify obstacles on the road and other information in some extreme cases. The lane occupation information of the first positioning module and the target coordinate information of the first positioning module are obtained according to the communication information to realize lane-level accurate identification and positioning. The lane identification information is determined according to the lane occupation information and the target coordinate information to realize the acquisition of obstacles on the road, traffic control and accident information, etc., thereby improving the user's car experience and driving safety. The lane identification method is used in the lane identification system, the system is relatively simple to implement, the implementation cost is low, and the scope of application is wide.

[0093] In some embodiments, the processor 101 obtains the road occupation information of the first positioning module according to the communication information, including: parsing the communication information to obtain the indication information of the first positioning module; when the indication information and the preset indication information meet the set requirements, obtaining the road occupation information of the first positioning module.

[0094] In some embodiments, the processor 101 obtains the target coordinate information of the first positioning module based on the communication information, including: obtaining the current position of the vehicle on the driving path and the distance between the current position and the first positioning module; determining the target coordinate information of the first positioning module based on the current position and the distance.

[0095] In some embodiments, before the processor 101 obtains the current position of the vehicle on the driving path and the distance between the current position and the first positioning module, it also includes: determining that the distance is within a set distance range.

[0096] In some embodiments, the processor 101 obtains the current position of the vehicle on the driving path, including: obtaining the vehicle's positioning coordinate information and / or the vehicle's driving parameter information; obtaining the vehicle's current position on the driving path based on the positioning coordinate information and / or the vehicle's driving parameter information.

[0097] In some embodiments, the processor 101 obtains the distance between the current position of the vehicle on the driving path and the first positioning module, including: obtaining the interaction phase information and communication information transmission time between the vehicle controller and the first positioning module; determining the distance based on the interaction phase information and the communication information transmission time.

[0098] In some embodiments, after the processor 101 determines the lane identification information according to the lane occupation information and the target coordinate information, it also includes: determining a driving guide curve of the vehicle according to the target coordinate information and the lane identification information.

[0099] According to the electronic device 100 of the embodiment of the present invention, the communication information sent by the first positioning module is obtained through the vehicle controller to increase the information source for perceiving the road condition, so that the vehicle can accurately and stably identify obstacles on the road and other information in some extreme cases. The lane occupation information of the first positioning module and the target coordinate information of the first positioning module are obtained according to the communication information to realize lane-level accurate identification and positioning. The lane identification information is determined according to the lane occupation information and the target coordinate information to realize the acquisition of obstacles on the road, traffic control and accident information, etc., thereby improving the user's car experience and driving safety. The lane identification method is used in the lane identification system, the system is relatively simple to implement, the implementation cost is low, and the scope of application is wide.

[0100] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0101] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A lane recognition method, characterized in that: For a lane recognition system, the lane recognition system includes a first positioning module and a vehicle controller for communication, and the recognition method includes: The vehicle controller obtains the communication information sent by the first positioning module; Acquire the road occupation information of the first positioning module and the target coordinate information of the first positioning module according to the communication information; Lane identification information is determined according to the lane occupation information and the target coordinate information.

2. The lane recognition method according to claim 1, characterized in that: Acquiring the road occupation information of the first positioning module according to the communication information includes: Parsing the communication information to obtain instruction information of the first positioning module; When the indication information and the preset indication information meet the set requirements, the road occupation information of the first positioning module is obtained.

3. The lane recognition method according to claim 1, characterized in that: Acquiring target coordinate information of the first positioning module according to the communication information includes: Acquire the current position of the vehicle on the driving path and the distance between the current position and the first positioning module; The target coordinate information of the first positioning module is determined according to the current position and the distance.

4. The lane recognition method according to claim 3, characterized in that: Before obtaining the current position of the vehicle on the driving path and the distance between the current position and the first positioning module, the method further includes: It is determined that the distance is within a set distance range.

5. The lane recognition method according to claim 3 or 4, characterized in that: Get the current position of the vehicle on the driving path, including: Obtaining vehicle positioning coordinate information and / or vehicle driving parameter information; The current position of the vehicle on the driving path is obtained according to the positioning coordinate information and / or the driving parameter information of the vehicle.

6. The lane recognition method according to claim 3 or 4, characterized in that: Acquiring the distance between the current position of the vehicle on the driving path and the first positioning module includes: Acquire interactive phase information and communication information transmission time between the vehicle controller and the first positioning module; The distance is determined according to the interaction phase information and the communication information transmission time.

7. The lane recognition method according to claim 1, characterized in that: After determining the lane identification information according to the lane occupation information and the target coordinate information, the method further includes: A driving guidance curve of the vehicle is determined according to the target coordinate information and the lane recognition information.

8. The lane recognition method according to claim 1, characterized in that: The first positioning module includes a main positioning module and a slave positioning module communicating with the main positioning module, and the main positioning module includes at least one of a distance measurement module, a direction indication module, an image acquisition module and an image recognition module.

9. The lane recognition method according to claim 1, characterized in that: The first positioning module is provided with a display interface for receiving lane control setting information or initial setting information from a user.

10. The lane recognition method according to claim 1, characterized in that: The vehicle controller includes a second positioning module.

11. An electronic device, characterized in that: include: at least one processor; and a memory communicatively coupled to the at least one processor; Wherein, the memory stores a lane recognition program that can be executed by the at least one processor, and when the lane recognition program is executed by the at least one processor, the at least one processor executes the lane recognition method as described in any one of claims 1-10.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a lane recognition program, and when the lane recognition program is executed by the processor, the device installed with the lane recognition program implements the lane recognition method according to any one of claims 1 to 10.

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