Lane binding method, device and equipment and storage medium

Abstract

The invention discloses a lane binding method, device and equipment and a storage medium, and relates to the technical field of automatic driving, and the lane binding method comprises the steps: obtaining lane information and vehicle coordinates; constructing a lane distance data set according to the lane information and the distance between a lane track point coordinate and a vehicle coordinate in the lane information; sorting and screening the lane distance data set according to the size of the distance to obtain a candidate point set, and calculating a projection distance according to the lane track point coordinates and the vehicle coordinates in the candidate point set; and determining a lane meeting a preset binding condition based on the projection distance and the lane information in the candidate point set, and binding the vehicle with the lane. According to the invention, the accuracy of lane binding can be improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a lane binding method, device, equipment and storage medium. Background Art

[0002] In the process of intelligent driving, it is necessary to frequently calculate the lanes that the vehicle is in as the data set for intelligent driving. The accuracy of lane calculation directly affects the quality of the data set. Accurate lane information can ensure that the lane labels produced in the data set, the identification of vehicle lane changes, and the design of interactive labels between vehicles are more accurate. However, the traditional lane binding method has many shortcomings. For example, when the curvature of the lane line changes greatly or the lane width is uneven, it is easy to make misjudgments and fail to accurately identify the lane where the vehicle is located.

[0003] Therefore, how to improve the accuracy of lane binding is a problem that needs to be solved urgently.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a lane binding method, device, equipment and storage medium, aiming to solve the technical problem of how to improve the accuracy of lane binding.

[0006] To achieve the above object, the present application provides a lane binding method, the lane binding method comprising:

[0007] Get lane information and vehicle coordinates;

[0008] Constructing a lane distance data set according to the lane information and the distance between the lane trajectory point coordinates in the lane information and the vehicle coordinates;

[0009] Sorting and screening the lane distance data set according to the size of the distance to obtain a candidate point set, and calculating the projection distance according to the lane trajectory point coordinates in the candidate point set and the vehicle coordinates;

[0010] A lane that meets a preset binding condition is determined based on the projection distance and the lane information in the candidate point set, and the vehicle is bound to the lane.

[0011] In one embodiment, the step of constructing a lane distance data set according to the lane information and the distance comprises:

[0012] Calculating the distance from the vehicle coordinates to the lane trajectory point coordinates, and obtaining a distance data set according to the lane trajectory point coordinates and the distance;

[0013] According to the lane information, lane information corresponding to the lane trajectory points in the distance data set is obtained, and the lane information is sorted based on the arrangement order of the distances in the distance data set to obtain a lane information data set;

[0014] A lane distance dataset is obtained according to the distance dataset and the lane information dataset.

[0015] In one embodiment, the step of sorting and screening the lane distance data set according to the size of the distance to obtain a candidate point set includes:

[0016] The lane distance data set is sorted according to the size of the distance, and a preset number of lane trajectory points and lane information corresponding to the lane trajectory points are selected to obtain a candidate point set.

[0017] In one embodiment, the step of calculating the projection distance according to the lane trajectory point coordinates in the candidate point set and the vehicle coordinates comprises:

[0018] According to the candidate point set, obtaining the coordinates of the lane trajectory point in the candidate point set, and the coordinates of the previous lane trajectory point or the next lane trajectory point of the lane trajectory point;

[0019] Calculate the projection distance according to the lane trajectory point coordinates, the previous lane trajectory point coordinates and the vehicle coordinates; or

[0020] The projection distance is calculated according to the lane trajectory point coordinates, the subsequent lane trajectory point coordinates and the vehicle coordinates.

[0021] In one embodiment, the step of calculating the projection distance according to the lane trajectory point coordinates, the previous lane trajectory point coordinates and the vehicle coordinates comprises:

[0022] Calculating a vector between the vehicle and the lane trajectory point coordinates, and a vector between the vehicle and the previous lane trajectory point coordinates according to the lane trajectory point coordinates, the previous lane trajectory point coordinates and the vehicle coordinates;

[0023] Calculating the cosine value of the angle between the vehicle and the lane trajectory point coordinates and the previous lane trajectory point coordinates according to the vector between the vehicle and the lane trajectory point coordinates and the vector between the vehicle and the previous lane trajectory point coordinates;

[0024] The projection distance is calculated according to the cosine value of the angle, the lane trajectory point coordinates and the previous lane trajectory point coordinates.

[0025] In one embodiment, the step of calculating the projection distance according to the lane trajectory point coordinates, the subsequent lane trajectory point coordinates and the vehicle coordinates comprises:

[0026] Calculating a vector between the vehicle and the lane trajectory point coordinates, and a vector between the vehicle and the lane trajectory point coordinates, according to the lane trajectory point coordinates, the subsequent lane trajectory point coordinates and the vehicle coordinates;

[0027] Calculating the cosine value of the angle between the vehicle and the coordinates of the lane trajectory point and the coordinates of the next lane trajectory point according to the vector between the vehicle and the coordinates of the lane trajectory point and the vector between the vehicle and the coordinates of the next lane trajectory point;

[0028] The projection distance is calculated according to the cosine value of the angle, the coordinates of the lane trajectory point and the coordinates of the subsequent lane trajectory point.

[0029] In one embodiment, the step of determining a lane that meets a preset binding condition based on the projection distance and the lane information in the candidate point set, and binding the vehicle to the lane includes:

[0030] Comparing the projection distances to obtain a minimum projection distance;

[0031] Compare the minimum projection distance with a preset distance threshold to obtain a comparison result;

[0032] If the comparison result is that the minimum projection distance is less than the preset distance threshold, then obtaining lane information corresponding to the minimum projection distance;

[0033] A target lane is determined according to lane information corresponding to the minimum projection distance, and the vehicle is bound to the target lane.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a lane binding device, the lane binding device comprising:

[0035] An acquisition module, used to obtain lane information and vehicle coordinates;

[0036] A data set construction module, used to construct a lane distance data set according to the lane information and the distance between the lane trajectory point coordinates in the lane information and the vehicle coordinates;

[0037] A projection distance calculation module, used to sort and filter the lane distance data set according to the size of the distance to obtain a candidate point set, and calculate the projection distance according to the lane trajectory point coordinates in the candidate point set and the vehicle coordinates;

[0038] A lane binding module is used to determine a lane that meets a preset binding condition based on the projection distance and the lane information in the candidate point set, and bind the vehicle to the lane.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a lane binding device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the lane binding method described above.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium, and a program for implementing the lane binding method is stored on the computer-readable storage medium. The program for implementing the lane binding method is executed by a processor to implement the steps of the lane binding method as described above.

[0041] The present application provides a lane binding method, which constructs a high-precision lane distance data set by accurately acquiring lane information and vehicle coordinates, and calculating the actual distance between lane trajectory points and vehicles based on these data. A sorting and screening mechanism is adopted to quickly screen out the lane trajectory points closest to the current position of the vehicle by sorting the lane distance data set, forming a candidate point set, which effectively reduces the amount of calculation for subsequent processing and improves data processing efficiency. After determining the candidate point set, the projection distance from the vehicle coordinates to the lane trajectory points is further calculated, and based on the projection distance and the preset binding conditions, the lane can be dynamically selected according to real-time data and bound to the vehicle. Accurate lane calculation helps to improve the quality of the intelligent driving data set, thereby improving the accuracy of intelligent driving decisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 A flowchart of the first embodiment of the lane binding method of the present application is provided;

[0045] Figure 2 A schematic diagram of the relative position between the vehicle and the lane in the lane binding method of this application;

[0046] Figure 3 This is a schematic diagram of the module structure of the lane binding device according to an embodiment of the present application;

[0047] Figure 4This is a schematic diagram of the device structure of the hardware operating environment involved in the lane binding method in the embodiment of the present application.

[0048] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0050] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0051] The main solution of the present application is: obtaining lane information and vehicle coordinates; constructing a lane distance data set according to the lane information and the distance between the lane trajectory point coordinates in the lane information and the vehicle coordinates; sorting and screening the lane distance data set according to the size of the distance to obtain a candidate point set, and calculating the projection distance according to the lane trajectory point coordinates in the candidate point set and the vehicle coordinates; determining a lane that meets the preset binding conditions based on the projection distance and the lane information in the candidate point set, and binding the vehicle to the lane.

[0052] In the process of intelligent driving, it is necessary to frequently calculate the lane where the vehicle is located as the data set for intelligent driving. The accuracy of lane calculation directly affects the quality of the data set. Accurate lane information can ensure that the lane labels made in the data set, the identification of vehicle lane changes, and the design of interactive labels between vehicles are more accurate. However, the traditional lane binding method has many shortcomings. For example, when the curvature of the lane line changes greatly or the lane width is uneven, it is easy to make misjudgments and fail to accurately identify the lane where the vehicle is located. Therefore, how to improve the accuracy of lane binding is a problem that needs to be solved urgently.

[0053] This application constructs a high-precision lane distance data set by accurately acquiring lane information and vehicle coordinates, and calculating the actual distance between lane trajectory points and vehicles based on these data. A sorting and screening mechanism is adopted to quickly screen out the lane trajectory points closest to the current position of the vehicle by sorting the lane distance data set, forming a candidate point set, which effectively reduces the amount of calculation for subsequent processing and improves data processing efficiency. After determining the candidate point set, the projection distance from the vehicle coordinates to the lane trajectory points is further calculated, and based on the projection distance and preset binding conditions, the lane can be dynamically selected according to real-time data and bound to the vehicle. Accurate lane calculation helps to improve the quality of the intelligent driving data set, thereby improving the accuracy of intelligent driving decisions.

[0054] It should be noted that the execution subject of this embodiment may be a lane binding system, or a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a lane binding device capable of realizing the above functions, etc., and this embodiment does not specifically limit this. The following takes the lane binding system as an example to illustrate this embodiment and the following embodiments.

[0055] Based on this, this application proposes a lane binding method of the first embodiment, please refer to Figure 1 , the lane binding method comprises steps S10 to S40:

[0056] Step S10, obtaining lane information and vehicle coordinates;

[0057] It should be noted that lane information includes data collected by on-board sensors (such as cameras, lidar, millimeter-wave radar, etc.) or external traffic management systems. Lane information may include the number, width, direction, identifier, and location of boundary lines (i.e., lane trajectory point coordinates) of lanes. For different lanes, each lane has a unique identifier (such as a number, string, etc.) to distinguish different lanes. For example, the lane number of each lane can be recorded as lane1, lane2, ..., laneN.

[0058] Vehicle coordinates represent the precise position of the vehicle on the current road, which can be determined by the vehicle's positioning system (such as GPS, inertial navigation system, etc.) and the vehicle's internal sensors (such as wheel speed sensors, steering wheel angle sensors, etc.). The sensors can provide real-time information such as the vehicle's position, speed, and direction, thereby obtaining the vehicle's precise position in the map or lane coordinate system.

[0059] Step S20, constructing a lane distance data set according to the lane information and the distance between the lane trajectory point coordinates in the lane information and the vehicle coordinates;

[0060] It should be noted that for each lane trajectory point, the straight-line distance from the vehicle to the point can be calculated using the Euclidean distance formula, and these distance values ​​are combined with the corresponding lane trajectory point coordinates into a distance dataset. At the same time, according to the sorting order of the distance in the distance dataset, the lane information (such as identifier, width, direction, and boundary line position) is integrated into a lane information dataset so that the corresponding lane information can be found based on the distance. The distance dataset and the lane information dataset are combined to form a lane distance dataset, which contains both the distance from the vehicle to the lane trajectory point and the lane information to which these points belong, making it easy to access detailed information on the distance and lane at the same time.

[0061] Step S30, sorting and screening the lane distance data set according to the size of the distance to obtain a candidate point set, and calculating the projection distance according to the lane trajectory point coordinates in the candidate point set and the vehicle coordinates;

[0062] It should be noted that according to the lane distance data set, the preset lane trajectory points with the closest distance are selected as the candidate point set after being sorted by distance value. For each lane trajectory point in the candidate point set, the coordinates of the corresponding front and rear lane trajectory points are found, and the projection distance is obtained by calculating the vector relationship between the coordinate points, which helps to more accurately judge the relative position and direction of the vehicle and the lane during the lane binding process.

[0063] Step S40: determining a lane that meets a preset binding condition based on the projection distance and the lane information in the candidate point set, and binding the vehicle to the lane.

[0064] It should be noted that in order to ensure that the vehicle can be accurately identified and bound to the target lane, the width of the lane and the actual position of the vehicle must be considered. Since the lane has a certain width, direct binding may be inaccurate when the vehicle is far away from the lane. Therefore, it is necessary to set a projection distance threshold as a preset binding condition. Only when the minimum projection distance is less than this threshold, the lane with the lane number to which the corresponding lane trajectory point belongs is used as the lane to which the vehicle is bound. In addition, in order to prevent the vehicle from driving in the wrong or significantly deviated direction for a long time, the preset binding condition can also set a lane direction deviation threshold to monitor the vehicle's driving direction and remove data driving in the wrong or significantly deviated direction. When the projection distance meets the projection distance threshold requirement and the lane direction is within the lane direction deviation threshold range, the vehicle is determined to be in the lane and is bound to the lane.

[0065] This embodiment provides a lane binding method, which constructs a high-precision lane distance data set by accurately acquiring lane information and vehicle coordinates, and calculating the actual distance between lane trajectory points and vehicles based on these data. A sorting and screening mechanism is adopted to quickly screen out the lane trajectory points closest to the current position of the vehicle by sorting the lane distance data set, forming a candidate point set, which effectively reduces the amount of calculation for subsequent processing and improves data processing efficiency. After determining the candidate point set, the projection distance from the vehicle coordinates to the lane trajectory points is further calculated, and based on the projection distance and the preset binding conditions, the lane can be dynamically selected according to real-time data and bound to the vehicle. Accurate lane calculation helps to improve the quality of the intelligent driving data set, thereby improving the accuracy of intelligent driving decisions.

[0066] In a feasible implementation, step S20 may include steps S201 to S203:

[0067] Step S201, calculating the distance from the vehicle coordinates to the lane trajectory point coordinates, and obtaining a distance data set according to the lane trajectory point coordinates and the distance;

[0068] Step S202, obtaining lane information corresponding to lane trajectory points in the distance data set according to the lane information, and sorting the lane information based on the arrangement order of the distances in the distance data set to obtain a lane information data set;

[0069] Step S203: obtaining a lane distance dataset according to the distance dataset and the lane information dataset.

[0070] It should be noted that, refer to Figure 2 , for each lane trajectory point, the distance from the vehicle coordinates to the point is calculated. The calculation can be performed by applying the distance formula in spatial geometry (such as Euclidean distance). The result of the distance calculation is a numerical value, which represents the straight-line distance between the vehicle and the lane trajectory point. Each lane trajectory point and its corresponding distance value are combined to form a distance data set. Lane information may include the identifier, width, direction, location of the boundary line (i.e., the coordinates of the lane trajectory point), etc. The lane information is sorted according to the order of the distance in the distance data set, so as to facilitate finding the corresponding lane information according to the lane trajectory point. According to the distance data set and the lane information data set, a lane distance data set is obtained. The lane distance data set contains the coordinates of each lane trajectory point, the distance from the vehicle to the point, and the lane information of the point. When using the lane distance data set, the distance between the vehicle and the lane trajectory point and the lane information to which the trajectory point belongs can be accessed at the same time.

[0071] In this implementation, by calculating the distance from the vehicle coordinates to the lane trajectory point coordinates, the spatial position relationship between the vehicle and the lane can be accurately quantified, and the lane information is sorted based on the arrangement order of the distance in the distance data set. The distance information is stored in the form of a lane information data set and merged into a lane distance data set, so that the lane distance data can be flexibly selected, extracted and processed as needed to adapt to different application scenarios and needs, thereby improving the speed and efficiency of data processing.

[0072] In a feasible implementation manner, the step of sorting and screening the lane distance data set according to the size of the distance to obtain a candidate point set may include step S301:

[0073] Step S301, sorting the lane distance data set according to the size of the distance, and selecting a preset number of lane trajectory points and lane information corresponding to the lane trajectory points to obtain a candidate point set.

[0074] It should be noted that the lane distance dataset is sorted according to the distance value of each element (i.e., the distance from the vehicle to the lane trajectory point and its corresponding lane information). The element with the smallest distance value (indicating that the vehicle is closest to the lane trajectory point) is placed in front. After the sorting is completed, a preset number is set. The preset number represents the number of the nearest lane trajectory points considered in the lane binding process. It can be set according to the actual application scenario and requirements, such as the nearest 3, 5 or more lane trajectory points. According to the preset number (N), the first N elements are selected from the sorted lane distance dataset, and the selected elements are combined into a new dataset, namely the candidate point set.

[0075] In this implementation, by sorting the lane distance data set and selecting only a preset number of lane trajectory points, the lane in which the vehicle is currently located can be identified more accurately, and errors or outliers, such as lane trajectory points that are not closely related to the vehicle's current position, can be eliminated. This can reduce the amount of data to be processed subsequently and improve data processing efficiency.

[0076] In a feasible implementation, the step of calculating the projection distance according to the lane trajectory point coordinates in the candidate point set and the vehicle coordinates may include steps S302 to S304:

[0077] Step S302, according to the candidate point set, obtaining the coordinates of the lane trajectory point in the candidate point set, and the coordinates of the previous lane trajectory point or the next lane trajectory point of the lane trajectory point;

[0078] Step S303, calculating a projection distance according to the lane trajectory point coordinates, the previous lane trajectory point coordinates and the vehicle coordinates; or

[0079] Step S304, calculating a projection distance according to the lane trajectory point coordinates, the subsequent lane trajectory point coordinates and the vehicle coordinates.

[0080] It should be noted that when obtaining the coordinates of a lane trajectory point in the candidate point set, the coordinates of the previous lane trajectory point or the next lane trajectory point of the lane trajectory point can be determined according to the lane information corresponding to the lane trajectory point in the candidate point set. If the coordinates of the previous lane trajectory point or the next lane trajectory point of the lane trajectory point do not belong to the candidate point set, they can be searched in combination with the lane information data set.

[0081] If the lane trajectory point is the starting trajectory point of the lane, then the next lane trajectory point adjacent to the lane trajectory point on the same lane is taken, that is, the coordinates of the next lane trajectory point; otherwise, the previous lane trajectory point adjacent to the lane trajectory point is taken, that is, the coordinates of the previous lane trajectory point.

[0082] Optionally, step S303 may include steps S3031 to S3033:

[0083] Step S3031, calculating a vector between the vehicle and the lane trajectory point coordinates, and a vector between the vehicle and the previous lane trajectory point coordinates according to the lane trajectory point coordinates, the previous lane trajectory point coordinates and the vehicle coordinates;

[0084] Step S3032, calculating the cosine value of the angle between the vehicle and the lane trajectory point coordinates and the previous lane trajectory point coordinates according to the vector between the vehicle and the lane trajectory point coordinates and the vector between the vehicle and the previous lane trajectory point coordinates;

[0085] Step S3033: Calculate the projection distance according to the cosine value of the angle, the lane trajectory point coordinates and the previous lane trajectory point coordinates.

[0086] It should be noted that the vector from the vehicle to the lane trajectory point and the vector from the vehicle to the previous lane trajectory point, as well as the vector from the lane trajectory point to the previous lane trajectory point, are calculated respectively, which can be recorded as the first vector from the lane trajectory point to the vehicle coordinates, the lane trajectory vector from the lane trajectory point to the previous lane trajectory point, and the second vector from the previous lane trajectory point to the vehicle coordinates.

[0087] After obtaining the vectors, calculate the cosine value of the angle between the first vector and the lane trajectory vector, and the cosine value of the angle between the second vector and the lane trajectory vector. The cosine value of the angle can reflect the relationship between the directions of the two vectors. Assume that the lane trajectory point is point1(x1,y1), the previous lane trajectory point is point2(x2,y2), and the vehicle coordinates are agent(p1,p2). When the cosine value of the angle between the first vector and the lane trajectory vector is less than zero, the projection distance is calculated as follows:

[0088]

[0089] When the cosine value of the angle between the first vector and the lane trajectory vector is greater than or equal to zero, the projection distance is calculated as follows:

[0090]

[0091] Wherein, cos_angle1 is the cosine value of the angle between the first vector and the lane trajectory vector.

[0092] When the cosine value of the angle between the second vector and the lane trajectory vector is less than zero, the projection distance is calculated as follows:

[0093]

[0094] When the cosine value of the angle between the second vector and the lane trajectory vector is greater than or equal to zero, the projection distance is calculated as follows:

[0095]

[0096] Wherein, cos_angle1 is the cosine value of the angle between the first vector and the lane trajectory vector.

[0097] Optionally, step S304 may include steps S3041 to S3043:

[0098] Step S3041, calculating a vector between the vehicle and the coordinates of the lane trajectory point, and a vector between the vehicle and the coordinates of the next lane trajectory point according to the coordinates of the lane trajectory point, the coordinates of the next lane trajectory point and the coordinates of the vehicle;

[0099] Step S3042, calculating the cosine value of the angle between the vehicle and the coordinates of the lane trajectory point and the coordinates of the next lane trajectory point according to the vector between the vehicle and the coordinates of the lane trajectory point and the vector between the vehicle and the coordinates of the next lane trajectory point;

[0100] Step S3043: Calculate the projection distance according to the cosine value of the angle, the coordinates of the lane trajectory point and the coordinates of the next lane trajectory point.

[0101] It should be noted that the process of calculating the projection distance between the lane trajectory point coordinates and the subsequent lane trajectory point coordinates is the same as the process of calculating the projection distance between the lane trajectory point coordinates and the previous lane trajectory point coordinates. The previous lane trajectory point coordinates are replaced by the subsequent lane trajectory point coordinates, which will not be repeated here.

[0102] In this implementation, the projection distance from the vehicle to the lane can be accurately calculated by combining the cosine value of the angle with the coordinates of the previous lane trajectory point, the coordinates of the next lane trajectory point and the vehicle coordinates. As a quantitative indicator, the projection distance can intuitively reflect the relative position relationship between the vehicle and the lane, thereby improving the accuracy of the relative position calculation between the vehicle and the lane, providing accurate data support for lane binding, and helping to improve the accuracy of lane binding.

[0103] In a feasible implementation, step S40 may include steps S401 to S404:

[0104] Step S401, comparing the projection distances to obtain a minimum projection distance;

[0105] Step S402, comparing the minimum projection distance with a preset distance threshold to obtain a comparison result;

[0106] Step S403: if the comparison result is that the minimum projection distance is less than the preset distance threshold, then obtaining lane information corresponding to the minimum projection distance;

[0107] Step S404: determining a target lane according to lane information corresponding to the minimum projection distance, and binding the vehicle to the target lane.

[0108] It should be noted that by calculating the projection distance between the vehicle and multiple lane trajectory points in the candidate point set, as well as the corresponding previous lane trajectory point coordinates or next lane trajectory point coordinates to form a lane segment, multiple projection distance values ​​are obtained. In order to determine the shortest distance from the vehicle to the entire lane, it is necessary to compare these projection distance values, find the minimum value of all projection distances, and update the minimum projection distance value in real time during vehicle driving. The minimum projection distance value is used as the projection distance from the vehicle to the lane, which will be used as the data basis for subsequent lane binding decisions.

[0109] Since lanes have a certain width, some vehicles cannot be truly bound to lanes. Even if they are bound to lanes, it is meaningless if the vehicle is far away from the lane. Therefore, a distance threshold needs to be set. The distance threshold is pre-set according to actual application requirements. Only when the minimum projection distance is less than the distance threshold, the lane trajectory point corresponding to the minimum projection distance is determined, and the lane with the lane number to which the lane trajectory point belongs is used as the lane bound to the vehicle. Therefore, the lane trajectory point corresponding to the minimum projection distance is obtained, and the bound lane is determined according to the lane identifier in the lane information corresponding to the lane trajectory point, and the vehicle is bound to the lane. Otherwise, it is determined that the vehicle has no lane to be bound, and the vehicle binding can be defined as a free lane.

[0110] In this embodiment, by comparing multiple projected distances and selecting the minimum value, the closest point of the vehicle to the entire lane is determined, which helps to improve the accuracy of lane binding. By comparing the minimum projected distance with the preset distance threshold, it is possible to accurately determine whether the proximity between the vehicle and the lane has reached the standard that the vehicle can be considered to be driving in the lane, effectively reducing the possibility of vehicle misbinding and improving the accuracy of lane binding.

[0111] The present application also provides a lane binding device, please refer to Figure 3 , the lane binding device comprises:

[0112] An acquisition module 10, used to acquire lane information and vehicle coordinates;

[0113] A data set construction module 20, configured to construct a lane distance data set according to the lane information and the distance between the lane trajectory point coordinates in the lane information and the vehicle coordinates;

[0114] A projection distance calculation module 30, for sorting and screening the lane distance data set according to the size of the distance to obtain a candidate point set, and calculating the projection distance according to the lane trajectory point coordinates in the candidate point set and the vehicle coordinates;

[0115] The lane binding module 40 is used to determine a lane that meets a preset binding condition based on the projection distance and the lane information in the candidate point set, and bind the vehicle to the lane.

[0116] The lane binding device provided in the embodiment of the present application adopts the lane binding method in the above embodiment to solve the technical problem of lane binding. Compared with the prior art, the beneficial effects of the lane binding device provided in the embodiment of the present application are the same as the beneficial effects of the lane binding method provided in the above embodiment, and the other technical features in the lane binding device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0117] The present application provides a lane binding device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the lane binding method in the above-mentioned embodiment one.

[0118] Reference below Figure 4 , which shows a schematic diagram of the structure of a lane binding device suitable for implementing the embodiment of the present application. The lane binding device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The lane binding device shown is merely an example and should not bring any limitation to the functionality and scope of use of the embodiments of the present application.

[0119] like Figure 4As shown, the lane binding device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the lane binding device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the lane binding device to communicate wirelessly or wired with other devices to exchange data. Although the lane binding device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0120] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0121] The lane binding device provided by the present application adopts the lane binding method in the above embodiment to solve the technical problem of lane binding. Compared with the prior art, the beneficial effects of the lane binding device provided by the present application are the same as the beneficial effects of the lane binding method provided by the above embodiment, and the other technical features in the lane binding device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0122] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0123] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0124] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the lane binding method in the above-mentioned embodiment.

[0125] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0126] The computer-readable storage medium may be included in the lane binding device; or may exist independently without being assembled into the lane binding device.

[0127] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the lane binding device, the lane binding device: obtains lane information and vehicle coordinates; constructs a lane distance data set based on the lane information and the distance between the lane trajectory point coordinates in the lane information and the vehicle coordinates; sorts and filters the lane distance data set according to the size of the distance to obtain a candidate point set, and calculates the projection distance based on the lane trajectory point coordinates in the candidate point set and the vehicle coordinates; determines the lane that meets the preset binding conditions based on the projection distance and the lane information in the candidate point set, and binds the vehicle to the lane.

[0128] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0129] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0130] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0131] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above lane binding method, and can solve the technical problem of lane binding. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the lane binding method provided in the above embodiment, and will not be repeated here.

[0132] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A lane binding method, characterized in that: The lane binding method comprises: Get lane information and vehicle coordinates; Constructing a lane distance data set according to the lane information and the distance between the lane trajectory point coordinates in the lane information and the vehicle coordinates; Sorting and screening the lane distance data set according to the size of the distance to obtain a candidate point set, and calculating the projection distance according to the lane trajectory point coordinates in the candidate point set and the vehicle coordinates; A lane that meets a preset binding condition is determined based on the projection distance and the lane information in the candidate point set, and the vehicle is bound to the lane.

2. The method according to claim 1, characterized in that The step of constructing a lane distance data set according to the lane information and the distance between the lane trajectory point coordinates in the lane information and the vehicle coordinates comprises: Calculating the distance from the vehicle coordinates to the lane trajectory point coordinates, and obtaining a distance data set according to the lane trajectory point coordinates and the distance; According to the lane information, lane information corresponding to the lane trajectory points in the distance data set is obtained, and the lane information is sorted based on the arrangement order of the distances in the distance data set to obtain a lane information data set; A lane distance dataset is obtained according to the distance dataset and the lane information dataset.

3. The method according to claim 1, characterized in that The step of sorting and screening the lane distance data set according to the size of the distance to obtain a candidate point set includes: The lane distance data set is sorted according to the size of the distance, and a preset number of lane trajectory points and lane information corresponding to the lane trajectory points are selected to obtain a candidate point set.

4. The method according to claim 3, characterized in that The step of calculating the projection distance according to the lane trajectory point coordinates in the candidate point set and the vehicle coordinates comprises: According to the candidate point set, obtaining the coordinates of the lane trajectory point in the candidate point set, and the coordinates of the previous lane trajectory point or the next lane trajectory point of the lane trajectory point; Calculate the projection distance according to the lane trajectory point coordinates, the previous lane trajectory point coordinates and the vehicle coordinates; or The projection distance is calculated according to the lane trajectory point coordinates, the subsequent lane trajectory point coordinates and the vehicle coordinates.

5. The method according to claim 4, characterized in that The step of calculating the projection distance according to the lane trajectory point coordinates, the previous lane trajectory point coordinates and the vehicle coordinates comprises: Calculating a vector between the vehicle and the lane trajectory point coordinates, and a vector between the vehicle and the previous lane trajectory point coordinates according to the lane trajectory point coordinates, the previous lane trajectory point coordinates and the vehicle coordinates; Calculating the cosine value of the angle between the vehicle and the lane trajectory point coordinates and the previous lane trajectory point coordinates according to the vector between the vehicle and the lane trajectory point coordinates and the vector between the vehicle and the previous lane trajectory point coordinates; The projection distance is calculated according to the cosine value of the angle, the lane trajectory point coordinates and the previous lane trajectory point coordinates.

6. The method according to claim 4, characterized in that The step of calculating the projection distance according to the lane trajectory point coordinates, the subsequent lane trajectory point coordinates and the vehicle coordinates comprises: Calculating a vector between the vehicle and the lane trajectory point coordinates, and a vector between the vehicle and the lane trajectory point coordinates, according to the lane trajectory point coordinates, the subsequent lane trajectory point coordinates and the vehicle coordinates; Calculating the cosine value of the angle between the vehicle and the coordinates of the lane trajectory point and the coordinates of the next lane trajectory point according to the vector between the vehicle and the coordinates of the lane trajectory point and the vector between the vehicle and the coordinates of the next lane trajectory point; The projection distance is calculated according to the cosine value of the angle, the coordinates of the lane trajectory point and the coordinates of the subsequent lane trajectory point.

7. The method according to claim 1, characterized in that The step of determining a lane that meets a preset binding condition based on the projection distance and the lane information in the candidate point set, and binding the vehicle to the lane comprises: Comparing the projection distances to obtain a minimum projection distance; Compare the minimum projection distance with a preset distance threshold to obtain a comparison result; If the comparison result is that the minimum projection distance is less than the preset distance threshold, then obtaining lane information corresponding to the minimum projection distance; A target lane is determined according to lane information corresponding to the minimum projection distance, and the vehicle is bound to the target lane.

8. A lane binding device, characterized in that: The lane binding device comprises: An acquisition module, used to obtain lane information and vehicle coordinates; A data set construction module, used to construct a lane distance data set according to the lane information and the distance between the lane trajectory point coordinates in the lane information and the vehicle coordinates; A projection distance calculation module, used to sort and filter the lane distance data set according to the size of the distance to obtain a candidate point set, and calculate the projection distance according to the lane trajectory point coordinates in the candidate point set and the vehicle coordinates; A lane binding module is used to determine a lane that meets a preset binding condition based on the projection distance and the lane information in the candidate point set, and bind the vehicle to the lane.

9. A lane binding device, characterized in that: The lane binding device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the lane binding method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the lane binding method according to any one of claims 1 to 7 are implemented.

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