Method, device and equipment for identifying road type of own vehicle, and storage medium

Abstract

The invention discloses a method, device and equipment for identifying the road type of a vehicle, and a storage medium, relates to the technical field of scene identification, and discloses identification of the road type of the vehicle, and the method comprises the steps: obtaining the driving speed of the vehicle and the environment information of the road of the vehicle; based on the driving speed and marker information and road information in the environment information, whether the vehicle is located on a highway is judged; if the vehicle is not on the expressway, the road where the vehicle is located is recognized again based on intersection information and pedestrian information in the environment information, and the type of the road where the vehicle is located is determined. Namely, whether the vehicle is located on the expressway is judged according to the vehicle information, the marker features in the environment information of the vehicle and the road information of the road where the vehicle is located, then the road where the vehicle is located is recognized again according to the intersection information and the pedestrian information in the environment information, and the type of the road where the vehicle is located is accurately determined. And thus, the accuracy of identifying the type of the road where the vehicle is located is improved.

Description

Technical Field

[0001] The present application relates to the field of scene recognition technology, and in particular to a method, device, equipment and storage medium for identifying the type of road on which a vehicle is located. Background Art

[0002] Pilot assistance has different functional performances in highway and urban scenarios, such as a wider range of speeds allowed on highways and a smaller range of speeds allowed in urban areas, and different requirements for lane changes on highways and in urban areas. Therefore, it is necessary to distinguish whether the vehicle is in a highway / expressway or urban scenario.

[0003] At present, the recognition of highways and urban areas is done by collecting the surrounding environment of the vehicle through the camera and various sensors on the vehicle, and then analyzing the lane lines, traffic signs, obstacles and pedestrians in the surrounding environment to identify whether the vehicle is on a highway or in an urban area. However, when identifying roads, urban roads have more obvious characteristics, so urban roads can usually be well identified, and non-urban roads are all identified as highways, which reduces the accuracy of the road category where the vehicle is located.

[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 an invention name, which aims to solve the technical problem of identifying non-urban roads as highways, thereby reducing the accuracy of the road category where the vehicle is located.

[0006] To achieve the above purpose, the present application proposes a method for identifying the type of road on which the vehicle is located, the method comprising:

[0007] Obtaining the driving speed of the vehicle and environmental information of the road where the vehicle is located;

[0008] Based on the driving speed and the landmark information and road information in the environmental information, determining whether the vehicle is located on a highway;

[0009] If the vehicle is not on the highway, the road where the vehicle is located is re-identified based on the intersection information and pedestrian information in the environmental information to determine the type of road where the vehicle is located.

[0010] In one embodiment, the step of determining whether the vehicle is located on a highway based on the driving speed and the landmark information and road information in the environmental information includes:

[0011] Extracting the landmark information and the road information on the road from the environmental information;

[0012] Based on the marker information, density analysis is performed on the markers on the road to determine the interval distance between the markers on the road;

[0013] Based on the road information, identifying lane attributes of the road, and determining lane attributes of each lane on the road;

[0014] Determining whether the road is a highway according to the interval distance and the lane attribute;

[0015] If it is the expressway, then the road is reviewed based on the driving speed;

[0016] If the review result is that the driving speed is equal to the minimum prescribed speed of the expressway, it is determined that the vehicle is located on the expressway.

[0017] In one embodiment, the lane attribute includes an expressway attribute, and the step of identifying the lane attribute of the road based on the road information and determining the lane attribute of each lane in the road includes:

[0018] Extracting lane lines of each lane in the road from the road information;

[0019] Based on each of the lane lines, determining whether there is a vehicle indication line on the road;

[0020] If there is no vehicle indicator line, determining whether the lane width of each lane satisfies a preset width;

[0021] If the lane width satisfies the preset width, it is determined that the lane satisfies the expressway attribute.

[0022] In one embodiment, the step of determining whether the road is a highway based on the interval distance and the lane attribute includes:

[0023] Determining whether the interval distance satisfies the prescribed distance of the marker on the highway;

[0024] If the interval distance satisfies the specified distance and the lane attribute is an expressway attribute, it is determined that the road is an expressway.

[0025] In one embodiment, the road type includes an urban road. If the vehicle is not on the highway, the road is re-identified based on the intersection information and pedestrian information in the environmental information. The step of determining the road type of the vehicle includes:

[0026] If it is determined that the vehicle is not on the highway, detecting whether there is intersection information and pedestrian information in the environmental information;

[0027] If the intersection information and the pedestrian information exist, determining whether there is a sidewalk on the road;

[0028] If it is determined that there is a sidewalk in the road, then the type of the road where the vehicle is located is determined to be an urban road.

[0029] In one embodiment, the road type includes a national highway, and if the intersection information and the pedestrian information exist, the step of determining whether there is a sidewalk on the road further includes:

[0030] If the sidewalk does not exist, detecting whether there is a separation zone and a corrugated guardrail in the environmental information;

[0031] If the isolation strip and / or the corrugated guardrail exist, it is determined that the road type where the vehicle is located is a national highway.

[0032] In one embodiment, the road type further includes a first-class highway and a second-class highway. If it is determined that the vehicle is not on a highway, the step of detecting whether there is intersection information and pedestrian information in the environmental information further includes:

[0033] If the intersection information exists but the pedestrian information does not exist, identifying the indication information of the sign and determining whether the driving speed is greater than a preset highway speed;

[0034] If the driving speed is greater than the preset highway speed, it is determined that the vehicle is on a first-class highway or a second-class highway;

[0035] identifying whether the indication information contains a driving restriction indication;

[0036] If the driving restriction indication exists, determining that the road type where the vehicle is located is a secondary road;

[0037] If the driving restriction indication does not exist, it is determined that the road type where the vehicle is located is a first-class highway.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a device for identifying the type of road where the vehicle is located, and the device for identifying the type of road where the vehicle is located includes:

[0039] An acquisition module, used to acquire the driving speed of the vehicle and the environmental information of the road where the vehicle is located;

[0040] A first recognition module, used for judging whether the vehicle is located on a highway based on the driving speed and the marker information and the road information in the environmental information;

[0041] The second recognition module is used to re-recognize the road on which the vehicle is located based on the intersection information and pedestrian information in the environmental information if the vehicle is not on the highway, so as to determine the type of road on which the vehicle is located.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a device for identifying the type of road where the vehicle is located, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the method for identifying the type of road where the vehicle is located as described above.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the method for identifying the type of road where the vehicle is located are implemented as described above.

[0044] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the method for identifying the type of road where the vehicle is located as described above.

[0045] One or more technical solutions proposed in this application have at least the following technical effects:

[0046] Using the collected vehicle information and the features of landmarks in the vehicle's environment information and the road information of the road on which the vehicle is located, an initial judgment is made on the road on which the vehicle is located to determine whether the vehicle is on a highway. If it is determined that the vehicle is not on a highway, it is necessary to re-identify and judge the road based on the intersection information and pedestrian information in the environment information to avoid directly judging non-highways as urban roads, and to avoid preferentially identifying urban roads and judging non-urban roads as highways. By re-identifying non-highway roads, the type of road on which the vehicle is located can be accurately determined, thereby improving the accuracy of identifying the type of road on which the vehicle is located. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] 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.

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in 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.

[0049] Figure 1 A flowchart diagram of a first embodiment of a method for identifying the type of road on which a vehicle is located in the present application;

[0050] Figure 2 A flowchart diagram of a second embodiment of a method for identifying the type of road on which a vehicle is located in the present application;

[0051] Figure 3 A flowchart diagram of a third embodiment of a method for identifying the type of road on which a vehicle is located in the present application;

[0052] Figure 4 This is a schematic diagram of the module structure of a device for identifying the type of road on which a vehicle is located according to an embodiment of the present application;

[0053] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the method for identifying the type of road on which the vehicle is located in the embodiment of the present application.

[0054] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] 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.

[0056] 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.

[0057] The main solution of the embodiment of the present application is: the vehicle control device obtains the driving speed of the vehicle and the environmental information of the road where the vehicle is located; based on the driving speed and the landmark information and road information in the environmental information, it is determined whether the vehicle is on the highway; if the vehicle is not on the highway, based on the intersection information and pedestrian information in the environmental information, the road is re-identified to determine the type of road where the vehicle is located.

[0058] In this embodiment, for the convenience of description, the following description is made with the vehicle control device as the execution subject.

[0059] At present, the recognition of highways and urban areas is done by collecting the surrounding environment of the vehicle through the camera and various sensors on the vehicle, and then analyzing the lane lines, traffic signs, obstacles and pedestrians in the surrounding environment to identify whether the vehicle is on a highway or in an urban area. However, when identifying roads, urban roads have more obvious characteristics, so urban roads can usually be well identified, and non-urban roads are all identified as highways, which reduces the accuracy of the road category where the vehicle is located.

[0060] The present application provides a solution, which utilizes the collected information about the vehicle and the features of landmarks in the environment information where the vehicle is located and the road information of the road on which the vehicle is located to make an initial judgment on the road on which the vehicle is located, so as to determine whether the vehicle is located on a highway. If it is determined that the vehicle is not on a highway, it is necessary to re-identify and judge the road based on the intersection information and pedestrian information in the environment information, so as to avoid directly judging a non-highway as an urban road, and avoid preferentially identifying an urban road and judging a non-urban road as a highway. By re-identifying the non-highway road, the type of road on which the vehicle is located can be accurately determined, thereby improving the accuracy of identifying the type of road on which the vehicle is located.

[0061] It should be noted that the execution subject of this embodiment may be 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 an electronic device capable of realizing the above functions, a vehicle control device, etc. The following takes a vehicle control device as an example to illustrate this embodiment and the following embodiments.

[0062] Based on this, the embodiment of the present application provides a method for identifying the type of road on which the vehicle is located. Figure 1 , Figure 1 This is a flow chart of the first embodiment of the method for identifying the type of road where the vehicle is located in the present application.

[0063] In this embodiment, the method for identifying the type of road on which the vehicle is located includes steps S10 to S30:

[0064] Step S10, obtaining the driving speed of the vehicle and the environmental information of the road where the vehicle is located;

[0065] It should be noted that the driving speed is the speed at which the vehicle is traveling on the road, which can be the average speed of the vehicle on the road for a period of time. The road is the road on which the vehicle is currently traveling, which can be a single-lane road or a multi-lane road. Environmental information includes but is not limited to lane line information, marker information, vehicle information of nearby vehicles, number of lanes, and guardrail information on the road.

[0066] In a specific implementation, when it is necessary to identify the type of road the vehicle is on, the average speed of the vehicle over a period of time collected by the vehicle speed sensor in the vehicle is obtained, and the environmental information around the vehicle collected by various radar sensors and visual sensors in the vehicle is obtained. The environmental information can be information around the vehicle over a period of time, which can avoid using data at a certain moment to identify the road the vehicle is on, avoid the driving speed and environmental information being information with emergencies, and thus avoid the suddenness of subsequent identification of the type of road the vehicle is on.

[0067] Step S20, judging whether the vehicle is located on a highway based on the driving speed and the landmark information and road information in the environmental information;

[0068] It should be noted that landmarks are various signs and markings on the road, such as driving restriction signs, driving reminder signs, etc. Road information refers to information such as the number of lanes, road width, curvature, slope, etc. Expressways are roads with multiple lanes, central dividers, entrance and exit controls, speed limit signs, etc., including expressways and expressways with toll booths.

[0069] It is understandable that since highways require vehicles to travel at a faster speed, with a minimum speed of 60 kilometers per hour, in order to enable users driving on highways to clearly see the markers, the distance between markers set on highways will be greater than the distance between markers on non-highways. Therefore, the information from the markers can be used to accurately identify whether the vehicle is on the highway.

[0070] It is understandable that due to the high speed of vehicles on highways, airflow will be generated during high-speed driving to attract vehicles in adjacent lanes. In order to avoid a large mutual influence between vehicles in two adjacent lanes during driving, there are obvious differences between lanes on highways and non-highway lanes. Therefore, it is possible to accurately identify whether the vehicle is on a highway based on road information.

[0071] It can be understood that by comprehensively judging whether the vehicle is on a highway through landmark information and road information, it is possible to avoid the situation where a certain information is emergency information, and still accurately identify whether the road where the vehicle is located is a highway, thereby improving the accuracy of highway identification.

[0072] Step S30: If the vehicle is not on the highway, the road is re-identified based on the intersection information and pedestrian information in the environmental information to determine the type of road the vehicle is on.

[0073] It should be noted that intersection information refers to information about forks on the road, such as the location, shape, traffic signals, zebra crossings, left turn lines, and straight ahead lines of the intersection. Pedestrian information refers to information about pedestrians walking and riding on the road, such as the location, moving direction, speed, etc. Road types include expressways and urban roads, and urban roads also include national highways, urban roads, first-class highways, and second-class highways.

[0074] It can be understood that when the vehicle is not on a highway, it can be determined that the type of road the vehicle is on is a non-highway road. Since non-highway roads can be further divided into a variety of different road types, the type of non-highway road the vehicle is on can be further determined based on intersection information and pedestrian information.

[0075] It is understandable that since non-motor vehicles and walking are prohibited on highways, and when identifying the category of non-highway roads, different types of roads have different regulations on forks in the road, and the pedestrian information on the road is also different, therefore, the type of non-highway road where the vehicle is located can be further identified based on the intersection information and pedestrian information, so as to improve the detail and accuracy of the identification of the type of road where the vehicle is located.

[0076] The present embodiment provides a method for identifying the type of road where the vehicle is located. The method uses the collected vehicle information and the characteristics of landmarks in the vehicle's environment information and the road information of the road to make an initial judgment on the road where the vehicle is located to determine whether the vehicle is on a highway. If it is determined that the vehicle is not on a highway, it is necessary to re-identify and judge the road based on the intersection information and pedestrian information in the environment information to avoid directly determining a non-highway as an urban road, and to avoid preferentially identifying an urban road and determining a non-urban road as a highway. By re-identifying the non-highway road, the type of road where the vehicle is located can be accurately determined, thereby improving the accuracy of identifying the type of road where the vehicle is located.

[0077] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 2 , step S20 includes steps S21 to S26:

[0078] Step S21, extracting the landmark information and road information on the road from the environmental information;

[0079] Step S22, based on the marker information, performing density analysis on the markers on the road to determine the interval distance between the markers on the road;

[0080] Step S23, based on the road information, identifying the lane attributes of the road, and determining the lane attributes of each lane in the road;

[0081] Step S24, judging whether the road is a highway according to the interval distance and the lane attribute;

[0082] Step S25, if it is the expressway, then reviewing the road based on the driving speed;

[0083] Step S26: If the review result is that the driving speed is equal to the minimum prescribed speed of the expressway, it is determined that the vehicle is located on the expressway.

[0084] It should be noted that density analysis refers to the analysis of the distribution and spacing of markers on the road. Since different types of roads have different requirements for the spacing between markers, the type of road can be determined by analyzing the density between markers. The spacing is the distance between adjacent markers on the road. Due to different types of roads, the spacing between markers is different. For example, on highways, due to the high speed of the vehicle, the spacing between markers will be farther than that on urban roads. Lane attributes are the specific characteristics of the lane, including but not limited to the width of the lane, whether overtaking is allowed, whether there is a speed requirement, and whether it is an emergency lane. Review is the process of reconfirming the results of the previous judgment. After determining whether the vehicle is on the highway, the accuracy of the judgment can be further improved by reviewing whether the driving speed meets the minimum speed required for the highway.

[0085] It is understandable that since the signs and roads used on highways and urban roads are obviously different, and the speed limits for vehicles on highways and urban roads are also different, therefore, by comprehensively analyzing the sign information and road information, combined with the vehicle's speed, it is possible to more accurately distinguish between highways and urban roads, and reduce misjudgment and inaccurate identification of the type of road the vehicle is on.

[0086] It can be understood that by analyzing the interval distance between the landmarks on the road where the vehicle is located and the lane attributes of the lane, it is comprehensively identified whether the vehicle is on the highway based on the interval distance between the landmarks and the lane attributes to ensure the accuracy of the recognition result. In order to reduce misjudgment and misidentification, after the judgment result is obtained based on the interval distance and lane attributes, the initial judgment result is reviewed by comparing the driving speed with the minimum prescribed speed of the highway to further improve the accuracy of the recognition result.

[0087] Furthermore, the lane attribute includes an expressway attribute, and step S23 further includes:

[0088] Extracting lane lines of each lane in the road from the road information;

[0089] Based on each of the lane lines, determining whether there is a vehicle indication line on the road;

[0090] If there is no vehicle indicator line, determining whether the lane width of each lane satisfies a preset width;

[0091] If the lane width satisfies the preset width, it is determined that the lane satisfies the expressway attribute.

[0092] It should be noted that lane lines are markings on the road used to divide different lanes, as well as vehicle indicator lines used to indicate the direction or position of vehicles, such as turn lane lines and bus lane lines. Lane width is the width of a single lane, that is, the distance from the edge of one side of the lane to the edge of the other side. The preset width is the standard value of the lane width specified based on factors such as road type, traffic flow, and vehicle speed. Expressway attributes are roads designed for high-speed driving, with fewer intersections and higher traffic capacity. Expressways include but are not limited to highways and urban elevated roads, which are roads with wide lanes, high minimum speeds, and large traffic flows.

[0093] It is understandable that since there are fewer intersections on highways and the speed of vehicles is faster, signs are usually used to guide drivers in the direction of their destinations, and vehicle indicator lines are not needed on lanes. In cities, due to the low speed of vehicles and limited aerial vision, vehicle indicator lines will be drawn on the road. Therefore, when it is determined that there are no vehicle indicator lines on the road, it can be determined that the road where the vehicle is located is not an urban road. Since there may not be vehicle indicator lines on national highways, it is necessary to further determine whether the road where the vehicle is located is a highway based on the lane width. Since national highways may pass through villages or cities, the speed of vehicles on national highways is lower than that of vehicles on highways, and the width of each lane will also be smaller than the lane width of each lane on the highway. Therefore, when it is determined that the lane width meets the preset width, it is determined that the lane has the attributes of an expressway, thereby improving the accuracy of determining whether the lane where the vehicle is located is a highway.

[0094] Furthermore, step S24 further includes:

[0095] Determining whether the interval distance satisfies the prescribed distance of the marker on the highway;

[0096] If the interval distance satisfies the specified distance and the lane attribute is an expressway attribute, it is determined that the road is an expressway.

[0097] It should be noted that the prescribed distance is the minimum distance required for the placement of landmarks on the highway.

[0098] It is understandable that since the distance between landmarks can be used to determine whether the road the vehicle is on is a highway, in order to avoid special circumstances, the lane attributes are combined to avoid special circumstances, thereby improving the accuracy of identifying whether the road the vehicle is on is a highway.

[0099] Based on the first and second embodiments of the present application, in the third embodiment of the present application, the same or similar contents as those in the above embodiments can be referred to the above introduction, and will not be described in detail later. Figure 3 , step S30 also includes steps S01 to S03:

[0100] Step S01, if it is determined that the vehicle is not on the highway, then detecting whether there is intersection information and pedestrian information in the environmental information;

[0101] Step S02, if the intersection information and the pedestrian information exist, determine whether there is a sidewalk on the road;

[0102] Step S03: If it is determined that there is a sidewalk on the road, then the type of the road where the vehicle is located is determined to be an urban road.

[0103] It should be noted that the sidewalk is a walking area on the road set aside for pedestrians, usually located on both sides of the road, separated from other parts by curbs or guardrails. Urban roads refer to roads located in urban areas. They usually have more intersections, sidewalks, traffic lights and pedestrian activities, with relatively low vehicle speeds and large traffic volumes.

[0104] It is understandable that when it is determined that the vehicle is not on a highway, in order to more accurately determine the type of road the vehicle is on, it is also necessary to further determine whether the road is an urban road based on the intersection information and pedestrian information. Since urban roads have the characteristics of many intersections, many pedestrians and complex pedestrian activities, therefore, determining the presence of intersection information and pedestrian information in the environmental information can preliminarily determine whether the road is an urban road and a national highway. Since there may be a small number of non-motor vehicles, pedestrians and intersections on national highways, but there are generally no sidewalks on national highways, therefore, it is possible to further determine whether the road is an urban road or a national highway based on whether there are sidewalks on the road, so as to make a more refined type classification of the road.

[0105] Optionally, after step S02, the method further includes:

[0106] If the sidewalk does not exist, detecting whether there is a separation zone and a corrugated guardrail in the environmental information;

[0107] If the isolation strip and / or the corrugated guardrail exist, it is determined that the road type where the vehicle is located is a national highway.

[0108] It should be noted that the median is a facility on the road used to separate different directions or different types of traffic, usually composed of green belts, isolation fences, isolation piers, etc. The corrugated guardrail is a safety facility used to protect vehicles and pedestrians from traffic accidents. It is usually composed of corrugated steel plates and columns, installed on the edge of the road or on the central median. National highways refer to national trunk roads, which are the main roads connecting major cities, important economic zones and transportation hubs across the country. National highways usually have higher traffic capacity and more complete traffic facilities, such as median belts, corrugated guardrails, traffic lights, etc.

[0109] It is understandable that since the vehicles on the national highway generally travel at a faster speed and there may be farmlands, cliffs or isolation belts on both sides of the national highway, in order to ensure that the vehicles on the national highway do not run off the road, corrugated guardrails are usually installed on both sides of the national highway. Therefore, when it is determined that there is no sidewalk on the road, it is possible to further determine whether there are isolation belts and corrugated guardrails in the collected environmental information to determine whether the road where the vehicle is located is a national highway.

[0110] Optionally, after step S01, the method further includes:

[0111] If the intersection information exists but the pedestrian information does not exist, identifying the indication information of the sign and determining whether the driving speed is greater than a preset highway speed;

[0112] If the driving speed is greater than the preset highway speed, it is determined that the vehicle is on a first-class highway or a second-class highway;

[0113] identifying whether the indication information contains a driving restriction indication;

[0114] If the driving restriction indication exists, determining that the road type where the vehicle is located is a secondary road;

[0115] If the driving restriction indication does not exist, it is determined that the road type where the vehicle is located is a first-class highway.

[0116] It should be noted that the preset highway speed is a speed threshold pre-set based on factors such as the road type. A first-class highway is a high-grade highway, usually with wider lanes, complete traffic facilities and a higher traffic capacity. A second-class highway is a lower-grade highway compared to a first-class highway, but it still has a certain traffic capacity and traffic facilities. The speed on a second-class highway may be relatively slow. Driving restriction indications refer to specific restrictions or requirements on vehicle driving provided on signs, such as speed limits, prohibition of overtaking, prohibition of certain types of vehicles, etc.

[0117] It is understandable that since first-class highways and second-class highways are highways serving automobiles, there may be less pedestrian information on such highways. Therefore, when it is determined that there is intersection information in the environmental information but no pedestrian information (less than a preset number of pedestrians can be determined as no pedestrians), the indication information of the signs and the driving speed are used to further determine whether the road the vehicle is on is a first-class highway or a second-class highway.

[0118] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the method for identifying the type of road on which the vehicle is located in the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0119] This application also provides a device for identifying the type of road the vehicle is on. Figure 4 , the device for identifying the type of road on which the vehicle is located comprises:

[0120] An acquisition module 10 is used to acquire the driving speed of the vehicle and the environmental information of the road where the vehicle is located;

[0121] A first recognition module 20, configured to determine whether the vehicle is located on a highway based on the driving speed and the landmark information and the road information in the environmental information;

[0122] The second recognition module 30 is used to re-recognize the road on which the vehicle is located based on the intersection information and pedestrian information in the environmental information if the vehicle is not on the highway, so as to determine the type of road on which the vehicle is located.

[0123] Optionally, the first identification module 20 is also used to extract the marker information and road information on the road from the environmental information; based on the marker information, perform density analysis on the markers on the road to determine the interval distance between the markers on the road; based on the road information, identify the lane attributes of the road to determine the lane attributes of each lane on the road; based on the interval distance and the lane attributes, determine whether the road is a highway; if it is a highway, review the road based on the driving speed; if the review result is that the driving speed is equal to the minimum specified speed of the highway, it is determined that the vehicle is located on the highway.

[0124] Optionally, the first recognition module 20 is also used to extract lane lines of each lane in the road from the road information; based on each lane line, determine whether there is a vehicle indicator line on the road; if there is no vehicle indicator line, determine whether the lane width of each lane meets the preset width; if the lane width meets the preset width, determine that the lane meets the expressway attributes.

[0125] Optionally, the first recognition module 20 is further used to determine whether the interval distance meets the specified distance of the marker on the highway; if the interval distance meets the specified distance and the lane attribute is an expressway attribute, it is determined that the road is a highway.

[0126] Optionally, the road type includes an urban road;

[0127] The second recognition module 30 is further used to detect whether there is intersection information and pedestrian information in the environmental information if it is determined that the vehicle is not on a highway; if the intersection information and the pedestrian information exist, determine whether there is a sidewalk on the road; if it is determined that there is a sidewalk on the road, determine that the type of road where the vehicle is located is an urban road.

[0128] Optionally, the road type also includes a national highway;

[0129] The second recognition module 30 is further used to detect whether there is a separation zone and a corrugated guardrail in the environmental information if the sidewalk does not exist; if the separation zone and / or the corrugated guardrail exist, determine that the road type where the vehicle is located is a national highway.

[0130] Optionally, the road types also include first-class highways and second-class highways;

[0131] The second recognition module 30 is also used to identify the indication information of the sign if the intersection information exists and the pedestrian information does not exist, and determine whether the driving speed is greater than the preset highway speed; if the driving speed is greater than the preset highway speed, determine whether the vehicle is on a first-class highway or a second-class highway; identify whether the indication information contains a driving restriction indication; if the driving restriction indication exists, determine that the type of road the vehicle is on is a second-class highway; if the driving restriction indication does not exist, determine that the type of road the vehicle is on is a first-class highway.

[0132] The device for identifying the type of road where the vehicle is located provided by the present application adopts the method for identifying the type of road where the vehicle is located in the above-mentioned embodiment, which can solve the technical problem of identifying all non-urban roads as expressways, thereby reducing the accuracy of the road category where the vehicle is located. Compared with the prior art, the beneficial effects of the device for identifying the type of road where the vehicle is located provided by the present application are the same as the beneficial effects of the method for identifying the type of road where the vehicle is located provided by the above-mentioned embodiment, and the other technical features of the device for identifying the type of road where the vehicle is located are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0133] The present application provides a device for identifying the type of road where the vehicle is located, and the device for identifying the type of road where the vehicle is located 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 method for identifying the type of road where the vehicle is located in the above-mentioned embodiment one.

[0134] Reference below Figure 5 , which shows a schematic diagram of the structure of a device for identifying the type of road where the vehicle is located, which is suitable for implementing the embodiment of the present application. The device for identifying the type of road where the vehicle is located 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 5 The device for identifying the type of road on which the vehicle is located is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0135] like Figure 5As shown, the device for identifying the type of road on which the vehicle is located may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, 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. Various programs and data required for the operation of the device for identifying the type of road on which the vehicle is located are also stored in RAM1004. 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 may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the device for identifying the type of road on which the vehicle is located to communicate wirelessly or wired with other devices to exchange data. Although the figure shows the device for identifying the type of road on which the vehicle is located with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0136] 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.

[0137] The device for identifying the type of road where the vehicle is located provided by the present application adopts the method for identifying the type of road where the vehicle is located in the above-mentioned embodiment, which can solve the technical problem of identifying all non-urban roads as expressways, thereby reducing the accuracy of the type of road where the vehicle is located. Compared with the prior art, the beneficial effects of the device for identifying the type of road where the vehicle is located provided by the present application are the same as the beneficial effects of the method for identifying the type of road where the vehicle is located provided by the above-mentioned embodiment, and the other technical features of the device for identifying the type of road where the vehicle is located are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0138] 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.

[0139] 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.

[0140] 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 method for identifying the type of road on which the vehicle is located in the above-mentioned embodiment.

[0141] 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.

[0142] The computer-readable storage medium may be included in the device for identifying the type of road on which the vehicle is located; or may exist independently without being assembled into the device for identifying the type of road on which the vehicle is located.

[0143] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by a device for identifying the type of road on which the vehicle is located, the device for identifying the type of road on which the vehicle is located: obtains the vehicle's driving speed and environmental information of the road on which the vehicle is located; determines whether the vehicle is located on a highway based on the driving speed and the landmark information and road information in the environmental information; if the vehicle is not on the highway, re-identifies the road based on the intersection information and pedestrian information in the environmental information to determine the type of road on which the vehicle is located.

[0144] 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).

[0145] 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.

[0146] 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.

[0147] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method for identifying the type of road where the vehicle is located, and can solve the technical problem of identifying all non-urban roads as expressways, thereby reducing the accuracy of the road category where the vehicle is located. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the method for identifying the type of road where the vehicle is located provided by the above-mentioned embodiment, and will not be repeated here.

[0148] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for identifying the type of road where the vehicle is located.

[0149] The computer program product provided by the present application can solve the technical problem of identifying all non-urban roads as expressways, thereby reducing the accuracy of the road type where the vehicle is located. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the method for identifying the type of road where the vehicle is located provided by the above embodiment, and will not be repeated here.

[0150] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for identifying the type of road on which a vehicle is located, characterized in that: The method includes: Obtaining the driving speed of the vehicle and environmental information of the road where the vehicle is located; Based on the driving speed and the landmark information and road information in the environmental information, determining whether the vehicle is located on a highway; If the vehicle is not on the highway, the road where the vehicle is located is re-identified based on the intersection information and pedestrian information in the environmental information to determine the type of road where the vehicle is located.

2. The method according to claim 1, characterized in that The step of determining whether the vehicle is located on a highway based on the driving speed and the landmark information and road information in the environmental information comprises: Extracting the landmark information and the road information on the road from the environmental information; Based on the marker information, density analysis is performed on the markers on the road to determine the interval distance between the markers on the road; Based on the road information, identifying lane attributes of the road, and determining lane attributes of each lane on the road; Determining whether the road is a highway according to the interval distance and the lane attribute; If it is the expressway, then the road is reviewed based on the driving speed; If the review result is that the driving speed is equal to the minimum prescribed speed of the expressway, it is determined that the vehicle is located on the expressway.

3. The method according to claim 2, characterized in that The lane attribute includes an expressway attribute. The step of identifying the lane attribute of the road based on the road information and determining the lane attribute of each lane in the road includes: Extracting lane lines of each lane in the road from the road information; Based on each of the lane lines, determining whether there is a vehicle indication line on the road; If there is no vehicle indicator line, determining whether the lane width of each lane satisfies a preset width; If the lane width satisfies the preset width, it is determined that the lane satisfies the expressway attribute.

4. The method according to claim 3, characterized in that The step of determining whether the road is a highway according to the interval distance and the lane attribute comprises: Determining whether the interval distance satisfies the prescribed distance of the marker on the highway; If the interval distance satisfies the specified distance and the lane attribute is an expressway attribute, it is determined that the road is an expressway.

5. The method according to claim 1, characterized in that The road type includes an urban road. If the vehicle is not on the highway, the road is re-identified based on the intersection information and pedestrian information in the environmental information to determine the road type of the vehicle, including: If it is determined that the vehicle is not on the highway, detecting whether there is intersection information and pedestrian information in the environmental information; If the intersection information and the pedestrian information exist, determining whether there is a sidewalk on the road; If it is determined that there is a sidewalk in the road, then the type of the road where the vehicle is located is determined to be an urban road.

6. The method according to claim 5, characterized in that The road type includes a national highway, and if the intersection information and the pedestrian information exist, the step of determining whether there is a sidewalk on the road further includes: If the sidewalk does not exist, detecting whether there is a separation zone and a corrugated guardrail in the environmental information; If the isolation strip and / or the corrugated guardrail exist, it is determined that the road type where the vehicle is located is a national highway.

7. The method according to claim 5, characterized in that The road types also include first-class highways and second-class highways. If it is determined that the vehicle is not on a highway, the step of detecting whether there is intersection information and pedestrian information in the environmental information further includes: If the intersection information exists but the pedestrian information does not exist, identifying the indication information of the sign and determining whether the driving speed is greater than a preset highway speed; If the driving speed is greater than the preset highway speed, it is determined that the vehicle is on a first-class highway or a second-class highway; identifying whether the indication information contains a driving restriction indication; If the driving restriction indication exists, determining that the road type where the vehicle is located is a secondary road; If the driving restriction indication does not exist, it is determined that the road type where the vehicle is located is a first-class highway.

8. A device for identifying the type of road on which a vehicle is located, characterized in that: The device comprises: An acquisition module, used to acquire the driving speed of the vehicle and the environmental information of the road where the vehicle is located; A first recognition module, used for judging whether the vehicle is located on a highway based on the driving speed and the marker information and the road information in the environmental information; The second recognition module is used to re-recognize the road on which the vehicle is located based on the intersection information and pedestrian information in the environmental information if the vehicle is not on the highway, so as to determine the type of road on which the vehicle is located.

9. A device for identifying the type of road on which a vehicle is located, characterized in that: The 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 method for identifying the type of road where the vehicle is located as described in any one of claims 1 to 6.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method for identifying the type of road where the vehicle is located are implemented as described in any one of claims 1 to 6.

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