Lane width determination method and device, electronic equipment and storage medium
By acquiring and processing the shape points of the lane center line and their corresponding pairs of shape points, and calculating the lane width, the problem of high computing resource cost in the prior art is solved, and high-precision and low-cost lane width detection is achieved.
Patent Information
- Application Number
- CN202311355441.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-10-18
- Publication Date
- 2025-04-18
AI Technical Summary
In the process of autonomous driving of vehicles, when calculating lane width in real time, the cost of computing resource is high, especially when the number of lane line shape points is large.
By obtaining the centerline shape point corresponding to the position to be measured in front of the vehicle, and determining the shape point pair corresponding to the lane line on the lane line on both sides of the lane, the lane width of the lane at the position to be measured is calculated based on the distance between the position to be measured and the starting point of the road, the distance between the shape point and the starting point of the centerline shape point and the width of the shape point pair.
It realizes that the lane width can be detected with high accuracy without consuming too much computing resources, taking into account calculation accuracy and reducing calculation costs.
Smart Images
Figure CN119840635A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of autonomous driving, and in particular to a lane width determination method, device, electronic device, and storage medium. Background Art
[0002] During the process of automatic driving, it is usually necessary to obtain the lane width information in the map in real time according to the current vehicle body position. However, considering the data storage cost, the lane width corresponding to all lane positions is generally not recorded in the map data. Therefore, the lane width needs to be calculated in real time in practical applications. In related technologies, the lane width is generally determined by projection or polyline intersection, but this method consumes a high cost of computing resources when there are a large number of lane line shape points. Summary of the invention
[0003] In order to overcome the problems existing in the related art, the present disclosure provides a lane width determination method, device, electronic device and storage medium.
[0004] According to a first aspect of an embodiment of the present disclosure, a lane width determination method is provided, the method comprising:
[0005] Obtaining a centerline shape point corresponding to a position to be measured in front of the vehicle; wherein the position to be measured is a position in front of the vehicle at a set distance from the vehicle, and the centerline shape point includes two shape points on the centerline of the lane where the vehicle is located, which are respectively located in front of and behind the position to be measured and are closest to the position to be measured;
[0006] Determine a shape point pair corresponding to the centerline shape point on the lane lines on both sides of the lane; the shape point pair includes two shape points corresponding to the position of the centerline shape point, which are located on the lane lines on both sides of the lane;
[0007] The lane width of the lane at the position to be measured is determined according to the distance between the position to be measured and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair.
[0008] Optionally, determining the shape point pairs corresponding to the centerline shape points on lane lines on both sides of the lane includes:
[0009] Acquire shape points on lane lines on both sides of the lane; the lane lines on both sides of the lane include a left lane line and a right lane line of the lane, and the shape points on the lane lines on both sides of the lane include original shape points and interpolated shape points, the original shape points are shape points with known positions pre-set on the lane lines on both sides of the lane, and the interpolated shape points are shape points obtained by interpolation based on the original shape points;
[0010] For any of the centerline shape points, determine the shape point on the left lane line that is closest to the centerline shape point and the shape point on the right lane line that is closest to the centerline shape point among the original shape points and the interpolated shape points on the left lane line and the right lane line, and obtain the shape point pair corresponding to the centerline shape point.
[0011] Optionally, obtaining shape points on lane lines on both sides of the lane includes:
[0012] Acquire the original shape points on the lane lines on both sides of the lane from a database;
[0013] Interpolation is performed according to the set shape point spacing and the original shape points on the lane lines on both sides of the lane to obtain the interpolated shape points on the lane lines on both sides of the lane, and the shape point spacing is the shape point spacing along the lane line direction.
[0014] Optionally, obtaining shape points on lane lines on both sides of the lane includes:
[0015] The original shape points and the interpolated shape points on the lane lines on both sides of the lane are obtained from the database. The interpolated shape points are shape points obtained by interpolating the original shape points on the lane lines on both sides of the lane according to the set shape point spacing. The shape point spacing is the shape point spacing along the lane line direction.
[0016] Optionally, determining the lane width of the lane at the position to be measured according to the distance between the position to be measured and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair includes:
[0017] Acquire a first distance between the position to be measured and a starting point of the road;
[0018] Acquire a second distance between a first centerline shape point and the starting point of the lane, and a third distance between the second centerline shape point and the starting point of the lane; the first centerline shape point is a shape point on the centerline that is located in front of the position to be measured and is closest to the position to be measured, and the second centerline shape point is a shape point on the centerline that is located behind the position to be measured and is closest to the position to be measured;
[0019] Obtain a first width between a first shape point pair and a second width between a second shape point pair; the first shape point pair is a shape point pair corresponding to the first center line shape point, and the second shape point pair is a shape point pair corresponding to the second center line shape point;
[0020] The road width at the position to be measured is acquired according to the first distance, the second distance, the third distance, the first width, and the second width.
[0021] Optionally, the method further comprises:
[0022] When the position of the vehicle changes, updating the position to be measured according to the changed position of the vehicle;
[0023] According to the updated position to be measured, the step of obtaining the centerline shape point corresponding to the position to be measured in front of the vehicle and determining the lane width of the lane at the position to be measured based on the distance between the position to be measured and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair is performed again.
[0024] Optionally, the method further comprises:
[0025] When the position to be measured is located at any center line shape point on the center line, the lane width at the center line shape point is obtained from the database.
[0026] According to a second aspect of an embodiment of the present disclosure, a lane width determination device is provided, the device comprising:
[0027] An acquisition module is configured to acquire a centerline shape point corresponding to a position to be measured in front of the vehicle; wherein the position to be measured is a position in front of the vehicle at a set distance from the vehicle, and the centerline shape point includes two shape points on the centerline of the lane where the vehicle is located, which are respectively located in front of and behind the position to be measured and are closest to the position to be measured;
[0028] A determination module is configured to determine a shape point pair corresponding to the centerline shape point on lane lines on both sides of the lane; the shape point pair includes two shape points corresponding to the position of the centerline shape point, which are respectively located on lane lines on both sides of the lane;
[0029] The determination module is further configured to determine the lane width of the lane at the position to be measured based on the distance between the position to be measured and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair.
[0030] According to a third aspect of an embodiment of the present disclosure, there is provided an electronic device, including:
[0031] processor;
[0032] a memory for storing processor-executable instructions;
[0033] The processor is configured to: execute the executable instructions to implement the steps of any one of the methods described in the first aspect of the present disclosure.
[0034] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of any one of the methods described in the first aspect of the present disclosure are implemented.
[0035] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:
[0036] In the above technical solution, firstly, the centerline shape point corresponding to the position to be measured in front of the vehicle is obtained; wherein, the position to be measured is the position in front of the vehicle at a set distance from the vehicle, and the centerline shape point includes two shape points on the centerline of the lane where the vehicle is located, which are respectively located in front of and behind the position to be measured and are closest to the position to be measured, and then the shape point pair corresponding to the centerline shape point on the lane lines on both sides of the lane is determined, and the shape point pair includes two shape points corresponding to the position of the centerline shape point located on the lane lines on both sides of the lane, and then the lane width of the lane at the position to be measured is determined according to the distance between the position to be measured and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair. The technical solution determines the corresponding shape point pair at the position of the centerline shape point, and uses the relevant data of the shape point pair to determine the lane width at the position to be measured. It is possible to achieve high-precision lane width detection without consuming too many computing resources, and achieve the effect of taking into account both computing accuracy and reducing computing costs.
[0037] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.
[0039] Figure 1 The diagram is a schematic diagram of a lane line according to an exemplary embodiment.
[0040] Figure 2 The figure is a flow chart of a method for determining lane width according to an exemplary embodiment.
[0041] Figure 3 The figure is a flow chart of a method for determining lane width according to an exemplary embodiment.
[0042] Figure 4 The figure is a schematic diagram of a lane line shape point according to an exemplary embodiment.
[0043] Figure 5 is a schematic diagram of a shape point pair according to an exemplary embodiment.
[0044] Figure 6 The figure is a flow chart of a method for determining lane width according to an exemplary embodiment.
[0045] Figure 7 The figure is a flow chart of a method for determining lane width according to an exemplary embodiment.
[0046] Figure 8 is a schematic diagram of a lane width determination method according to an exemplary embodiment.
[0047] Fig. 9 The figure is a flow chart of a method for determining lane width according to an exemplary embodiment.
[0048] Fig.10 The present invention is a block diagram of a lane width determination device according to an exemplary embodiment.
[0049] Fig.11 It is a block diagram of an electronic device according to an exemplary embodiment.
[0050] Fig.12 is a block diagram of a vehicle 1200 according to an exemplary embodiment.
[0051] Fig.13 The invention is a block diagram of a device for determining lane width according to an exemplary embodiment. DETAILED DESCRIPTION
[0052] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.
[0053] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.
[0054] Figure 1 is a schematic diagram of a lane line according to an exemplary embodiment. Figure 1As shown, the lane may include lane lines and lane center lines. Lane lines are physical (such as guardrails or curbs, etc.) or non-physical (such as ground virtual and real lines, etc.) separation marks used to separate lanes. In maps, the geometric shape is generally expressed by polylines; the lane center line uses polylines to represent the geometric shape and trend of the lane, and can also be used as a reference line in the field of autonomous driving in the regulation and control algorithm; the lane lines and lane center lines may include multiple shape points, which refer to the coordinate points that constitute the polylines in the map.
[0055] The present invention provides a method for determining lane width. Figure 2 is a flow chart of a method for determining lane width according to an exemplary embodiment. Figure 2 As shown, the method includes the following steps.
[0056] In step S21, the centerline shape point corresponding to the position to be measured in front of the vehicle is obtained; wherein the position to be measured is a position in front of the vehicle at a set distance from the vehicle, and the centerline shape point includes two shape points on the centerline of the lane where the vehicle is located, which are respectively located in front of and behind the position to be measured and are closest to the position to be measured.
[0057] Among them, the position to be measured can be set to a position in front of the vehicle at a set distance from the vehicle, for example, the set distance can be 3-5 meters, or set according to needs; it can be understood that the center line shape point corresponding to the position to be measured can be obtained from a database, for example, the database can be a map database.
[0058] In step S22, a shape point pair corresponding to the centerline shape point on the lane lines on both sides of the lane is determined; the shape point pair includes two shape points corresponding to the position of the centerline shape point and located on the lane lines on both sides of the lane.
[0059] Among them, the shape point pair is formed by the shape point on the left lane line that is closest to the center line shape point, and the shape point on the right lane line that is closest to the center line shape point. When the position information of the two shape points of the shape point pair is known, the width of the shape point pair can be determined.
[0060] In step S23, the lane width of the lane at the position to be measured is determined based on the distance between the position to be measured and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair.
[0061] It is understandable that after determining the various values in step S23, the lane width at the position to be measured can be obtained by a proportional calculation method, such as an interpolation calculation method.
[0062] In the above technical solution, firstly, the centerline shape point corresponding to the position to be measured in front of the vehicle is obtained; wherein, the position to be measured is the position in front of the vehicle at a set distance from the vehicle, and the centerline shape point includes two shape points on the centerline of the lane where the vehicle is located, which are respectively located in front of and behind the position to be measured and are closest to the position to be measured, and then the shape point pair corresponding to the centerline shape point on the lane lines on both sides of the lane is determined, and the shape point pair includes two shape points corresponding to the position of the centerline shape point located on the lane lines on both sides of the lane, and then the lane width of the lane at the position to be measured is determined according to the distance between the position to be measured and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair. The technical solution determines the corresponding shape point pair at the position of the centerline shape point, and uses the relevant data of the shape point pair to determine the lane width at the position to be measured. It is possible to achieve high-precision lane width detection without consuming too many computing resources, and achieve the effect of taking into account both computing accuracy and reducing computing costs.
[0063] Figure 3 is a flow chart of a method for determining lane width according to an exemplary embodiment. Figure 3 As shown, the above step S22 of determining the shape point pair corresponding to the center line shape point on the lane lines on both sides of the lane may include the following steps:
[0064] Step S221, obtaining shape points on lane lines on both sides of the lane.
[0065] Among them, the lane lines on both sides of the lane include the left lane line and the right lane line of the lane, and the shape points on the lane lines on both sides of the lane include original shape points and interpolated shape points. The original shape points are shape points with known positions pre-set on the lane lines on both sides of the lane, and the interpolated shape points are shape points obtained by interpolation based on the original shape points.
[0066] For example, Figure 4 is a schematic diagram of a lane line shape point according to an exemplary embodiment. Figure 4 As shown, the circular points in (a) can represent the original shape points on the lane line, that is, the shape points with known positions pre-set on the lane lines on both sides of the lane, and the square points in (b) can represent the interpolated shape points. After the original shape points of the lane line in (a) are interpolated, the shape point distribution of the lane line in (b) can be obtained. Among them, the sampling interval used in the interpolation process can be set according to the needs.
[0067] Step S222, for any center line shape point, determine the shape point on the left lane line that is closest to the center line shape point and the shape point on the right lane line that is closest to the center line shape point among the original shape point and the interpolated shape point on the left lane line and the right lane line, and obtain the shape point pair corresponding to the center line shape point.
[0068] For example, Figure 5 is a schematic diagram of a shape point pair according to an exemplary embodiment. Figure 5 As shown, after interpolation, the shape points on the left lane line may include L1-L5, and the shape points on the right lane line may include R1-R5. In this embodiment, the shape points on the center line may include C1, C2 and C3. For the center line shape point C2, it can be determined that L3 is the point on the left lane line closest to C2, and R3 is the point on the right lane line closest to C2. Therefore, the point pair formed by L3 and R3 is the shape point pair corresponding to the center line shape point C2.
[0069] Figure 6 is a flow chart of a method for determining lane width according to an exemplary embodiment. Figure 6 As shown, the acquisition of shape points on lane lines on both sides of the lane described in step S221 may include the following steps:
[0070] Step S2211, obtaining the original shape points on the lane lines on both sides of the lane from the database;
[0071] Step S2212, interpolating the original shape points on the lane lines on both sides of the lane according to the set shape point spacing, to obtain the interpolated shape points on the lane lines on both sides of the lane, wherein the shape point spacing is the shape point spacing along the lane line direction.
[0072] It is understandable that during the autonomous driving process, when it is necessary to determine the lane width in real time, the vehicle can retrieve the original shape points in the database and perform interpolation calculations in real time to obtain the interpolated shape point distribution information.
[0073] Optionally, in another possible implementation manner, the step S221 of acquiring shape points on lane lines on both sides of the lane may further include:
[0074] The original shape point and the interpolated shape point on the lane lines on both sides of the lane are obtained from the database. The interpolated shape point is the shape point obtained by interpolating the original shape points on the lane lines on both sides of the lane according to the set shape point spacing. The shape point spacing is the shape point spacing along the lane line direction.
[0075] For example, in another case, interpolation calculation can be performed in advance, and the original shape point and interpolation shape point information can be saved in advance in the database. When the lane width needs to be determined, the vehicle does not perform interpolation calculation, and can directly read the shape point information in the database.
[0076] Figure 7 is a flow chart of a method for determining lane width according to an exemplary embodiment. Figure 7 As shown, the above step S23, according to the distance between the position to be measured and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair, determines the lane width of the lane at the position to be measured, including:
[0077] Step S231, obtaining a first distance between the position to be measured and the starting point of the road.
[0078] Step S232, obtaining a second distance between the first centerline shape point and the starting point of the lane, and a third distance between the second centerline shape point and the starting point of the lane.
[0079] The first centerline shape point is a shape point on the centerline that is located in front of the position to be measured and is closest to the position to be measured, and the second centerline shape point is a shape point on the centerline that is located behind the position to be measured and is closest to the position to be measured.
[0080] Step S233, obtaining a first width between first shape point pairs and a second width between second shape point pairs.
[0081] The first shape point pair is a shape point pair corresponding to the first center line shape point, and the second shape point pair is a shape point pair corresponding to the second center line shape point.
[0082] Step S234, obtaining the road width at the position to be measured according to the first distance, the second distance, the third distance, the first width and the second width.
[0083] For example, Figure 8 is a schematic diagram of a lane width determination method according to an exemplary embodiment. Figure 8As shown, in this embodiment, point C1 can be recorded as the starting point of the lane, point M is the position to be measured, the first centerline shape point corresponding to the position to be measured M is C2, the second centerline shape point is C3, the first shape point pair is the point pair formed by L3 and R3, and the second shape point pair is the point pair formed by L5 and R5; the first distance described in step S231 is the distance between point M and C1, recorded as D1; the second distance described in step S232 is the distance between C2 and C1, recorded as D2; the third distance is the distance between C3 and C1, recorded as D3; the first width described in step S233 is the width between L3 and R3, recorded as W1; the second width is the width between L5 and R5, recorded as W2.
[0084] Therefore, the road width W at the position to be measured is obtained according to the first distance, the second distance, the third distance, the first width and the second width in step S234, which can be obtained by an interpolation calculation formula:
[0085]
[0086] Optionally, Fig. 9 is a flow chart of a method for determining lane width according to an exemplary embodiment. Fig. 9 As shown, the method may also include the following steps:
[0087] Step S24, when the position of the vehicle changes, updating the position to be measured according to the changed position of the vehicle;
[0088] Step S25, based on the updated position to be tested, execute again the step of obtaining the centerline shape point corresponding to the position to be tested in front of the vehicle and determining the lane width of the lane at the position to be tested based on the distance between the position to be tested and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair.
[0089] It is understandable that during the autonomous driving process, the vehicle's position to be tested can be updated in real time, and the method for determining the lane width of the updated position to be tested is the same as the method described above, which will not be repeated here.
[0090] Optionally, the lane width determination method may further include: when the position to be measured is located at any centerline shape point on the centerline, acquiring the lane width at the centerline shape point from a database.
[0091] It is understandable that when the position to be measured is a certain shape point on the center line, the lane width at that location is the shape point pair width corresponding to the center line shape point, so the lane width value can be directly obtained from the database.
[0092] In the above technical solution, firstly, the centerline shape point corresponding to the position to be measured in front of the vehicle is obtained; wherein, the position to be measured is the position in front of the vehicle at a set distance from the vehicle, and the centerline shape point includes two shape points on the centerline of the lane where the vehicle is located, which are respectively located in front of and behind the position to be measured and are closest to the position to be measured, and then the shape point pair corresponding to the centerline shape point on the lane lines on both sides of the lane is determined, and the shape point pair includes two shape points corresponding to the position of the centerline shape point located on the lane lines on both sides of the lane, and then the lane width of the lane at the position to be measured is determined according to the distance between the position to be measured and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair. The technical solution determines the corresponding shape point pair at the position of the centerline shape point, and uses the relevant data of the shape point pair to determine the lane width at the position to be measured. It is possible to achieve high-precision lane width detection without consuming too many computing resources, and achieve the effect of taking into account both computing accuracy and reducing computing costs.
[0093] Fig.10 FIG. 1 is a block diagram of a lane width determination device according to an exemplary embodiment. Fig.10 , the device includes an acquisition module 1010 and a determination module 1020.
[0094] The acquisition module 1010 is configured to acquire a centerline shape point corresponding to a position to be measured in front of the vehicle; wherein the position to be measured is a position in front of the vehicle at a set distance from the vehicle, and the centerline shape point includes two shape points on the centerline of the lane where the vehicle is located, which are respectively located in front of and behind the position to be measured and are closest to the position to be measured;
[0095] The determination module 1020 is configured to determine a shape point pair corresponding to the centerline shape point on the lane lines on both sides of the lane; the shape point pair includes two shape points corresponding to the position of the centerline shape point and located on the lane lines on both sides of the lane;
[0096] The determination module 1020 is also configured to determine the lane width of the lane at the position to be measured based on the distance between the position to be measured and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair.
[0097] Optionally, the determination module 1020 includes: an acquisition submodule and a determination submodule;
[0098] The acquisition submodule is configured to acquire shape points on lane lines on both sides of the lane; the lane lines on both sides of the lane include a left lane line and a right lane line of the lane, and the shape points on the lane lines on both sides of the lane include original shape points and interpolated shape points, wherein the original shape points are shape points with known positions pre-set on the lane lines on both sides of the lane, and the interpolated shape points are shape points obtained by interpolation based on the original shape points;
[0099] The determination submodule is configured to determine, for any center line shape point, the shape point on the left lane line that is closest to the center line shape point, and the shape point on the right lane line that is closest to the center line shape point among the original shape points and the interpolated shape points on the left lane line and the right lane line, and obtain a shape point pair corresponding to the center line shape point.
[0100] Optionally, the acquisition submodule is further configured as follows:
[0101] Acquire the original shape points on the lane lines on both sides of the lane from the database;
[0102] Interpolation is performed according to the set shape point spacing and the original shape points on the lane lines on both sides of the lane to obtain the interpolated shape points on the lane lines on both sides of the lane. The shape point spacing is the shape point spacing along the lane line direction.
[0103] Optionally, the acquisition submodule is further configured as:
[0104] The original shape point and the interpolated shape point on the lane lines on both sides of the lane are obtained from the database. The interpolated shape point is the shape point obtained by interpolating the original shape points on the lane lines on both sides of the lane according to the set shape point spacing. The shape point spacing is the shape point spacing along the lane line direction.
[0105] Optionally, the acquisition submodule is further configured as:
[0106] Obtaining a first distance between the position to be measured and the starting point of the road;
[0107] Obtaining a second distance between a first centerline shape point and the starting point of the lane, and a third distance between the second centerline shape point and the starting point of the lane; the first centerline shape point is a shape point on the centerline that is located in front of the position to be measured and is closest to the position to be measured, and the second centerline shape point is a shape point on the centerline that is located behind the position to be measured and is closest to the position to be measured;
[0108] Obtain a first width between a first shape point pair and a second width between a second shape point pair; the first shape point pair is a shape point pair corresponding to the first center line shape point, and the second shape point pair is a shape point pair corresponding to the second center line shape point;
[0109] The road width at the position to be measured is acquired according to the first distance, the second distance, the third distance, the first width and the second width.
[0110] Optionally, the lane width determination device further includes: an updating module and an execution module;
[0111] The updating module is configured to update the position to be measured according to the changed position of the vehicle when the position of the vehicle changes;
[0112] The execution module is configured to re-execute the step of obtaining the centerline shape point corresponding to the position to be tested in front of the vehicle and determining the lane width of the lane at the position to be tested based on the distance between the position to be tested and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair according to the updated position to be tested.
[0113] Optionally, the acquisition submodule is further configured as:
[0114] When the position to be measured is located at any center line shape point on the center line, the lane width at the center line shape point is obtained from the database.
[0115] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.
[0116] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and when the program instructions are executed by a processor, the steps of the lane width determination method provided by the present disclosure are implemented.
[0117] Fig.11 1 is a block diagram of an electronic device according to an exemplary embodiment. For example, the electronic device 1100 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.
[0118] Reference Fig.11 , the electronic device 1100 may include one or more of the following components: a processing component 1102 , a memory 1104 , a power component 1106 , a multimedia component 1108 , an audio component 1110 , an input / output interface 1112 , a sensor component 1114 , and a communication component 1116 .
[0119] The processing component 1102 generally controls the overall operation of the electronic device 1100, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 1102 may include one or more processors 1120 to execute instructions to complete all or part of the steps of the lane width determination method described above. In addition, the processing component 1102 may include one or more modules to facilitate the interaction between the processing component 1102 and other components. For example, the processing component 1102 may include a multimedia module to facilitate the interaction between the multimedia component 1108 and the processing component 1102.
[0120] The memory 1104 is configured to store various types of data to support operations on the electronic device 1100. Examples of such data include instructions for any application or method operating on the electronic device 1100, contact data, phone book data, messages, pictures, videos, etc. The memory 1104 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.
[0121] The power supply component 1106 provides power to various components of the electronic device 1100. The power supply component 1106 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device 1100.
[0122] The multimedia component 1108 includes a screen that provides an output interface between the electronic device 1100 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 1108 includes a front camera and / or a rear camera. When the electronic device 1100 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and the rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
[0123] The audio component 1110 is configured to output and / or input audio signals. For example, the audio component 1110 includes a microphone (MIC), and when the electronic device 1100 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 1104 or sent via the communication component 1116. In some embodiments, the audio component 1110 also includes a speaker for outputting audio signals.
[0124] The input / output interface 1112 provides an interface between the processing component 1102 and the peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.
[0125] The sensor assembly 1114 includes one or more sensors for providing various aspects of status assessment for the electronic device 1100. For example, the sensor assembly 1114 can detect the open / closed state of the electronic device 1100, the relative positioning of components, such as the display and keypad of the electronic device 1100, and the sensor assembly 1114 can also detect the position change of the electronic device 1100 or a component of the electronic device 1100, the presence or absence of user contact with the electronic device 1100, the orientation or acceleration / deceleration of the electronic device 1100, and the temperature change of the electronic device 1100. The sensor assembly 1114 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 1114 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 1114 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
[0126] The communication component 1116 is configured to facilitate wired or wireless communication between the electronic device 1100 and other devices. The electronic device 1100 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1116 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1116 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.
[0127] In an exemplary embodiment, the electronic device 1100 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-mentioned lane width determination method.
[0128] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 1104 including instructions, and the instructions can be executed by a processor 1120 of an electronic device 1100 to complete the lane width determination method described above. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
[0129] Fig.12 1 is a block diagram of a vehicle 1200 according to an exemplary embodiment. For example, the vehicle 1200 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 1200 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.
[0130] Reference Fig.12 , the vehicle 1200 may include various subsystems, for example, an infotainment system 1210, a perception system 1220, a decision control system 1230, a drive system 1240, and a computing platform 1250. The vehicle 1200 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 1200 may be interconnected by wire or wireless means.
[0131] In some embodiments, the infotainment system 1210 may include a communication system, an entertainment system, and a navigation system, etc.
[0132] The perception system 1220 may include several sensors for sensing information about the environment around the vehicle 1200. For example, the perception system 1220 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.
[0133] The decision control system 1230 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.
[0134] The drive system 1240 may include components that provide powered motion for the vehicle 1200. In one embodiment, the drive system 1240 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.
[0135] Some or all functions of the vehicle 1200 are controlled by a computing platform 1250. The computing platform 1250 may include at least one processor 1251 and a memory 1252, and the processor 1251 may execute instructions 1253 stored in the memory 1252.
[0136] The processor 1251 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.
[0137] Memory 1252 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.
[0138] In addition to instructions 1253 , memory 1252 may also store data, such as road maps, route information, vehicle location, direction, speed, etc. The data stored in memory 1252 may be used by computing platform 1250 .
[0139] In the disclosed embodiment, the processor 1251 may execute instruction 1253 to complete all or part of the steps of the above-mentioned lane width determination method.
[0140] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and has a code portion for executing the above lane width determination method when executed by the programmable device.
[0141] Fig.131300 is a block diagram of a device for determining lane width according to an exemplary embodiment. For example, the device 1300 may be provided as a server. Fig.13 The apparatus 1300 includes a processing component 1322, which further includes one or more processors, and a memory resource represented by a memory 1332 for storing instructions executable by the processing component 1322, such as an application. The application stored in the memory 1332 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 1322 is configured to execute instructions to perform the lane width determination method described above.
[0142] The device 1300 may also include a power supply component 1326 configured to perform power management of the device 1300, a wired or wireless network interface 1350 configured to connect the device 1300 to a network, and an input / output interface 1358. The device 1300 may operate based on an operating system stored in the memory 1332.
[0143] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.
[0144] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims
1. A method for determining lane width, characterized in that: The method comprises: Obtaining a centerline shape point corresponding to a position to be measured in front of the vehicle; wherein the position to be measured is a position in front of the vehicle at a set distance from the vehicle, and the centerline shape point includes two shape points on the centerline of the lane where the vehicle is located, which are respectively located in front of and behind the position to be measured and are closest to the position to be measured; Determine a shape point pair corresponding to the centerline shape point on the lane lines on both sides of the lane; the shape point pair includes two shape points corresponding to the position of the centerline shape point, which are located on the lane lines on both sides of the lane; The lane width of the lane at the position to be measured is determined according to the distance between the position to be measured and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair.
2. The method according to claim 1, characterized in that Determining the shape point pairs corresponding to the centerline shape points on the lane lines on both sides of the lane includes: Acquire shape points on lane lines on both sides of the lane; the lane lines on both sides of the lane include a left lane line and a right lane line of the lane, and the shape points on the lane lines on both sides of the lane include original shape points and interpolated shape points, the original shape points are shape points with known positions pre-set on the lane lines on both sides of the lane, and the interpolated shape points are shape points obtained by interpolation based on the original shape points; For any of the centerline shape points, determine the shape point on the left lane line that is closest to the centerline shape point and the shape point on the right lane line that is closest to the centerline shape point among the original shape points and the interpolated shape points on the left lane line and the right lane line, and obtain the shape point pair corresponding to the centerline shape point.
3. The method according to claim 2, characterized in that The obtaining of shape points on lane lines on both sides of the lane comprises: Acquire the original shape points on the lane lines on both sides of the lane from a database; Interpolation is performed according to the set shape point spacing and the original shape points on the lane lines on both sides of the lane to obtain the interpolated shape points on the lane lines on both sides of the lane, and the shape point spacing is the shape point spacing along the lane line direction.
4. The method according to claim 2, characterized in that: The obtaining of shape points on lane lines on both sides of the lane comprises: The original shape points and the interpolated shape points on the lane lines on both sides of the lane are obtained from the database. The interpolated shape points are shape points obtained by interpolating the original shape points on the lane lines on both sides of the lane according to the set shape point spacing. The shape point spacing is the shape point spacing along the lane line direction.
5. The method according to claim 1, characterized in that Determining the lane width of the lane at the position to be measured according to the distance between the position to be measured and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair includes: Acquire a first distance between the position to be measured and a starting point of the road; Acquire a second distance between a first centerline shape point and the starting point of the lane, and a third distance between the second centerline shape point and the starting point of the lane; the first centerline shape point is a shape point on the centerline that is located in front of the position to be measured and is closest to the position to be measured, and the second centerline shape point is a shape point on the centerline that is located behind the position to be measured and is closest to the position to be measured; Obtain a first width between a first shape point pair and a second width between a second shape point pair; the first shape point pair is a shape point pair corresponding to the first center line shape point, and the second shape point pair is a shape point pair corresponding to the second center line shape point; The road width at the position to be measured is acquired according to the first distance, the second distance, the third distance, the first width, and the second width.
6. The method according to claim 1, characterized in that The method further comprises: When the position of the vehicle changes, updating the position to be measured according to the changed position of the vehicle; According to the updated position to be measured, the step of obtaining the centerline shape point corresponding to the position to be measured in front of the vehicle and determining the lane width of the lane at the position to be measured based on the distance between the position to be measured and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair is performed again.
7. The method according to claim 1, characterized in that The method further comprises: When the position to be measured is located at any center line shape point on the center line, the lane width at the center line shape point is obtained from the database.
8. A lane width determination device, characterized in that: The device comprises: An acquisition module is configured to acquire a centerline shape point corresponding to a position to be measured in front of the vehicle; wherein the position to be measured is a position in front of the vehicle at a set distance from the vehicle, and the centerline shape point includes two shape points on the centerline of the lane where the vehicle is located, which are respectively located in front of and behind the position to be measured and are closest to the position to be measured; A determination module is configured to determine a shape point pair corresponding to the centerline shape point on lane lines on both sides of the lane; the shape point pair includes two shape points corresponding to the position of the centerline shape point, which are respectively located on lane lines on both sides of the lane; The determination module is further configured to determine the lane width of the lane at the position to be measured based on the distance between the position to be measured and the starting point of the road, the distance between the centerline shape point and the starting point of the road, and the width of the shape point pair.
9. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to: execute the executable instructions to implement the steps of the method according to any one of claims 1 to 7.
10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented.