Lane line instance detection method, device, equipment, and storage medium

Abstract

The present application provides a lane line instance detection method, apparatus, device, and storage medium. The method includes: generating a lane line mask through a segmentation network; traversing the lane line mask from bottom to top to obtain all lane line segments; determining the direction of each lane line segment; determining all lane line segments as processed solid line segments; determining the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment; determining a cost matrix based on the direction, starting point coordinates, and end point coordinates of each processed solid line segment; and obtaining lane line instances based on the fitting curve and cost matrix. The method provided in the present application obtains lane line segments, forms a cost matrix based on their starting point coordinates and end point coordinates, and obtains lane line instances based on the fitting curve and cost matrix. This method can obtain accurate lane line instances without relying on other algorithms.

Description

Technical Field

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

[0002] Lane detection plays a vital role in autonomous driving. However, the system's requirements for lane lines are no longer simply segmentation tasks. In addition to outputting which pixels are lane lines, it also needs to output which pixels correspond to the same lane line, the so-called lane line instances.

[0003] Existing lane instance detection methods are primarily based on keypoints. These methods directly detect lane instances and use post-processing to segment them. However, these methods may face challenges in keypoint detection accuracy and are highly dependent on post-processing algorithms. Summary of the Invention

[0004] In order to solve one of the above technical defects, the present application provides a lane line instance detection method, device, equipment, and storage medium.

[0005] In a first aspect, the present application provides a lane line instance detection method, the method comprising:

[0006] Generate lane mask through segmentation network;

[0007] Traverse the lane mask from bottom to top and obtain all lane line segments;

[0008] Determine the direction of the solid line segment of each lane line; where the direction is horizontal or vertical;

[0009] All lane line solid segments are determined as processed solid line segments;

[0010] Determine the fitting curve, starting point coordinates and end point coordinates of each processed solid line segment;

[0011] Determine the cost matrix according to the direction, starting point coordinates and end point coordinates of each processed solid line segment;

[0012] Get the lane line instance based on the fitting curve and cost matrix.

[0013] Optionally, a cost matrix is determined according to the direction, starting point coordinates, and end point coordinates of each processed solid line segment, including:

[0014] Determine the direction coordinate set of each processed solid line segment based on the starting point coordinates and the end point coordinates; if the direction of the processed solid line segment is horizontal, the direction coordinate set is the set consisting of its horizontal coordinates; if the direction of the processed solid line segment is vertical, the direction coordinate set is the set consisting of its vertical coordinates;

[0015] Determine the cost values of any two processed solid line segments respectively; if the directions of any two processed solid line segments are the same and the intersection of the direction coordinate sets is not empty, or if the directions of any two processed solid line segments are different, then the cost values of any two processed solid line segments are positive infinity; otherwise, the cost value is non-positive infinity;

[0016] All cost values are formed into a cost matrix; where the cost matrix is matrix, The total number of solid line segments processed.

[0017] Optionally, a lane line instance is obtained based on the fitted curve and the cost matrix, including:

[0018] Adjust the cost matrix according to the fitting curve, starting point coordinates and end point coordinates of each processed solid line segment;

[0019] The processed solid line segments are numbered from small to large according to the ordinate values of the starting coordinates;

[0020] The processed solid line segments are merged according to the number and the adjusted cost matrix to obtain lane line instances.

[0021] Optionally, the cost matrix is adjusted according to the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment, including:

[0022] Determine the non-positive infinite cost value in the cost matrix as the cost value to be adjusted;

[0023] According to the fitting curve, the starting point coordinates and the end point coordinates, the fitting error between the two processed solid line segments involved in each cost value to be adjusted is determined. and distance error ;

[0024] according to and fitting error threshold The relationship between Distance error threshold The relationship between them is used to adjust the cost value.

[0025] Optionally, the fitting error between the two processed solid line segments involved in each cost value to be adjusted is determined based on the fitting curve, the starting point coordinates and the end point coordinates. and distance error ,include:

[0026] Calculate a first error between the starting point coordinates of the upper line segment and the fitting curve of the lower line segment, based on the starting point coordinates of the upper line segment; wherein the upper line segment is one of the two lane line solid line segments involved, the lower line segment is the other of the two lane line solid line segments involved, and the upper line segment is located above the lower segment;

[0027] Calculate a second error between the endpoint of the lower line segment and the fitting curve of the upper line segment based on the coordinates of the endpoint of the lower line segment;

[0028] Sure = first error + second error;

[0029] According to the coordinates of the starting point of the upper segment and the coordinates of the end point of the lower segment, the distance between the starting point of the upper segment and the end point of the lower segment is determined and determined as .

[0030] Optionally, according to and fitting error threshold The relationship between Distance error threshold The relationship between , the cost value to be adjusted is adjusted, including:

[0031] for ,or, The cost value to be adjusted is adjusted to positive infinity;

[0032] for ,and, The cost value to be adjusted is adjusted to ,in, is the weight coefficient of the fitting error.

[0033] Optionally, the processed solid line segments are merged according to the number and the adjusted cost matrix to obtain lane line instances, including:

[0034] All treated solid line segments are marked as untreated;

[0035] Select one processed solid line segment marked as unprocessed in order of number from smallest to largest; if, based on the adjusted cost matrix, it is determined that there is a non-infinite cost value between the selected processed solid line segment and the other processed solid line segments marked as unprocessed, then merge the selected processed solid line segment with the other processed solid line segments marked as unprocessed with the smallest cost value to obtain a merged processed solid line segment; and mark both the selected processed solid line segment and the other processed solid line segments marked as unprocessed with the smallest cost value as processed;

[0036] The processed solid line segments are updated to all processed solid line segments marked as unprocessed and merged processed solid line segments, and the steps of determining the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment and subsequent steps are repeated until there are no new merged processed solid line segments.

[0037] In a second aspect of the present application, a lane line instance detection device is provided, the device comprising:

[0038] The generation module is used to generate lane mask through the segmentation network;

[0039] The acquisition module is used to traverse the lane line mask generated by the generation module from bottom to top and obtain all the solid lane line segments;

[0040] A first determining module is used to determine the direction of the solid line segments of each lane line obtained by the obtaining module; wherein the direction is horizontal or vertical;

[0041] A second determining module is configured to determine all lane line solid segments acquired by the acquiring module as processed solid line segments;

[0042] a third determining module, configured to determine a fitting curve, a starting point coordinate, and an end point coordinate of each processed solid line segment determined by the second determining module;

[0043] a fourth determining module, configured to determine a cost matrix according to the directions of the processed solid line segments determined by the first determining module and the starting point coordinates and the ending point coordinates determined by the third determining module;

[0044] The fifth determination module is used to obtain a lane line instance according to the fitting curve determined by the third determination module and the cost matrix determined by the fourth determination module.

[0045] In a third aspect of the present application, an electronic device is provided, comprising:

[0046] Memory;

[0047] processor; and

[0048] computer programs;

[0049] The computer program is stored in the memory and is configured to be executed by the processor to implement the method as described in the first aspect above.

[0050] In a fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored; the computer program is executed by a processor to implement the method described in the first aspect above.

[0051] The present application provides a lane line instance detection method, apparatus, device, and storage medium. The method includes: generating a lane line mask through a segmentation network; traversing the lane line mask from bottom to top to obtain all lane line segments; determining the direction of each lane line segment; determining all lane line segments as processed solid line segments; determining the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment; determining a cost matrix based on the direction, starting point coordinates, and end point coordinates of each processed solid line segment; and obtaining lane line instances based on the fitting curve and cost matrix. The method provided in the present application obtains lane line segments, forms a cost matrix based on their starting point coordinates and end point coordinates, and obtains lane line instances based on the fitting curve and cost matrix. This method can obtain accurate lane line instances without relying on other algorithms. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0053] Figure 1 A schematic diagram of a process flow of a lane line instance detection method provided in an embodiment of the present application;

[0054] Figure 2 A schematic diagram of processing a solid line segment provided in an embodiment of the present application;

[0055] Figure 3 A schematic diagram of two processing solid line segments with the same direction and overlap provided in an embodiment of the present application;

[0056] Figure 4 A schematic diagram of the structure of a lane line instance detection device provided in an embodiment of the present application;

[0057] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the technical solutions and advantages of the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, and are not an exhaustive list of all the embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless they conflict.

[0059] In the process of implementing this application, the inventors discovered that lane line detection plays an important role in autonomous driving. However, the autonomous driving system's requirements for lane lines are no longer a simple segmentation task. In addition to outputting which pixel locations are lane lines, it is also necessary to output which pixels correspond to the same lane line, namely the so-called lane line instances. An existing lane line instance detection method is mainly based on key point methods. This type of method directly detects lane line instances and uses post-processing to segment the instances. This method may face challenges in the accuracy of key point detection and is highly dependent on post-processing algorithms.

[0060] To address the above issues, embodiments of the present application provide a lane line instance detection method, apparatus, device, and storage medium. The method includes: generating a lane line mask through a segmentation network; traversing the lane line mask from bottom to top to obtain all lane line solid line segments; determining the direction of each lane line solid line segment; determining all lane line solid line segments as processed solid line segments; determining the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment; determining a cost matrix based on the direction, starting point coordinates, and end point coordinates of each processed solid line segment; and obtaining a lane line instance based on the fitting curve and the cost matrix. The method provided in the present application obtains a lane line solid line segment, forms a cost matrix based on its starting point coordinates and end point coordinates, and obtains a lane line instance based on the fitting curve and the cost matrix. Accurate lane line instances can be obtained without relying on other algorithms.

[0061] See also Figure 1 The embodiment provides a lane line instance detection method, and the implementation process of the method is as follows:

[0062] 101, generate lane mask through segmentation network.

[0063] 102, traverse the lane line mask from bottom to top and obtain all lane line segments.

[0064] A solid lane segment is a polygon formed by all the pixels on that lane. Therefore, the solid lane segment in this step is not just one-dimensional (i.e., not a single line, such as width only in the horizontal direction or width only in the vertical direction), but is width in both the horizontal and vertical directions (i.e., a polygon), and all pixels in the polygon belong to the same lane segment.

[0065] 103. Determine the direction of the solid line segment of each lane line.

[0066] Here, the direction is horizontal or vertical.

[0067] Because any solid lane segment has widths in both the horizontal and vertical directions, the direction of the solid lane segment can be determined based on the relationship between the horizontal and vertical widths. For example, if the horizontal width of a solid lane segment is greater than its vertical width, the solid lane segment is horizontal; otherwise, the solid lane segment is vertical.

[0068] 104, all lane line solid segments are determined as processed solid line segments.

[0069] 105 , determining the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment.

[0070] For example, for any processed solid line segment, the curve formed by its center point is fitted to obtain its cubic fitting curve (the cubic fitting curve is the fitting curve of any processed solid line segment) and its starting point coordinates and end point coordinates.

[0071] Because any lane line solid line segment has width in both the horizontal and vertical directions, the starting coordinates and the end coordinates are a set, that is, the starting coordinates of any processed solid line segment are the coordinate set of all pixel points located at the starting point of any lane line solid line segment, and the end coordinates are the coordinate set of all pixel points located at the end point of any lane line solid line segment.

[0072] 106. Determine a cost matrix according to the direction, starting point coordinates, and end point coordinates of each processed solid line segment.

[0073] The implementation process of this step is:

[0074] 106-1, determining the direction coordinate set of each processed solid line segment according to the starting point coordinates and the end point coordinates.

[0075] Among them, if the direction of the solid line segment is horizontal, the direction coordinate set is the set composed of its horizontal coordinates; if the direction of the solid line segment is vertical, the direction coordinate set is the set composed of its vertical coordinates.

[0076] For example, for any processing solid segment In step 106-1, the processed solid line segment is obtained The coordinates of all covered points, if the solid line segment is determined to be processed in step 103 If the direction is horizontal, the horizontal coordinates (i.e. x-axis coordinates) of all points are summarized to form a solid line segment. If the solid line segment is determined to be processed in step 103 If the direction is vertical, the ordinates of all points (i.e., y-axis coordinates) are aggregated to form a solid line segment. The set of direction coordinates.

[0077] 106-2, respectively determine the cost values of any two processed solid line segments.

[0078] Among them, if the directions of any two processed solid line segments are the same and the intersection of the direction coordinate sets is not empty, or if the directions of any two processed solid line segments are different, then the cost value of any two processed solid line segments is positive infinity; otherwise, the cost value is non-positive infinity.

[0079] The processed solid line segments in step 106-2 are randomly obtained from all processed solid line segments. To process solid line segments, first Choose one of the solid line segments and then Choose one of the processed solid line segments, so the combination of any two processed solid line segments has , then the cost value also has indivual.

[0080] Take any processed solid line segment as the processed solid line segment , any other processing solid line segment is processing solid line segment For example, processing the solid line segment Can handle solid line segments For the same processing solid line segment, you can also process the solid line segment together For different processing solid line segments, the implementation process of step 106-2 is as follows:

[0081] 1. Get and process solid line segments Direction 1, processing solid line segments Direction 2. Get the processed solid line segment Strike coordinate set 1, processing solid line segment The direction coordinate set 2.

[0082] 2. Determine whether direction 1 and direction 2 are the same, and determine whether the intersection of direction coordinate set 1 and direction coordinate set 2 is empty.

[0083] If we process solid line segments and processing solid line segments The same direction and overlapping parts (such as Figure 3 1 and 3 in the processing of solid line segments), then the intersection of the direction coordinate set 1 and the direction coordinate set is not empty. and processing solid line segments If the directions are the same but there is no overlap, the intersection of ordinate set 1 and ordinate set 2 is empty.

[0084] 3. If direction 1 and direction 2 are the same, and the intersection of ordinate set 1 and ordinate set 2 is not empty, then process the solid line segment Can handle solid line segments The corresponding cost value is positive infinity.

[0085] If we process solid line segments Can handle solid line segments For the same processed solid line segment, direction 1 and direction 2 must be the same, and the intersection of ordinate set 1 and ordinate set 2 must be non-empty, then its cost value is positive infinity. In other words, the cost value of a processed solid line segment and itself is positive infinity.

[0086] If we process solid line segments Can handle solid line segments If the solid line segments are not the same, their directions can be the same or different. If direction 1 and direction 2 are the same, and the intersection of ordinate set 1 and ordinate set 2 is not empty (such as Figure 2 In other words, the cost of a processed solid segment and other processed solid segments with the same direction and overlap is positive infinity.

[0087] 4. If direction 1 and direction 2 are different (e.g. Figure 2 If number 1 processes the solid line segment and number 6 processes the solid line segment), then the cost value is positive infinity.

[0088] 5. Otherwise (i.e., direction 1 and direction 2 are the same, but the intersection of ordinate set 1 and ordinate set 2 is empty), the cost value is not positive infinity.

[0089] Therefore, the cost value represents the distance between the two corresponding lane line solid line segments. If the directions of any two processed solid line segments are the same and the intersection of the direction coordinate sets is not empty, it means that the two processed solid line segments overlap, and their distance is positive infinity. If the directions of any two processed solid line segments are different, it means that the two processed solid line segments are two processed solid line segments in vertical directions, so their distance is also positive infinity. If the directions of any two processed solid line segments are the same but the intersection of the direction coordinate sets is empty, it means that the two processed solid line segments have the same direction, and there is no overlap, and there is a certain distance, so the cost value is non-positive infinity. In specific implementation, non-positive infinity can be a preset fixed value, or it can be the actual distance between the two processed solid line segments, that is, the distance between the starting point of the upper processed solid line segment and the end point of the lower processed solid line segment in the two processed solid line segments.

[0090] 106-3, all cost values are formed into a cost matrix.

[0091] Among them, the cost matrix is matrix, The total number of solid line segments processed.

[0092] like Figure 2 The cost matrix of the processed solid line segment is shown in Table 1, where NP represents non-positive infinity (it does not limit its value, nor does it limit whether the specific values of each NP are the same, it only indicates that the value here is non-positive infinity), and ∞ represents positive infinity.

[0093] Table 1

[0094]

[0095] 107, obtain the lane line instance according to the fitting curve and cost matrix.

[0096] The implementation process of this step is:

[0097] 107-1, adjusting the cost matrix according to the fitting curve, starting point coordinates and end point coordinates of each processed solid line segment.

[0098] The process of adjusting the cost matrix is:

[0099] 1. Determine the non-positive infinite cost values in the cost matrix as the cost values to be adjusted.

[0100] For example, the NPs in Table 1 are all cost values to be adjusted.

[0101] It should be noted that NP only means that its value is positive infinity, and does not represent a specific value.

[0102] 2. According to the fitting curve, the starting point coordinates and the end point coordinates, determine the fitting error between the two processed solid line segments involved in each cost value to be adjusted and distance error .

[0103] For example, determine and The determination process is:

[0104] 1) Based on the coordinates of the starting point of the upper segment, calculate the first error between the starting point of the upper segment and the fitting curve of the lower segment.

[0105] Among them, the upper line segment is one of the two lane line solid line segments involved, the lower line segment is the other of the two lane line solid line segments involved, and the upper line segment is located above the lower segment.

[0106] by Figure 2For example, consider the processed solid line segments 1 and 4 in the figure. The upper segment is processed solid line segment 4, and the lower segment is processed solid line segment 1. As explained in step 105, the starting coordinates of the upper segment are a set of coordinates (e.g., denoted as set4) consisting of the coordinates of all pixels located at the starting point of processed solid line segment 4. Therefore, the first error between the starting point of processed solid line segment 4 and the fitted curve of processed solid line segment 1 (e.g., denoted as curve1) is the fitting error of set4 on curve1.

[0107] For example, the expression of curve1 is ,in, 、 、 is the coefficient, Is a constant. If a point in set4 , whose coordinates are , then point The fitting error on curve1 is If there is The coordinates of the points, then the first error is .

[0108] 2) Based on the coordinates of the endpoint of the lower line segment, calculate the second error between the endpoint of the lower line segment and the fitting curve of the upper line segment.

[0109] Still Figure 2 For example, consider processed solid line segments 1 and 4 in the figure. The upper segment is processed solid line segment 4, and the lower segment is processed solid line segment 1. As explained in step 105, the endpoint coordinates of the lower segment are a set of coordinates (e.g., denoted as set1) consisting of the coordinates of all pixels located at the endpoint of processed solid line segment 1. Therefore, the second error between the endpoint of processed solid line segment 1 and the fitted curve of processed solid line segment 4 (e.g., denoted as curve4) is the fitting error of set1 on curve4.

[0110] For example, the expression of curve4 is ,in, 、 、 is the coefficient, Is a constant. If a point in set1 , whose coordinates are , then point The fitting error on curve4 is If there is The coordinates of the points, then the first error is .

[0111] 3) Confirm =first error + second error.

[0112] 4) Based on the coordinates of the starting point of the upper segment and the end point of the lower segment, determine the distance between the starting point of the upper segment and the end point of the lower segment and determine it as .

[0113] The distance here can be Euclidean distance.

[0114] Still Figure 2 For example, the upper segment is the processed solid segment 4, and the lower segment is the processed solid segment 1. As can be seen from the description of step 105, the starting coordinates of the upper segment are a set of coordinates consisting of all the pixels at the starting point of the processed solid segment 4 (e.g., set4), and the ending coordinates of the lower segment are a set of coordinates consisting of all the pixels at the ending point of the processed solid segment 1 (e.g., set1). Then is the Euclidean distance between set4 and set1.

[0115] 3. According to and fitting error threshold The relationship between Distance error threshold The relationship between them is used to adjust the cost value.

[0116] For example, for ,or, The cost value to be adjusted is adjusted to positive infinity. ,and, The cost value to be adjusted is adjusted to ,in, is the weight coefficient of the fitting error.

[0117] Still Figure 2 For example, if No. 1 and No. 4 process the solid line segments, ,or, , then adjust it to positive infinity. That is, we get the adjusted cost matrix shown in Table 2:

[0118] Table 2

[0119]

[0120] like ,and, , then adjust it to . That is, the adjusted cost matrix shown in Table 3 is obtained:

[0121] Table 3

[0122]

[0123] 107-2, the solid line segments are numbered from small to large according to the ordinate values of the starting coordinates.

[0124] As can be seen from the description of step 105, the starting coordinates are a set of coordinates consisting of the coordinates of all pixels at the starting point of the processed solid line segment. Therefore, in the specific implementation of step 107-2, the minimum value of the vertical coordinate in the set of starting coordinates of each processed solid line segment can be determined, and the processed solid line segments can be numbered according to the minimum value. If the minimum value of the vertical coordinates of at least two processed solid line segments is the same, the numbers between them can be randomly determined, or they can be sorted according to the minimum value of the horizontal coordinate. For example, for two processed solid line segments with the same minimum value of the vertical coordinate, the number of the minimum horizontal coordinate is placed before the other one, for example, numbering as follows: Figure 2 shown.

[0125] 107-3, merge the processed solid line segments according to the number and the adjusted cost matrix to obtain the lane line instance.

[0126] This step will merge based on the distance between the solid line segments and the similarity between the fitted curves. The specific implementation process is as follows:

[0127] 1. Mark all processed solid line segments as unprocessed.

[0128] 2. Select a processed solid line segment marked as unprocessed, numbered from smallest to largest. If, based on the adjusted cost matrix, a non-infinite cost exists between the selected processed solid line segment and another processed solid line segment marked as unprocessed, merge the selected processed solid line segment with the other processed solid line segment marked as unprocessed with the smallest cost value to obtain a merged processed solid line segment. Both the selected processed solid line segment and the other processed solid line segment marked as unprocessed with the smallest cost value are marked as processed.

[0129] In this step, the processed solid line segments marked as unprocessed and with the smallest number (such as the processed solid line segment) will be calculated in sequence according to the number of the processed solid line segment. ) and other processed solid line segments marked as unprocessed. If there is a non-infinite cost value, determine the unprocessed processed solid line segment with the smallest cost value (such as the processed solid line segment ), solid line segments will be processed and processing solid line segments Merge into one (such as processing solid line segments ), according to the processing of solid line segments Fitting curve, starting point coordinates, end point coordinates and processing solid line segments The fitting curve, starting point coordinates and end point coordinates are processed into solid line segments The fitting curve, starting point coordinates and end point coordinates. Fitting curves and processing solid line segments The fitting curve is fitted to obtain the processed solid line segment The solid line segment will be processed and processing solid line segments The end point coordinates of the upper line segment in the process are used as the solid line segment The end point coordinates of the solid line segment will be processed and processing solid line segments The starting coordinates of the lower line segment in the figure are used as the processing solid line segment. The starting point coordinates of . Processing solid line segments Direction and processing of solid line segments and processing solid line segments Same (according to the description of the cost matrix determination process in step 106, only the cost values of the two processed solid segments with the same direction will be non-positive infinity, so the processed solid segments and processing solid line segments The direction must be the same).

[0130] If there is no non-infinite cost value, it means that there is no other processed solid line segment that needs to be merged with the processed solid line segment, and no processing is performed.

[0131] Still Figure 2 For example, if the adjusted cost matrix is as shown in Table 1, then for processed solid line segment 1, compare its cost value with that of processed solid line segment 2, its cost value with that of processed solid line segment 3, its cost value with that of processed solid line segment 4, its cost value with that of processed solid line segment 5, and its cost value with that of processed solid line segment 6. If the non-positive infinite and minimum cost value is the cost value of its cost value with that of processed solid line segment 4, then merge processed solid line segments 1 and 4 to form a new processed solid line segment, and obtain the fitting curve, start point coordinates, and end point coordinates of the new processed solid line segment. Mark processed solid line segments 1 and 4 as processed. Then process processed solid line segment 2, and so on, until all processed solid line segments are selected.

[0132] 3. Update the processed solid line segments to all processed solid line segments marked as unprocessed and merged processed solid line segments, and repeat the step of determining the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment (i.e., step 105) and subsequent steps until there are no new merged processed solid line segments.

[0133] That is, if there are merged processed solid line segments during the above-mentioned 2-merge process in 107-3, then each merged processed solid line segment and all processed solid line segments marked as unprocessed are used as the processed solid line segments for the next processing, and step 105 and subsequent steps are re-executed. If there are no new merged processed solid line segments during the above-mentioned 2-merge process in 107-3, then all lane line solid line segments belonging to a lane line instance are merged to obtain a lane line instance, thereby completing the execution of the lane line instance detection method provided by this embodiment, and all processed solid line segments at this time (i.e., all processed solid line segments marked as unprocessed) are used as the final detected lane line instance.

[0134] This embodiment provides a lane line instance detection method. This method generates a lane line mask using a segmentation network; traverses the lane line mask from bottom to top to obtain all solid lane line segments; determines the direction of each solid lane line segment; identifies all solid lane line segments as processed solid lane line segments; determines a fitting curve, starting point coordinates, and end point coordinates for each processed solid lane line segment; determines a cost matrix based on the direction, starting point coordinates, and end point coordinates of each processed solid lane line segment; and obtains lane line instances based on the fitting curve and cost matrix. This method, after obtaining solid lane line segments, forms a cost matrix based on their starting point coordinates and end point coordinates. Lane line instances are then obtained based on the fitting curve and cost matrix. This method can accurately obtain lane line instances without relying on other algorithms.

[0135] Based on the same inventive concept of the lane line instance detection method, this embodiment provides a lane line instance detection device, such as Figure 4 As shown, the device includes:

[0136] A generation module 401 is used to generate a lane mask through a segmentation network;

[0137] An acquisition module 402 is configured to traverse the lane mask generated by the generation module 401 from bottom to top to obtain all lane line segments;

[0138] A first determining module 403 is configured to determine the direction of the solid line segments of each lane line obtained by the obtaining module 402; wherein the direction is horizontal or vertical;

[0139] A second determining module 404 is configured to determine all lane line segments acquired by the acquiring module 402 as processed solid line segments;

[0140] The third determining module 405 is used to determine the fitting curve, starting point coordinates and end point coordinates of each processed solid line segment determined by the second determining module 404;

[0141] The fourth determining module 406 is configured to determine a cost matrix based on the direction of each processed solid line segment determined by the first determining module 403 and the starting point coordinates and the ending point coordinates determined by the third determining module 405;

[0142] The fifth determining module 407 is configured to obtain a lane line instance according to the fitting curve determined by the third determining module 405 and the cost matrix determined by the fourth determining module 406 .

[0143] Among them, the fourth determination module 406 is used to determine the direction coordinate set of each processed solid line segment based on the starting point coordinates and the end point coordinates. Among them, if the direction of the processed solid line segment is horizontal, the direction coordinate set is the set composed of its horizontal coordinates. If the direction of the processed solid line segment is vertical, the direction coordinate set is the set composed of its vertical coordinates. Determine the cost values of any two processed solid line segments respectively. Among them, if the directions of any two processed solid line segments are the same and the intersection of the direction coordinate sets is not empty, or if the directions of any two processed solid line segments are different, the cost values of any two processed solid line segments are positive infinity. Otherwise, the cost value is not positive infinity. All cost values are formed into a cost matrix. Among them, the cost matrix is matrix, The total number of solid line segments processed.

[0144] The fifth determination module 407 is configured to adjust the cost matrix based on the fitting curve, start coordinates, and end coordinates of each processed solid line segment. The processed solid line segments are numbered from smallest to largest according to the ordinate values of the start coordinates. The processed solid line segments are merged based on the numbering and the adjusted cost matrix to obtain lane line instances.

[0145] Among them, according to the fitting curve, starting point coordinates and end point coordinates of each processed solid line segment, the cost matrix is adjusted, including:

[0146] The non-positive infinite cost values in the cost matrix are determined as the cost values to be adjusted.

[0147] According to the fitting curve, the starting point coordinates and the end point coordinates, the fitting error between the two processed solid line segments involved in each cost value to be adjusted is determined. and distance error .

[0148] according to and fitting error threshold The relationship between Distance error threshold The relationship between them is used to adjust the cost value.

[0149] Among them, according to the fitting curve, the starting point coordinates and the end point coordinates, the fitting error between the two processed solid line segments involved in each cost value to be adjusted is determined and distance error ,include:

[0150] Calculate the first error between the starting point of the upper segment and the fitting curve of the lower segment based on the coordinates of the starting point of the upper segment, where the upper segment is one of the two solid lane line segments involved, the lower segment is the other of the two solid lane line segments involved, and the upper segment is located above the lower segment.

[0151] A second error between the endpoint of the lower line segment and the fitting curve of the upper line segment is calculated based on the coordinates of the endpoint of the lower line segment.

[0152] Sure =first error + second error.

[0153] According to the coordinates of the starting point of the upper segment and the coordinates of the end point of the lower segment, the distance between the starting point of the upper segment and the end point of the lower segment is determined and determined as .

[0154] Among them, according to and fitting error threshold The relationship between Distance error threshold The relationship between , the cost value to be adjusted is adjusted, including:

[0155] for ,or, The cost value to be adjusted is adjusted to positive infinity.

[0156] for ,and, The cost value to be adjusted is adjusted to ,in, is the weight coefficient of the fitting error.

[0157] The processed solid line segments are merged according to the number and the adjusted cost matrix to obtain lane line instances, including:

[0158] All treated solid line segments are marked as untreated.

[0159] Select a processed solid line segment marked as unprocessed, numbered from smallest to largest. If, based on the adjusted cost matrix, a non-infinite cost value exists between the selected processed solid line segment and another processed solid line segment marked as unprocessed, merge the selected processed solid line segment with the other processed solid line segment marked as unprocessed with the smallest cost value to obtain a merged processed solid line segment. Both the selected processed solid line segment and the other processed solid line segment marked as unprocessed with the smallest cost value are marked as processed.

[0160] The processed solid line segments are updated to all processed solid line segments marked as unprocessed and merged processed solid line segments, and the steps of determining the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment and subsequent steps are repeated until there are no new merged processed solid line segments.

[0161] The device provided in this embodiment, after obtaining a solid lane line segment, forms a cost matrix based on its starting point coordinates and end point coordinates, and obtains a lane line instance based on the fitting curve and the cost matrix. This allows accurate lane line instances to be obtained without relying on other algorithms.

[0162] Based on the same inventive concept of the lane line instance detection method, this embodiment provides an electronic device, such as Figure 5 As shown, it includes: a memory 501, a processor 502, and a computer program.

[0163] The computer program is stored in the memory 501 and is configured to be executed by the processor 502 to implement the above lane line instance detection method.

[0164] Specifically,

[0165] Generate lane mask through segmentation network.

[0166] Traverse the lane mask from bottom to top and obtain all lane line segments.

[0167] Determine the direction of each lane's solid line segment, where the direction is horizontal or vertical.

[0168] All lane line solid segments are determined as processed solid line segments.

[0169] Determine the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment.

[0170] Determine the cost matrix based on the direction, starting point coordinates, and end point coordinates of each processed solid line segment.

[0171] Get the lane line instance based on the fitting curve and cost matrix.

[0172] Optionally, a cost matrix is determined according to the direction, starting point coordinates, and end point coordinates of each processed solid line segment, including:

[0173] Based on the starting and ending coordinates, determine the direction coordinate set for each processed solid line segment. If the direction of the processed solid line segment is horizontal, the direction coordinate set is the set consisting of its horizontal coordinates. If the direction of the processed solid line segment is vertical, the direction coordinate set is the set consisting of its vertical coordinates.

[0174] Determine the cost of any two processed solid line segments. If the two processed solid line segments have the same orientation and the intersection of their orientation coordinate sets is non-empty, or if the two processed solid line segments have different orientations, then the cost of the two processed solid line segments is positive infinity. Otherwise, the cost is non-positive infinity.

[0175] All cost values are formed into a cost matrix. Among them, the cost matrix is matrix, The total number of solid line segments processed.

[0176] Optionally, a lane line instance is obtained based on the fitted curve and the cost matrix, including:

[0177] Adjust the cost matrix according to the fitting curve, starting point coordinates and end point coordinates of each processed solid line segment.

[0178] The processed solid line segments are numbered from small to large according to the ordinate values of the starting coordinates.

[0179] The processed solid line segments are merged according to the number and the adjusted cost matrix to obtain lane line instances.

[0180] Optionally, the cost matrix is adjusted according to the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment, including:

[0181] The non-positive infinite cost values in the cost matrix are determined as the cost values to be adjusted.

[0182] According to the fitting curve, the starting point coordinates and the end point coordinates, the fitting error between the two processed solid line segments involved in each cost value to be adjusted is determined. and distance error .

[0183] according to and fitting error threshold The relationship between Distance error threshold The relationship between them is used to adjust the cost value.

[0184] Optionally, the fitting error between the two processed solid line segments involved in each cost value to be adjusted is determined based on the fitting curve, the starting point coordinates and the end point coordinates. and distance error ,include:

[0185] Calculate the first error between the starting point of the upper segment and the fitting curve of the lower segment based on the coordinates of the starting point of the upper segment, where the upper segment is one of the two solid lane line segments involved, the lower segment is the other of the two solid lane line segments involved, and the upper segment is located above the lower segment.

[0186] A second error between the endpoint of the lower line segment and the fitting curve of the upper line segment is calculated based on the coordinates of the endpoint of the lower line segment.

[0187] Sure =first error + second error.

[0188] According to the coordinates of the starting point of the upper segment and the coordinates of the end point of the lower segment, the distance between the starting point of the upper segment and the end point of the lower segment is determined and determined as .

[0189] Optionally, according to and fitting error threshold The relationship between Distance error threshold The relationship between , the cost value to be adjusted is adjusted, including:

[0190] for ,or, The cost value to be adjusted is adjusted to positive infinity.

[0191] for ,and, The cost value to be adjusted is adjusted to ,in, is the weight coefficient of the fitting error.

[0192] Optionally, the processed solid line segments are merged according to the number and the adjusted cost matrix to obtain lane line instances, including:

[0193] All treated solid line segments are marked as untreated.

[0194] Select a processed solid line segment marked as unprocessed, numbered from smallest to largest. If, based on the adjusted cost matrix, a non-infinite cost value exists between the selected processed solid line segment and another processed solid line segment marked as unprocessed, merge the selected processed solid line segment with the other processed solid line segment marked as unprocessed with the smallest cost value to obtain a merged processed solid line segment. Both the selected processed solid line segment and the other processed solid line segment marked as unprocessed with the smallest cost value are marked as processed.

[0195] The processed solid line segments are updated to all processed solid line segments marked as unprocessed and merged processed solid line segments, and the steps of determining the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment and subsequent steps are repeated until there are no new merged processed solid line segments.

[0196] The electronic device provided in this embodiment has a computer program executed by a processor to obtain a solid lane line segment, form a cost matrix based on its starting point coordinates and end point coordinates, and obtain a lane line instance based on the fitting curve and the cost matrix. This allows accurate lane line instances to be obtained without relying on other algorithms.

[0197] Based on the same inventive concept of the lane line instance detection method, this embodiment provides a computer-readable storage medium having a computer program stored thereon. The computer program is executed by a processor to implement the lane line instance detection method.

[0198] Specifically,

[0199] Generate lane mask through segmentation network.

[0200] Traverse the lane mask from bottom to top and obtain all lane line segments.

[0201] Determine the direction of each lane's solid line segment, where the direction is horizontal or vertical.

[0202] All lane line solid segments are determined as processed solid line segments.

[0203] Determine the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment.

[0204] Determine the cost matrix based on the direction, starting point coordinates, and end point coordinates of each processed solid line segment.

[0205] Get the lane line instance based on the fitting curve and cost matrix.

[0206] Optionally, a cost matrix is determined according to the direction, starting point coordinates, and end point coordinates of each processed solid line segment, including:

[0207] Based on the starting and ending coordinates, determine the direction coordinate set for each processed solid line segment. If the direction of the processed solid line segment is horizontal, the direction coordinate set is the set consisting of its horizontal coordinates. If the direction of the processed solid line segment is vertical, the direction coordinate set is the set consisting of its vertical coordinates.

[0208] Determine the cost of any two processed solid line segments. If the two processed solid line segments have the same orientation and the intersection of their orientation coordinate sets is non-empty, or if the two processed solid line segments have different orientations, then the cost of the two processed solid line segments is positive infinity. Otherwise, the cost is non-positive infinity.

[0209] All cost values are formed into a cost matrix. Among them, the cost matrix is matrix, The total number of solid line segments processed.

[0210] Optionally, a lane line instance is obtained based on the fitted curve and the cost matrix, including:

[0211] Adjust the cost matrix according to the fitting curve, starting point coordinates and end point coordinates of each processed solid line segment.

[0212] The processed solid line segments are numbered from small to large according to the ordinate values of the starting coordinates.

[0213] The processed solid line segments are merged according to the number and the adjusted cost matrix to obtain lane line instances.

[0214] Optionally, the cost matrix is adjusted according to the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment, including:

[0215] The non-positive infinite cost values in the cost matrix are determined as the cost values to be adjusted.

[0216] According to the fitting curve, the starting point coordinates and the end point coordinates, the fitting error between the two processed solid line segments involved in each cost value to be adjusted is determined. and distance error .

[0217] according to and fitting error threshold The relationship between Distance error threshold The relationship between them is used to adjust the cost value.

[0218] Optionally, the fitting error between the two processed solid line segments involved in each cost value to be adjusted is determined based on the fitting curve, the starting point coordinates and the end point coordinates. and distance error ,include:

[0219] Calculate the first error between the starting point of the upper segment and the fitting curve of the lower segment based on the coordinates of the starting point of the upper segment, where the upper segment is one of the two solid lane line segments involved, the lower segment is the other of the two solid lane line segments involved, and the upper segment is located above the lower segment.

[0220] A second error between the endpoint of the lower line segment and the fitting curve of the upper line segment is calculated based on the coordinates of the endpoint of the lower line segment.

[0221] Sure =first error + second error.

[0222] According to the coordinates of the starting point of the upper segment and the coordinates of the end point of the lower segment, the distance between the starting point of the upper segment and the end point of the lower segment is determined and determined as .

[0223] Optionally, according to and fitting error threshold The relationship between Distance error threshold The relationship between , the cost value to be adjusted is adjusted, including:

[0224] for ,or, The cost value to be adjusted is adjusted to positive infinity.

[0225] for ,and, The cost value to be adjusted is adjusted to ,in, is the weight coefficient of the fitting error.

[0226] Optionally, the processed solid line segments are merged according to the number and the adjusted cost matrix to obtain lane line instances, including:

[0227] All treated solid line segments are marked as untreated.

[0228] Select a processed solid line segment marked as unprocessed, numbered from smallest to largest. If, based on the adjusted cost matrix, a non-infinite cost value exists between the selected processed solid line segment and another processed solid line segment marked as unprocessed, merge the selected processed solid line segment with the other processed solid line segment marked as unprocessed with the smallest cost value to obtain a merged processed solid line segment. Both the selected processed solid line segment and the other processed solid line segment marked as unprocessed with the smallest cost value are marked as processed.

[0229] The processed solid line segments are updated to all processed solid line segments marked as unprocessed and merged processed solid line segments, and the steps of determining the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment and subsequent steps are repeated until there are no new merged processed solid line segments.

[0230] The computer-readable storage medium provided in this embodiment has a computer program executed by a processor to obtain a solid lane line segment, form a cost matrix based on its starting point coordinates and end point coordinates, and obtain a lane line instance based on the fitting curve and the cost matrix. This allows accurate lane line instances to be obtained without relying on other algorithms.

[0231] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a fully hardware embodiment, a fully software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present application may be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0232] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0233] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0234] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0235] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0236] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0237] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A lane line instance detection method, characterized in that: The method comprises: Generate lane mask through segmentation network; Traverse the lane mask from bottom to top to obtain all lane line segments; Determine the direction of the solid line segment of each lane line; wherein the direction is horizontal or vertical; All lane line solid segments are determined as processed solid line segments; Determine the fitting curve, starting point coordinates and end point coordinates of each processed solid line segment; Determine the cost matrix according to the direction, starting point coordinates and end point coordinates of each processed solid line segment; Obtain a lane line instance according to the fitting curve and the cost matrix; Determining the cost matrix according to the direction, starting point coordinates, and end point coordinates of each processed solid line segment includes: Determine the direction coordinate set of each processed solid line segment based on the starting point coordinates and the end point coordinates; if the direction of the processed solid line segment is horizontal, the direction coordinate set is the set consisting of its horizontal coordinates; if the direction of the processed solid line segment is vertical, the direction coordinate set is the set consisting of its vertical coordinates; Determine the cost values of any two processed solid line segments respectively; if the directions of the any two processed solid line segments are the same and the intersection of the direction coordinate sets is not empty, or if the directions of the any two processed solid line segments are different, then the cost values of the any two processed solid line segments are positive infinity; otherwise, the cost value is non-positive infinity; All cost values are formed into a cost matrix; where the cost matrix is matrix, The total number of solid line segments processed.

2. The method according to claim 1, characterized in that Obtaining a lane line instance according to the fitting curve and the cost matrix includes: Adjust the cost matrix according to the fitting curve, starting point coordinates and end point coordinates of each processed solid line segment; The processed solid line segments are numbered from small to large according to the ordinate values of the starting coordinates; The processed solid line segments are merged according to the numbers and the adjusted cost matrix to obtain lane line instances.

3. The method according to claim 2, characterized in that The step of adjusting the cost matrix according to the fitting curve, the starting point coordinates, and the ending point coordinates of each processed solid line segment includes: Determine the non-positive infinite cost value in the cost matrix as the cost value to be adjusted; According to the fitting curve, the starting point coordinates and the end point coordinates, the fitting error between the two processed solid line segments involved in each cost value to be adjusted is determined. and distance error ; according to and fitting error threshold The relationship between Distance error threshold The relationship between them is used to adjust the cost value.

4. The method according to claim 3, characterized in that The fitting error between the two processed solid line segments involved in each cost value to be adjusted is determined based on the fitting curve, the starting point coordinates and the end point coordinates. and distance error ,include: Calculate a first error between the starting point coordinates of the upper line segment and the fitting curve of the lower line segment, based on the starting point coordinates of the upper line segment; wherein the upper line segment is one of the two lane line solid line segments involved, the lower line segment is the other of the two lane line solid line segments involved, and the upper line segment is located above the lower segment; Calculate a second error between the endpoint of the lower line segment and the fitting curve of the upper line segment based on the coordinates of the endpoint of the lower line segment; Sure = first error + second error; According to the coordinates of the starting point of the upper segment and the coordinates of the end point of the lower segment, the distance between the starting point of the upper segment and the end point of the lower segment is determined and determined as .

5. The method according to claim 3, characterized in that The basis and fitting error threshold The relationship between Distance error threshold The relationship between , the cost value to be adjusted is adjusted, including: for ,or, The cost value to be adjusted is adjusted to positive infinity; for ,and, The cost value to be adjusted is adjusted to ,in, is the weight coefficient of the fitting error.

6. The method according to claim 2, characterized in that Merging the processed solid line segments according to the numbers and the adjusted cost matrix to obtain lane line instances includes: All treated solid line segments are marked as untreated; Select one processed solid line segment marked as unprocessed in order of number from smallest to largest; if, based on the adjusted cost matrix, it is determined that there is a non-infinite cost value between the selected processed solid line segment and the other processed solid line segments marked as unprocessed, then merge the selected processed solid line segment with the other processed solid line segments marked as unprocessed with the smallest cost value to obtain a merged processed solid line segment; and mark both the selected processed solid line segment and the other processed solid line segments marked as unprocessed with the smallest cost value as processed; The processed solid line segments are updated to all processed solid line segments marked as unprocessed and merged processed solid line segments, and the steps of determining the fitting curve, starting point coordinates, and end point coordinates of each processed solid line segment and subsequent steps are repeated until there are no new merged processed solid line segments.

7. A lane line instance detection device, characterized in that: The device comprises: The generation module is used to generate lane mask through the segmentation network; An acquisition module is used to traverse the lane line mask generated by the generation module from bottom to top to obtain all lane line solid segments; a first determining module, configured to determine the direction of the solid line segments of each lane line acquired by the acquiring module; wherein the direction is horizontal or vertical; a second determining module, configured to determine all lane line solid segments acquired by the acquiring module as processed solid line segments; a third determining module, configured to determine a fitting curve, a starting point coordinate, and an ending point coordinate of each processed solid line segment determined by the second determining module; a fourth determining module, configured to determine a cost matrix based on the direction of each processed solid line segment determined by the first determining module and the start point coordinates and the end point coordinates determined by the third determining module; the module includes: determining a direction coordinate set of each processed solid line segment based on the start point coordinates and the end point coordinates; wherein, if the direction of the processed solid line segment is horizontal, the direction coordinate set is a set consisting of its abscissas; and if the direction of the processed solid line segment is vertical, the direction coordinate set is a set consisting of its ordinates; Determine the cost values of any two processed solid line segments respectively; if the directions of the any two processed solid line segments are the same and the intersection of the direction coordinate sets is not empty, or if the directions of the any two processed solid line segments are different, then the cost values of the any two processed solid line segments are positive infinity; otherwise, the cost value is non-positive infinity; All cost values are formed into a cost matrix; where the cost matrix is matrix, To process the total number of solid line segments; A fifth determination module is configured to obtain a lane line instance based on the fitting curve determined by the third determination module and the cost matrix determined by the fourth determination module.

8. An electronic device, characterized in that: include: Memory; processor; as well as computer programs; The computer program is stored in the memory and configured to be executed by the processor to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that A computer program is stored thereon; the computer program is executed by a processor to implement the method according to any one of claims 1 to 6.

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