Road boundary determination method and device, storage medium and electronic device

Abstract

The invention discloses a road boundary determination method and device, a storage medium and an electronic device, and relates to the technical field of vehicles. The method comprises the steps that the lane center line of a target road and a target obstacle are determined, the target road is a road where a target vehicle travels, and the target obstacle is a static obstacle shielding the target road; affine transformation is carried out on the lane center line to obtain an initial lane boundary line, and the initial lane boundary line is located at the preset distance between the two sides of the lane center line; the obstacle boundary of the target obstacle is projected to the initial lane boundary line, a first projection range is obtained, and the first projection range is used for representing the longitudinal projection range of the obstacle boundary on the initial lane boundary line; and updating the initial lane boundary line based on the first projection range and the obstacle boundary to obtain a target lane boundary line. The technical problem that the boundary line of the left road and the right road cannot be accurately generated due to poor adaptability to the shape of an obstacle in a no-graph mode in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a road boundary determination method, device, storage medium and electronic device. Background Art

[0002] Autonomous driving technology is gradually maturing, but in the non-mapped mode, the vehicle needs to rely on its own sensors to perceive the surrounding environment, including obstacles such as road boundaries. In this case, the shape of obstacles is often irregular, which brings certain challenges to vehicle driving. Especially when it is necessary to generate left and right road boundaries, it is necessary to ensure that the vehicle can avoid obstacles and avoid collisions to ensure safe and smooth driving.

[0003] At present, the road boundary lines are generated by the vehicle's own sensors. This method is not ideal when facing irregular obstacles. It has poor adaptability to the shape of obstacles and cannot accurately generate left and right road boundary lines, which can easily cause the vehicle to collide with obstacles. Summary of the invention

[0004] Embodiments of the present invention provide a road boundary determination method, device, storage medium and electronic device to at least solve the technical problem in the related art that the shape adaptability of obstacles is poor in a non-map mode and the left and right road boundary lines cannot be accurately generated.

[0005] According to one embodiment of the present invention, a road boundary determination method is provided, comprising: determining a lane centerline and a target obstacle of a target road, wherein the target road is a road on which a target vehicle travels, and the target obstacle is a static obstacle that blocks the target road; performing an affine transformation on the lane centerline to obtain an initial lane boundary line, wherein the initial lane boundary line is located at a preset distance on both sides of the lane centerline; projecting an obstacle boundary of the target obstacle onto the initial lane boundary line to obtain a first projection range, wherein the first projection range is used to represent a longitudinal projection range of the obstacle boundary on the initial lane boundary line; and updating the initial lane boundary line based on the first projection range and the obstacle boundary to obtain a target lane boundary line.

[0006] Optionally, performing an affine transformation on the lane centerline to obtain an initial lane boundary line includes: performing a geometric linear affine transformation on the lane centerline in a first direction to obtain a first lane boundary line; performing a geometric linear affine transformation on the lane centerline in a second direction to obtain a second lane boundary line; and determining the initial lane boundary line based on the first lane boundary line and the second lane boundary line.

[0007] Optionally, projecting the obstacle boundary of the target obstacle onto the initial lane boundary line to obtain a first projection range includes: determining the lane boundary line obscured by the target obstacle among the first lane boundary line and the second lane boundary line to obtain an obscured lane boundary line; and projecting the obstacle boundary onto the obscured lane boundary line to obtain the first projection range.

[0008] Optionally, updating the initial lane boundary line based on the first projection range and the obstacle boundary to obtain the target lane boundary line includes: projecting the obstacle boundary onto the lane centerline to obtain a second projection range, wherein the second projection range is used to represent the longitudinal projection range of the obstacle boundary on the lane centerline; determining multiple target line segments based on the first projection range and the second projection range, wherein the multiple target line segments are multiple line segments vertically connecting the obstructed lane boundary line and the lane centerline; updating the initial lane boundary line based on the multiple target line segments and the obstacle boundary to obtain the target lane boundary line.

[0009] Optionally, determining multiple target line segments based on the first projection range and the second projection range includes: determining multiple first projection points from the first projection range based on a preset resolution; vertically projecting the multiple first projection points into the second projection range to obtain multiple second projection points; and correspondingly connecting the multiple first projection points with the multiple second projection points to obtain multiple target line segments.

[0010] Optionally, updating the initial lane boundary line based on multiple target line segments and obstacle boundaries to obtain the target lane boundary line includes: determining the intersection points of multiple target line segments and obstacle boundaries to obtain multiple target intersection points; performing curve fitting on the multiple target intersection points to obtain a target curve; and updating the initial lane boundary line based on the target curve to obtain the target lane boundary line.

[0011] Optionally, updating the initial lane boundary line based on the target curve to obtain the target lane boundary line includes: determining the remaining lane boundary lines in the obscured lane boundary line except for the first projection range; generating a third lane boundary line based on the remaining lane boundary lines and the target curve; and updating the initial lane boundary line based on the third lane boundary line to obtain the target lane boundary line.

[0012] According to one embodiment of the present invention, a road boundary determination device is also provided, including: a determination module, used to determine the lane center line and target obstacle of a target road, wherein the target road is a road on which a target vehicle travels, and the target obstacle is a static obstacle that blocks the target road; a transformation module, used to perform an affine transformation on the lane center line to obtain an initial lane boundary line, wherein the initial lane boundary line is located at a preset distance on both sides of the lane center line; a projection module, used to project the obstacle boundary of the target obstacle onto the initial lane boundary line to obtain a first projection range, wherein the first projection range is used to represent the longitudinal projection range of the obstacle boundary on the initial lane boundary line; and an update module, used to update the initial lane boundary line based on the first projection range and the obstacle boundary to obtain a target lane boundary line.

[0013] Optionally, the transformation module is also used to perform an affine transformation on the lane centerline to obtain an initial lane boundary line, including: performing a geometric linear affine transformation on the lane centerline in a first direction to obtain a first lane boundary line; performing a geometric linear affine transformation on the lane centerline in a second direction to obtain a second lane boundary line; and determining the initial lane boundary line based on the first lane boundary line and the second lane boundary line.

[0014] Optionally, the projection module is also used to project the obstacle boundary of the target obstacle onto the initial lane boundary line, and obtaining the first projection range includes: determining the lane boundary line obscured by the target obstacle in the first lane boundary line and the second lane boundary line to obtain the obscured lane boundary line; projecting the obstacle boundary onto the obscured lane boundary line to obtain the first projection range.

[0015] Optionally, the updating module is also used to update the initial lane boundary line based on the first projection range and the obstacle boundary, and obtaining the target lane boundary line includes: projecting the obstacle boundary onto the lane centerline to obtain a second projection range, wherein the second projection range is used to represent the longitudinal projection range of the obstacle boundary on the lane centerline; determining multiple target line segments based on the first projection range and the second projection range, wherein the multiple target line segments are multiple line segments vertically connecting the obstructed lane boundary line and the lane centerline; updating the initial lane boundary line based on the multiple target line segments and the obstacle boundary to obtain the target lane boundary line.

[0016] Optionally, the update module is also used to determine multiple target line segments based on the first projection range and the second projection range, including: determining multiple first projection points from the first projection range based on a preset resolution; vertically projecting the multiple first projection points into the second projection range to obtain multiple second projection points; correspondingly connecting the multiple first projection points with the multiple second projection points to obtain multiple target line segments.

[0017] Optionally, the updating module is also used to update the initial lane boundary line based on multiple target line segments and obstacle boundaries, and obtaining the target lane boundary line includes: determining the intersection points of multiple target line segments and obstacle boundaries to obtain multiple target intersection points; performing curve fitting on the multiple target intersection points to obtain a target curve; and updating the initial lane boundary line based on the target curve to obtain the target lane boundary line.

[0018] Optionally, the updating module is also used to update the initial lane boundary line based on the target curve, and obtaining the target lane boundary line includes: determining the remaining lane boundary lines in the obscured lane boundary line except the first projection range; generating a third lane boundary line based on the remaining lane boundary lines and the target curve; updating the initial lane boundary line based on the third lane boundary line to obtain the target lane boundary line.

[0019] According to one embodiment of the present invention, a vehicle is provided, and the vehicle is used to execute any of the above road boundary determination methods.

[0020] According to one embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute any of the above road boundary determination methods when running on a computer or a processor.

[0021] According to one embodiment of the present invention, there is also provided an electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any of the above road boundary determination methods.

[0022] According to one embodiment of the present invention, a computer program product is also provided, including a computer program, and when the computer program is executed by a processor, the road boundary determination method in any one of the above items is implemented.

[0023] In an embodiment of the present invention, by determining the lane centerline and the target obstacle of the target road on which the target vehicle is currently traveling, and then performing an affine transformation on the lane centerline to obtain an initial lane boundary line, the obstacle boundary of the target obstacle is projected onto the initial lane boundary line to obtain a first projection range, that is, a longitudinal projection range of the obstacle boundary on the initial lane boundary line is obtained, and finally the initial lane boundary line is updated based on the first projection range and the obstacle boundary to obtain the target lane boundary line, thereby achieving the purpose of accurately generating left and right road boundary lines in a non-map mode, thereby achieving the technical effect of improving the recognition accuracy of irregular obstacles, improving the accuracy of the generated left and right road boundary lines, effectively preventing the vehicle from colliding with obstacles, and improving the safety of autonomous driving, thereby solving the technical problem in the related art that the shape adaptability to obstacles in a non-map mode is poor and the left and right road boundary lines cannot be accurately generated. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 is a flow chart of a method for determining a road boundary according to one embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of an initial lane boundary line according to one embodiment of the present invention;

[0027] Figure 3 is a schematic diagram of a projection range according to one embodiment of the present invention;

[0028] Figure 4 is a schematic diagram of a target line segment according to one embodiment of the present invention;

[0029] Figure 5 is a schematic diagram of a target intersection according to one embodiment of the present invention;

[0030] Figure 6 is a schematic diagram of a target lane boundary line according to one embodiment of the present invention;

[0031] Figure 7 is a structural block diagram of a road boundary determination device according to one embodiment of the present invention. DETAILED DESCRIPTION

[0032] To facilitate understanding, some descriptions of concepts related to the embodiments of the present invention are exemplarily provided for reference.

[0033] As shown below:

[0034] No-map mode: refers to the mode in which the autonomous driving system drives without maps or positioning information. In this mode, the autonomous driving system mainly relies on sensors and real-time data for navigation and decision-making, rather than relying on pre-established map information. This mode can help the autonomous driving system cope with some special situations, such as driving in an environment without map information or driving when the map information is inaccurate or outdated.

[0035] Frenet coordinate system: A method for describing the position of a point on a curve, consisting of a normal vector (N), a tangent vector (T), and a binormal vector (B). These three vectors form a local orthogonal coordinate system, in which the tangent vector represents the direction of the curve, the normal vector represents the concave and convex direction of the curve, and the binormal vector is related to the curvature of the curve. The Frenet coordinate system can more accurately describe the position and motion state of a point on a curve.

[0036] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In the description of this embodiment, unless otherwise specified, the meaning of "multiple" is two or more. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] According to one embodiment of the present invention, an embodiment of a road boundary determination method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0039] The method embodiment can be executed in an electronic device including a memory and a processor, a similar control device or a system. Taking an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a communication device and a display device for communication functions. It can be understood by a person of ordinary skill in the art that the above structural description is only illustrative and does not limit the structure of the above electronic device. For example, the electronic device may also include more or fewer components than the above structural description, or have a configuration different from the above structural description.

[0040] The processor may include one or more processing units. For example, the processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processor (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, and the like. Among them, different processing units may be independent components or integrated into one or more processors. In some instances, the electronic device may also include one or more processors.

[0041] The memory can be used to store computer programs, such as storing computer programs corresponding to the road boundary determination method in the embodiment of the present invention. The processor implements the above-mentioned road boundary determination method by running the computer program stored in the memory. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0042] The communication device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network adapter (network interface controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the communication device can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0043] The display device may be, for example, a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of a mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), and a user may interact with the GUI by finger contact and / or gestures on a touch-sensitive surface, wherein the human-computer interaction functions here may optionally include the following interactions: creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music and / or web browsing, etc. The executable instructions for executing the above human-computer interaction functions are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0044] In this embodiment, a road boundary determination method running on an electronic device is provided. Figure 1 is a flow chart of a method for determining a road boundary according to one embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0045] Step S10: determining a lane centerline and a target obstacle of a target road, wherein the target road is a road on which the target vehicle travels, and the target obstacle is a static obstacle blocking the target road;

[0046] Step S12: performing an affine transformation on the lane centerline to obtain an initial lane boundary line, wherein the initial lane boundary line is located at a preset distance on both sides of the lane centerline;

[0047] Step S14: projecting the obstacle boundary of the target obstacle onto the initial lane boundary line to obtain a first projection range, wherein the first projection range is used to represent the longitudinal projection range of the obstacle boundary on the initial lane boundary line;

[0048] Step S16: Update the initial lane boundary line based on the first projection range and the obstacle boundary to obtain a target lane boundary line.

[0049] In the embodiment of the present invention, the target vehicle is an autonomous driving vehicle, and can be understood as an autonomous driving vehicle traveling in a non-mapped mode, and the target road is the road that the target vehicle is currently traveling on. The lane centerline can be understood as a line in the center of the target lane used to separate vehicles traveling in different directions, thereby helping the driver to maintain the correct lane on the road and avoid collision with oncoming vehicles.

[0050] The target obstacle is a static obstacle that blocks the target road, which can be understood as a static obstacle close to both sides of the target road, such as flower beds, green belts and other immovable static obstacles, and also includes stationary vehicles (which require the target vehicle to detour), etc., which are not restricted here.

[0051] Determining the lane centerline and target obstacle of the target road can be understood as determining the lane centerline of the target road based on the sensors carried by the vehicle itself, and identifying and determining the target obstacle blocking the target road based on the sensors carried by the vehicle itself.

[0052] After the lane centerline is determined, an affine transformation is performed on the determined lane centerline to obtain initial lane boundary lines, and the initial lane boundary lines obtained by the affine transformation are respectively located at preset distances on both sides of the lane centerline. For example, the preset distance can be set to 5 meters, which can be set according to actual needs and is not limited here.

[0053] After obtaining the initial lane boundary line, the obstacle boundary of the target obstacle is projected onto the initial lane boundary line to obtain a first projection range, which is used to represent the longitudinal projection range of the obstacle boundary on the initial lane boundary line. It can be understood that the obstacle boundary of the target obstacle is projected onto the initial lane boundary, and then the longitudinal projection range projected on the initial lane boundary line is determined, that is, the longitudinal range occupied by the target obstacle on the initial boundary line is determined.

[0054] After obtaining the first projection range, the initial lane boundary line is updated based on the first projection range and the obstacle boundary, thereby obtaining the target lane boundary line. It can be understood that the initial lane boundary line is updated according to the longitudinal projection range and the obstacle boundary on the initial lane boundary line, thereby obtaining the target lane boundary line, and then the driving path can be planned according to the road range constrained by the target lane boundary line.

[0055] It can be seen that the embodiment of the present invention determines the lane centerline and the target obstacle of the target road on which the target vehicle is currently traveling, and then performs an affine transformation on the lane centerline to obtain an initial lane boundary line, and then projects the obstacle boundary of the target obstacle onto the initial lane boundary line to obtain a first projection range, that is, a longitudinal projection range of the obstacle boundary on the initial lane boundary line, and finally updates the initial lane boundary line based on the first projection range and the obstacle boundary to obtain the target lane boundary line, so that it can better adapt to obstacles of different shapes in the non-map mode, accurately generate left and right road boundary lines, prevent vehicles from colliding with obstacles, and improve the safety of autonomous driving.

[0056] Through the above steps, by determining the lane centerline and target obstacle of the target road on which the target vehicle is currently traveling, and then performing affine transformation on the lane centerline to obtain an initial lane boundary line, the obstacle boundary of the target obstacle is projected onto the initial lane boundary line to obtain a first projection range, that is, a longitudinal projection range of the obstacle boundary on the initial lane boundary line is obtained, and finally the initial lane boundary line is updated based on the first projection range and the obstacle boundary to obtain the target lane boundary line, thereby achieving the purpose of accurately generating left and right road boundary lines in a non-map mode, thereby achieving the technical effect of improving the recognition accuracy of irregular obstacles, improving the accuracy of the generated left and right road boundary lines, effectively preventing vehicles from colliding with obstacles, and improving the safety of autonomous driving, thereby solving the technical problem in the related technology that the shape adaptability to obstacles in a non-map mode is poor and the left and right road boundary lines cannot be accurately generated.

[0057] Optionally, in step S12, performing an affine transformation on the lane centerline to obtain an initial lane boundary line may include the following execution steps:

[0058] Step S120, performing a geometric linear affine transformation on the lane centerline in a first direction to obtain a first lane boundary line;

[0059] Step S122, performing a geometric linear affine transformation on the lane centerline in a second direction to obtain a second lane boundary line;

[0060] Step S124: determining an initial lane boundary line based on the first lane boundary line and the second lane boundary line.

[0061] In an embodiment of the present invention, when performing an affine transformation on the lane centerline to obtain the initial lane boundary line, a geometric linear affine transformation can be performed on the lane centerline in a first direction to obtain the first lane boundary line, and a geometric linear affine transformation can be performed on the lane centerline in a second direction to obtain the second lane boundary line, and then the initial lane boundary line is determined based on the first lane boundary line and the second lane boundary line.

[0062] The first direction and the second direction can be understood as the directions on the left and right sides of the lane centerline. Figure 2 is a schematic diagram of an initial lane boundary line according to one embodiment of the present invention, such as Figure 2 As shown, taking the first direction as the direction on the left side of the lane centerline and the second direction as the direction on the right side of the lane centerline as an example, a geometric linear affine transformation is performed on the lane centerline in the first direction, and the first lane boundary line obtained is located at a preset distance to the left of the lane centerline, and a geometric linear affine transformation is performed on the lane centerline in the second direction, and the second lane boundary line obtained is located at a preset distance to the right of the lane centerline, and then the first lane boundary line and the second lane boundary line together form an initial lane boundary line.

[0063] Optionally, in step S14, projecting the obstacle boundary of the target obstacle onto the initial lane boundary line to obtain the first projection range may include the following execution steps:

[0064] Step S140, determining the lane boundary line blocked by the target obstacle from the first lane boundary line and the second lane boundary line to obtain a blocked lane boundary line;

[0065] Step S142: Project the boundary of the obstacle onto the boundary line of the blocked lane to obtain a first projection range.

[0066] In the embodiment of the present invention, when the obstacle boundary of the target obstacle is projected onto the initial lane boundary line to obtain the first projection range, the lane boundary line blocked by the target obstacle can be determined from the first lane boundary line and the second lane boundary line to obtain the blocked lane boundary line. It can be understood that obstacles on the road are usually located on both sides of the road, so the boundary of the target obstacle will be projected onto one of the boundary lines of the initial road boundary lines, that is, the blocked lane boundary line.

[0067] After determining the blocked lane boundary line, the obstacle boundary is projected onto the blocked lane boundary line to obtain a first projection range, that is, a longitudinal range occupied by the target obstacle on the blocked lane boundary line.

[0068] Optionally, in step S16, updating the initial lane boundary line based on the first projection range and the obstacle boundary to obtain the target lane boundary line may include the following execution steps:

[0069] Step S160: Project the obstacle boundary onto the lane centerline to obtain a second projection range, wherein the second projection range is used to represent the longitudinal projection range of the obstacle boundary on the lane centerline;

[0070] Step S162, determining a plurality of target line segments based on the first projection range and the second projection range, wherein the plurality of target line segments are a plurality of line segments vertically connecting the blocked lane boundary line and the lane center line;

[0071] Step S164: Update the initial lane boundary line based on the multiple target line segments and obstacle boundaries to obtain a target lane boundary line.

[0072] In the embodiment of the present invention, when the initial lane boundary line is updated based on the first projection range and the obstacle boundary to obtain the target lane boundary line, the obstacle boundary can be projected onto the lane centerline to obtain a second projection range, and the second projection range is used to represent the longitudinal projection range of the obstacle boundary on the lane centerline. It can be understood that the obstacle boundary is projected into the Frenet coordinate system based on the lane centerline to obtain the longitudinal range occupied by the target obstacle on the lane centerline.

[0073] Then, multiple target line segments are determined based on the obtained first projection range and the second projection range, and the multiple target line segments are multiple line segments vertically connecting the blocked lane boundary line and the lane center line. It can be understood that multiple vertical line segments, i.e., multiple target line segments, are determined between the first projection range and the second projection range.

[0074] After determining the multiple target line segments, the initial lane boundary line is updated based on the multiple target line segments and the obstacle boundary, thereby obtaining the target lane boundary line.

[0075] Figure 3 is a schematic diagram of a projection range according to one embodiment of the present invention. Figure 3 As shown in FIG. 1 , the target obstacle is located on the left side of the lane centerline, and the lane boundary line blocked by the target obstacle (i.e., the blocked boundary line) is the first lane boundary line. The first projection range of the obstacle boundary of the target obstacle on the first lane boundary line is as follows: Figure 3 As shown in , the second projection range of the obstacle boundary of the target obstacle on the lane centerline is as follows Figure 3 as shown in .

[0076] Optionally, in step S162, determining a plurality of target line segments based on the first projection range and the second projection range may include the following execution steps:

[0077] Step S1620: determining a plurality of first projection points from the first projection range based on a preset resolution;

[0078] Step S1622, vertically projecting the plurality of first projection points into the second projection range to obtain a plurality of second projection points;

[0079] Step S1624: Connect the multiple first projection points and the multiple second projection points correspondingly to obtain multiple target line segments.

[0080] In an embodiment of the present invention, when determining multiple target line segments based on the first projection range and the second projection range, multiple first projection points can be determined from the first projection range based on a preset resolution. Exemplarily, the preset resolution can be set according to actual needs and is not limited here.

[0081] After determining the plurality of first projection points, the plurality of first projection points are vertically projected into the second projection range to obtain a plurality of second projection points, and finally the plurality of first projection points are correspondingly connected with the plurality of second projection points to obtain a plurality of target line segments.

[0082] Figure 4 is a schematic diagram of a target line segment according to one embodiment of the present invention, such as Figure 4 As shown, in the first projection range, it can be determined based on the preset resolution as follows Figure 4 Then, the first projection points are vertically projected to the second projection range to obtain the following: Figure 4 Finally, the plurality of first projection points are correspondingly connected with the plurality of second projection points, so as to obtain Figure 4 Multiple target line segments shown in .

[0083] Optionally, in step S164, updating the initial lane boundary line based on the multiple target line segments and the obstacle boundary to obtain the target lane boundary line may include the following execution steps:

[0084] Step S1640, determining the intersection points of multiple target line segments and obstacle boundaries to obtain multiple target intersection points;

[0085] Step S1642, performing curve fitting on multiple target intersection points to obtain a target curve;

[0086] Step S1644: Update the initial lane boundary line based on the target curve to obtain the target lane boundary line.

[0087] In an embodiment of the present invention, when the initial lane boundary line is updated based on multiple target line segments and obstacle boundaries to obtain the target lane boundary line, the intersection points of the multiple target line segments and the obstacle boundaries can be determined to obtain multiple target intersection points, which can be understood as determining the intersection points of the multiple target line segments and the line segments of the obstacle boundaries.

[0088] After determining multiple target intersections, curve fitting is performed on the multiple target intersections to obtain a target curve, that is, multiple intersections are connected with a smooth curve to obtain a target curve. Finally, the initial lane boundary line is updated based on the obtained target curve to obtain a target lane boundary line.

[0089] Figure 5 is a schematic diagram of a target intersection according to one embodiment of the present invention. Figure 5 As shown in , each of the multiple target line segments will have an intersection with the obstacle boundary, thus obtaining multiple Figure 5 The target intersection is shown.

[0090] Optionally, in step S1644, updating the initial lane boundary line based on the target curve to obtain the target lane boundary line may include the following execution steps:

[0091] Step S16440, determining the remaining lane boundary lines except the first projection range among the blocked lane boundary lines;

[0092] Step S16442: generating a third lane boundary line based on the remaining lane boundary lines and the target curve;

[0093] Step S16444: Update the initial lane boundary line based on the third lane boundary line to obtain the target lane boundary line.

[0094] In an embodiment of the present invention, when the initial lane boundary line is updated based on the target curve to obtain the target lane boundary line, the remaining lane boundary lines in the obstructed lane boundary line except the first projection range can be determined. Then, a third lane boundary line is generated based on the remaining lane boundary lines and the target curve, which can be understood as splicing the remaining lane boundary lines in the obstructed lane boundary line except the first projection range with the target curve to generate the third lane boundary line. Finally, the initial lane boundary line is updated based on the third lane boundary line to obtain the target lane boundary line, which can be understood as combining another lane boundary line in the initial lane boundary line except the obstructed lane boundary line with the third lane boundary line to obtain the target lane boundary line.

[0095] Figure 6 is a schematic diagram of a target lane boundary line according to one embodiment of the present invention. Figure 6 As shown in the figure, after curve fitting multiple target intersection points, the following can be obtained: Figure 6 The target curve is shown. Then the target curve is spliced ​​with the remaining lane boundary lines in the blocked lane boundary line (i.e., the first lane boundary line) except the first projection range to obtain the third lane boundary line. Finally, the third lane boundary line is combined with another lane boundary line in the initial lane boundary line except the blocked lane boundary line (i.e., the second lane boundary line) to obtain the target lane boundary line.

[0096] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0097] In this embodiment, a road boundary determination device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0098] Figure 7 is a structural block diagram of a road boundary determination device according to one embodiment of the present invention. Figure 7 As shown, a road boundary determination device 700 is used as an example, and the device includes: a determination module 701, which is used to determine the lane centerline and the target obstacle of the target road, wherein the target road is the road on which the target vehicle travels, and the target obstacle is a static obstacle that blocks the target road; a transformation module 702, which is used to perform an affine transformation on the lane centerline to obtain an initial lane boundary line, wherein the initial lane boundary line is located at a preset distance on both sides of the lane centerline; a projection module 703, which is used to project the obstacle boundary of the target obstacle onto the initial lane boundary line to obtain a first projection range, wherein the first projection range is used to represent the longitudinal projection range of the obstacle boundary on the initial lane boundary line; an updating module 704, which is used to update the initial lane boundary line based on the first projection range and the obstacle boundary to obtain a target lane boundary line.

[0099] Optionally, the transformation module 702 is also used to perform an affine transformation on the lane centerline to obtain an initial lane boundary line, including: performing a geometric linear affine transformation on the lane centerline in a first direction to obtain a first lane boundary line; performing a geometric linear affine transformation on the lane centerline in a second direction to obtain a second lane boundary line; and determining the initial lane boundary line based on the first lane boundary line and the second lane boundary line.

[0100] Optionally, the projection module 703 is also used to project the obstacle boundary of the target obstacle onto the initial lane boundary line, and obtaining the first projection range includes: determining the lane boundary line obscured by the target obstacle in the first lane boundary line and the second lane boundary line to obtain the obscured lane boundary line; projecting the obstacle boundary onto the obscured lane boundary line to obtain the first projection range.

[0101] Optionally, the updating module 704 is also used to update the initial lane boundary line based on the first projection range and the obstacle boundary, and obtaining the target lane boundary line includes: projecting the obstacle boundary onto the lane centerline to obtain a second projection range, wherein the second projection range is used to represent the longitudinal projection range of the obstacle boundary on the lane centerline; determining multiple target line segments based on the first projection range and the second projection range, wherein the multiple target line segments are multiple line segments vertically connecting the obstructed lane boundary line and the lane centerline; updating the initial lane boundary line based on the multiple target line segments and the obstacle boundary to obtain the target lane boundary line.

[0102] Optionally, the updating module 704 is also used to determine multiple target line segments based on the first projection range and the second projection range, including: determining multiple first projection points from the first projection range based on a preset resolution; vertically projecting the multiple first projection points into the second projection range to obtain multiple second projection points; correspondingly connecting the multiple first projection points with the multiple second projection points to obtain multiple target line segments.

[0103] Optionally, the updating module 704 is also used to update the initial lane boundary line based on multiple target line segments and obstacle boundaries, and obtaining the target lane boundary line includes: determining the intersection points of multiple target line segments and obstacle boundaries to obtain multiple target intersection points; performing curve fitting on the multiple target intersection points to obtain a target curve; and updating the initial lane boundary line based on the target curve to obtain the target lane boundary line.

[0104] Optionally, the updating module 704 is also used to update the initial lane boundary line based on the target curve, and obtaining the target lane boundary line includes: determining the remaining lane boundary lines in the obscured lane boundary line except the first projection range; generating a third lane boundary line based on the remaining lane boundary lines and the target curve; updating the initial lane boundary line based on the third lane boundary line to obtain the target lane boundary line.

[0105] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0106] An embodiment of the present invention further provides a vehicle, which is used to execute the steps in any of the above method embodiments.

[0107] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. The computer program is configured to execute the steps of any of the above method embodiments when running on a computer or a processor.

[0108] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0109] Step S10: determining a lane centerline and a target obstacle of a target road, wherein the target road is a road on which the target vehicle travels, and the target obstacle is a static obstacle blocking the target road;

[0110] Step S12: performing an affine transformation on the lane centerline to obtain an initial lane boundary line, wherein the initial lane boundary line is located at a preset distance on both sides of the lane centerline;

[0111] Step S14: projecting the obstacle boundary of the target obstacle onto the initial lane boundary line to obtain a first projection range, wherein the first projection range is used to represent the longitudinal projection range of the obstacle boundary on the initial lane boundary line;

[0112] Step S16: Update the initial lane boundary line based on the first projection range and the obstacle boundary to obtain a target lane boundary line.

[0113] Optionally, in this embodiment, the above-mentioned computer-readable storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0114] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0115] Optionally, in this embodiment, the processor in the electronic device may be configured to run a computer program to perform the following steps:

[0116] Step S10: determining a lane centerline and a target obstacle of a target road, wherein the target road is a road on which the target vehicle travels, and the target obstacle is a static obstacle blocking the target road;

[0117] Step S12: performing an affine transformation on the lane centerline to obtain an initial lane boundary line, wherein the initial lane boundary line is located at a preset distance on both sides of the lane centerline;

[0118] Step S14: projecting the obstacle boundary of the target obstacle onto the initial lane boundary line to obtain a first projection range, wherein the first projection range is used to represent the longitudinal projection range of the obstacle boundary on the initial lane boundary line;

[0119] Step S16: Update the initial lane boundary line based on the first projection range and the obstacle boundary to obtain a target lane boundary line.

[0120] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the steps in any of the above method embodiments when executed by a processor.

[0121] Optionally, in this embodiment, the computer program in the above computer program product may be configured to perform the following steps when executed by a processor:

[0122] Step S10: determining a lane centerline and a target obstacle of a target road, wherein the target road is a road on which the target vehicle travels, and the target obstacle is a static obstacle blocking the target road;

[0123] Step S12: performing an affine transformation on the lane centerline to obtain an initial lane boundary line, wherein the initial lane boundary line is located at a preset distance on both sides of the lane centerline;

[0124] Step S14: projecting the obstacle boundary of the target obstacle onto the initial lane boundary line to obtain a first projection range, wherein the first projection range is used to represent the longitudinal projection range of the obstacle boundary on the initial lane boundary line;

[0125] Step S16: Update the initial lane boundary line based on the first projection range and the obstacle boundary to obtain a target lane boundary line.

[0126] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0127] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0128] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0129] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0130] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0131] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0132] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk or optical disk, etc., various media that can store program codes.

[0133] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A road boundary determination method, characterized in that: include: Determine a lane centerline and a target obstacle of a target road, wherein the target road is a road on which a target vehicle travels, and the target obstacle is a static obstacle blocking the target road; Performing an affine transformation on the lane centerline to obtain initial lane boundary lines, wherein the initial lane boundary lines are located at preset distances on both sides of the lane centerline; Projecting the obstacle boundary of the target obstacle onto the initial lane boundary line to obtain a first projection range, wherein the first projection range is used to represent the longitudinal projection range of the obstacle boundary on the initial lane boundary line; The initial lane boundary line is updated based on the first projection range and the obstacle boundary to obtain a target lane boundary line.

2. The method according to claim 1, characterized in that The performing affine transformation on the lane centerline to obtain an initial lane boundary line comprises: Performing a geometric linear affine transformation on the lane centerline in a first direction to obtain a first lane boundary line; Performing a geometric linear affine transformation on the lane centerline in a second direction to obtain a second lane boundary line; The initial lane boundary line is determined based on the first lane boundary line and the second lane boundary line.

3. The method according to claim 2, characterized in that The step of projecting the obstacle boundary of the target obstacle onto the initial lane boundary line to obtain a first projection range includes: Determine a lane boundary line obscured by the target obstacle among the first lane boundary line and the second lane boundary line to obtain an obscured lane boundary line; The obstacle boundary is projected onto the blocked lane boundary line to obtain the first projection range.

4. The method according to claim 3, characterized in that The updating of the initial lane boundary line based on the first projection range and the obstacle boundary to obtain a target lane boundary line comprises: Projecting the obstacle boundary onto the lane centerline to obtain a second projection range, wherein the second projection range is used to represent a longitudinal projection range of the obstacle boundary on the lane centerline; Determine a plurality of target line segments based on the first projection range and the second projection range, wherein the plurality of target line segments are a plurality of line segments vertically connecting the blocked lane boundary line and the lane center line; The initial lane boundary line is updated based on the multiple target line segments and the obstacle boundary to obtain a target lane boundary line.

5. The method according to claim 4, characterized in that The determining of a plurality of target line segments based on the first projection range and the second projection range comprises: Determining a plurality of first projection points from the first projection range based on a preset resolution; Vertically projecting the plurality of first projection points into the second projection range to obtain a plurality of second projection points; The plurality of first projection points are correspondingly connected with the plurality of second projection points to obtain the plurality of target line segments.

6. The method according to claim 4 or 5, characterized in that: The updating of the initial lane boundary line based on the plurality of target line segments and the obstacle boundary to obtain the target lane boundary line comprises: Determine the intersection points of the multiple target line segments and the obstacle boundary to obtain multiple target intersection points; Performing curve fitting on the multiple target intersection points to obtain a target curve; The initial lane boundary line is updated based on the target curve to obtain the target lane boundary line.

7. The method according to claim 6, characterized in that The updating of the initial lane boundary line based on the target curve to obtain the target lane boundary line comprises: Determine the remaining lane boundary lines among the blocked lane boundary lines except the first projection range; generating a third lane boundary line based on the remaining lane boundary lines and the target curve; The initial lane boundary line is updated based on the third lane boundary line to obtain the target lane boundary line.

8. A road boundary determination device, characterized in that: include: A determination module, used to determine a lane centerline and a target obstacle of a target road, wherein the target road is a road on which a target vehicle travels, and the target obstacle is a static obstacle blocking the target road; A transformation module, configured to perform an affine transformation on the lane centerline to obtain an initial lane boundary line, wherein the initial lane boundary line is located at a preset distance on both sides of the lane centerline; a projection module, configured to project an obstacle boundary of the target obstacle onto the initial lane boundary line to obtain a first projection range, wherein the first projection range is used to represent a longitudinal projection range of the obstacle boundary on the initial lane boundary line; An updating module is used to update the initial lane boundary line based on the first projection range and the obstacle boundary to obtain a target lane boundary line.

9. A vehicle, characterized in that: The vehicle is used to execute the road boundary determination method described in any one of claims 1 to 7 above.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the road boundary determination method described in any one of claims 1 to 7 when running on a computer or a processor.

11. An electronic device comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to run the computer program to execute the road boundary determination method as described in any one of claims 1 to 7.

12. A computer program product, characterized in that The invention comprises a computer program, which implements the road boundary determination method as claimed in any one of claims 1 to 7 when being executed by a processor.

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